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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/README.md b/README.md new file mode 100644 index 0000000..7a9fe63 --- /dev/null +++ b/README.md @@ -0,0 +1,10 @@ +# Dumber + +Depot du projet de temps reel 4eme année au departement GEI de l'INSA Toulouse. + +## Repertoires +- hardware : contient les plans pour la partie mecanique du robot et de son chargeur, ainsi que les plans de conception des PCB du robot, du chargeur, de l'adaptateur Xbee pour la raspberry et les plans des CAP du robot +- software: rassemble les parties logicielles du robot, du chargeur, les bibliotheques et superviseur coté raspberry et l'interface Web +- doc: contient les sujets de TD et TP +- aruco_markers: Script de generation des tags (aruco) utilisés sur les robots + diff --git a/aruco_markers/.gitignore b/aruco_markers/.gitignore new file mode 100644 index 0000000..225c381 --- /dev/null +++ b/aruco_markers/.gitignore @@ -0,0 +1,2 @@ +*.png +*.jpg diff --git a/aruco_markers/generate_markers.sh b/aruco_markers/generate_markers.sh new file mode 100755 index 0000000..2d3fddd --- /dev/null +++ b/aruco_markers/generate_markers.sh @@ -0,0 +1,23 @@ +#!/bin/sh + +echo "Generating 20 markers" +example_aruco_create_marker -d=3 --id=1 --ms=100 marker_4X4_1000_1.png +example_aruco_create_marker -d=3 --id=2 --ms=100 marker_4X4_1000_2.png +example_aruco_create_marker -d=3 --id=3 --ms=100 marker_4X4_1000_3.png +example_aruco_create_marker -d=3 --id=4 --ms=100 marker_4X4_1000_4.png +example_aruco_create_marker -d=3 --id=5 --ms=100 marker_4X4_1000_5.png +example_aruco_create_marker -d=3 --id=6 --ms=100 marker_4X4_1000_6.png +example_aruco_create_marker -d=3 --id=7 --ms=100 marker_4X4_1000_7.png +example_aruco_create_marker -d=3 --id=8 --ms=100 marker_4X4_1000_8.png +example_aruco_create_marker -d=3 --id=9 --ms=100 marker_4X4_1000_9.png +example_aruco_create_marker -d=3 --id=10 --ms=100 marker_4X4_1000_10.png +example_aruco_create_marker -d=3 --id=11 --ms=100 marker_4X4_1000_11.png +example_aruco_create_marker -d=3 --id=12 --ms=100 marker_4X4_1000_12.png +example_aruco_create_marker -d=3 --id=13 --ms=100 marker_4X4_1000_13.png +example_aruco_create_marker -d=3 --id=14 --ms=100 marker_4X4_1000_14.png +example_aruco_create_marker -d=3 --id=15 --ms=100 marker_4X4_1000_15.png +example_aruco_create_marker -d=3 --id=16 --ms=100 marker_4X4_1000_16.png +example_aruco_create_marker -d=3 --id=17 --ms=100 marker_4X4_1000_17.png +example_aruco_create_marker -d=3 --id=18 --ms=100 marker_4X4_1000_18.png +example_aruco_create_marker -d=3 --id=19 --ms=100 marker_4X4_1000_19.png +example_aruco_create_marker -d=3 --id=20 --ms=100 marker_4X4_1000_20.png diff --git a/aruco_markers/markers_board.odt b/aruco_markers/markers_board.odt new file mode 100644 index 0000000000000000000000000000000000000000..088d205761db1b6a52296450eb552778fce53c6f GIT binary patch literal 26098 zcmd6P1wd8H8ZHPZ-K8K6(%m4j>5!7{*qe|p0ST!MNJ)rN(jeU+UD73?q=sqfI9o$(oS2;;u1-pS8th2C 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z7VO@jgtk?5K-oHZc)0+8P(^XD0vw7|R**n|CB(r>P". + +\begin{figure}[htbp] +\begin{center} +\begin{minipage}[c]{.46\linewidth} +\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, out, event, with, not, port},emphstyle=\textbf} +\begin{lstlisting} +thread thread1 + properties + Period => 15 ms; + Deadline => 10 ms; +end thread1; +\end{lstlisting} +\end{minipage} +\caption{Exemple d'un {\em thred} avec des propriétés sur sa période et son échéance} +\label{fig:ex_prop} +\end{center} +\end{figure} + +\subsection{Ports et connexions} + +La description des flots de données et de contrôles entre composants se fait par le moyen de {\bf ports} et de {\bf connexions}. Un port est un point d'entrée et de sortie d'un composant, c'est-à-dire une interface par où transitent les données et les événements entre les composants. Une connexion permet de relier deux ports, soit les ports de deux sous-composants, soit le port d'un sous-composant avec le port du composant le contenant. Le type et le sens entre les ports connectés doivent être identiques. + +La figure~\ref{fig:connexion_graph} représente graphiquement des ports avec des connexions et la figure~\ref{fig:connexion} en donne sa syntaxe. Le système contient deux {\em process}, eux-même contenant chacun un {\em thread}. Une succession de {\em ports}, représentés par les triangles, et de connexions, représentées par les lignes, établit une communication entre les deux threads. + +\begin{figure}[htbp] +\begin{center} +\includegraphics[scale=.6]{figures_pdf/connexion.pdf} +\caption{Représentation d'un système et de ses sous-composants} +\label{fig:connexion_graph} +\end{center} +\end{figure} + +\begin{figure}[htbp] +\begin{center} +\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, out, event, with, not, port},emphstyle=\textbf} +\begin{minipage}[c]{.46\linewidth} +\begin{lstlisting} +system system1 +end system1; + +system implementation system1.impl + subcomponents + p1: process process1.impl; + p2: process process2.impl; + connections + cn: data port p1.outport -> p2.inport; +end system1.impl; + +process process1 + features + outport: out data port; +end process1; + +process implementation process1.impl + subcomponents + t1: thread thread1.impl; + connections + cn: data port t1.outport -> outport; +end process1.impl; + +process process2 + features + inport: in data port; +end process2; +\end{lstlisting} +\end{minipage} +\begin{minipage}[c]{.46\linewidth} +\begin{lstlisting} +process implementation process2.impl + subcomponents + t2: thread thread2.impl; + connections + cn: data port inport -> t2.inport; +end process2.impl; + +thread thread1 + features + outport: out data port; +end thread1; + +thread implementation thread1.impl +end thread1.impl; + +thread thread2 + features + inport: in data port; +end thread2; + +thread implementation thread2.impl +end thread2.impl; +\end{lstlisting} +\end{minipage} +\caption{Exemple de description de connexions} +\label{fig:connexion} +\end{center} +\end{figure} + + +\section{Outils} + +Différentes outils existent pour manipuler le langage AADL. En particulier, l'atelier de développement ouvert TOPCASED~\cite{topcased} fournit un éditeur textuel et graphique du langage, ADELE. De même, OSATE est un outil pour vérifier la syntaxe d'une description AADL. Cependant, ces outils ne sont pas très robuste ni \og user friendly\fg. + +\section{Description des principaux composants} + +\framebox[\textwidth]{ +\begin{minipage}{0.9\textwidth} +{\bf Remarque :} Les principaux composants et éléments de description AADL utilisés pour la conception dans le cadre des TP sont énumérés dans les sections suivantes. Nous nous limitons volontairement à un sous-ensemble et ne respectons pas certaines règles imposées par le standard afin d'en simplifier son utilisation. + +Nous nous limitons aussi à l'expression graphique du langage. Nous ne ferons donc pas de distinction entre type et implémentation et les propriétés seront portées sous forme d'annotations sur les composants. +\end{minipage} +} + +\subsection{System} +\paragraph{Définition} Un {\em system} représente l'assemblage des composants logiciels d'une l'application et de sa plate-forme d'exécution. + +\paragraph{Règles syntaxiques} Un {\em system} peut contenir les déclaration de {\em data}, de {\em port} et de {\em thread}\footnote{Cela n'est pas vrai dans le standard, un système contient normalement des {\em processes} qui contiennent des {\em threads}}. + + +\begin{figure}[h] +\begin{center} +\includegraphics[scale=.6]{figures_pdf/system.pdf} +\caption{Représentation graphique d'un système} +\end{center} +\end{figure} +\FloatBarrier + + +%%%%%%%%%%%%%%%%%%%% +\newpage +\subsection{Thread} + +\paragraph{Définition} Un {\em thread} modélise une activité concurrente, c'est-à-dire une unité ordonnançable qui peut être exécutée en concurrence avec un autre {\em thread}. Chaque {\em thread} est représenté par un flot de contrôle séquentiel qui exécute les instructions d'une image binaire produite par un code source. Un thread peut être activé ({\em dispatch}), c'est-à-dire que son exécution est provoquée par un événement qui peut être asynchrone ou périodique. + +\paragraph{Règles syntaxiques} Un {\em thread} peut contenir des déclarations de {\em port}, de {\em requires data access}, et contenir des {\em data}. + +\paragraph{Exécution} Un {\em thread} s'exécute à la suite d'un {\em disptach}. Un tel événement peut se produire périodiquement ou suite à un événement. Dans le cas périodique, le {\em thread} ré-exécute régulièrement le code qui lui est associé. Dans le cas d'un {\em dispatch} sur événement, le code peut faire référence à une attente de cet événement. + +Quand le {\em thread} termine une exécution, il passe dans un état d'attente du prochain {\em dispatch}. Si un événement provoquant un dispatch est en attente, le {\em thread} commence immédiatement une exécution. Les événements de {\em dispatch} sur un événement peuvent être en attente. + +\paragraph{Propriétés} Un {\em thread} aura une propriété décrivant son type d'activation ainsi qu'un niveau de priorité. Dans le cas périodique, une propriété indiquant la période sera ajoutée. + +\begin{center} + \begin{minipage}[c]{.46\linewidth} + \lstset{inputencoding=utf8/latin1} +\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, with, not, aadlstring},emphstyle=\textbf} +%\lstset{numbers=left, numberstyle=\tiny, stepnumber=1, numbersep=10pt,numberblanklines= false} +\begin{lstlisting} +- - Propri\'et\'es liées \`a l'activation +Dispatch_Protocol: {Periodic | Aperiodic } +Period: time +- - Propriété liée à l'ordonnancement +Priority: integer +\end{lstlisting} +\end{minipage} +\end{center} + +\begin{figure}[htbp] +\begin{center} +\includegraphics[scale=.6]{figures_pdf/thread.pdf} +\caption{Représentation graphique d'un {\em thread}} +\end{center} +\end{figure} +\FloatBarrier + +%%%%%%%%%%%%%%%%%%%%%%%%%%%% +\subsection{Data} + +\paragraph{Définition} + +Un composant de type {\em data} représente une donnée qui peut être accessible et partagée par d'autres composants, ce qui est modélisé par un {\em requires data access}. L'accès concurrent à la donnée partagée est coordonnée par le protocole de partage spécifié par la propriété {\tt Concurrency\_Control\_Protocol} du composant de type {\em data}. Un {\em thread} est considéré comme étant dans une section critique quand il a accès au composant de type {\em data}. + + +\paragraph{Règles syntaxiques} Un {\em data} peut contenir des déclarations de {\em subprogram access} et les propriétés associées.\\ + +\paragraph{Propriétés} Un {\em data} est décrit par son type ainsi que par son protocole d'accès s'il est partagé. + +\begin{center} + \begin{minipage}[c]{.8\linewidth} + \lstset{inputencoding=utf8/latin1} +\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, out, event, with, not, port},emphstyle=\textbf} +\begin{lstlisting} +- - Type de la donnée +Type_Source_Name : string +- - Protocole d'accès à la donnée +Concurrency_Control_Protocol : { Maximum_Priority | Priority_Inheritance | + Priority_Ceiling | Spin_Lock | Semaphore} +\end{lstlisting} +\end{minipage} +\end{center} + +Un ensemble de services standards est fourni pour accéder au {\em data}. Les services {\tt Read\_Data(Data)} et {\tt Write\_Data(Data,Value)} représentent des interfaces pour les fonctions qui réalisent une lecture et écriture de la données du {\em data}. Ces fonctions commencent toujours par une prise de la ressource et se termine par sa libération. La gestion de l'accès concurrent se fait suivant le protocole spécifié. Il est bien sûr possible de définir d'autres services dédiés. + + +\begin{figure}[htbp] +\begin{center} +\includegraphics[scale=.6]{figures_pdf/data.pdf} +\end{center} +\end{figure} +\FloatBarrier + +%%%%%%%%%%%%% +\subsection{Ports} + +\paragraph{Définition} Les {\em ports} sont les points de connexion entre les différents composants qui peuvent être utilisés pour le transfère du contrôle et des données entre eux. Les {\em ports} sont directionnels, c'est-à-dire qu'un port en sortie ({\em output}) est connecté à un port en entrée ({\em input}). Les ports peuvent passés des données, des événements ou les deux. Les données transférées par les ports sont typées. Du point de vue du code source, les données des {\em ports} sont accesibles comme des variables. + +Trois catégories de {\em ports} sont distinguées : +\begin{itemize} +\item Les {\em event data ports} sont les {\em ports} à travers lesquels des données sont envoyées et reçues. L'arrivée d'une donnée peut provoquer un événement chez le récepteur. Les données peuvent être mise dans une file. Un {\em event data port} représente les files de messages. +\item Les {\em data ports} sont des {\em event data ports} avec une file de taille égale à un pour laquelle seule la dernière valeure est conservée ({\em blackboard}). Par défaut, l'arrivée d'une donnée ne cause pas d'activité. Les {\em data ports} représentent les {\em ports} sans file d'attente qui communiquent des informations, tels que des flux qui sont échantillonnés. +\item Les {\em event ports} sont des {\em event data ports} sans contenu de message. Les {\em event ports} représentent des événement discrets dans l'environnement physique, tel que l'appui sur un bouton, une interruption d'horloge ou un événement logique discret comme une alarme. +\end{itemize} + +Les {\em ports} sont directionnels. Un {\em out port} représente une sortie produite par un émetteur, et un {\em in port} représente une entrée requise par un récepteur. + +\paragraph{Règles syntaxiques} Les {\em ports} peuvent être déclarés dans les types des {\em threads} et {\em system}. + +\paragraph{Propriétés} \`A un port est associé au type de données qu'il transporte ainsi que la taille de sa file d'attente et le protocole utilisé pour gérer la file. + +\begin{center} + \begin{minipage}[c]{.72\linewidth} + \lstset{inputencoding=utf8/latin1} +\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, out, event, with, not, port, enumeration, aadlstring, aadlinteger},emphstyle=\textbf} +\begin{lstlisting} +- - Taille de la file de messages, 1 par défaut +Queue_Size: aadlinteger 0 .. Max_Queue_Size => 1 +\end{lstlisting} +\end{minipage} +\end{center} + +Les {\em event} et {\em event data ports} ont par défaut une file associée avec une taille de 1 qui peut être explicitement changée en modifiant la propriété {\tt Queue\_size}. Les propriétés {\tt Queue\_Size} et {\tt Queue\_Processing\_Protocol} spécifient le comportement de la file. + +\begin{figure}[htbp] +\begin{center} +\includegraphics[scale=.6]{figures_pdf/ports.pdf} +\caption{Représentation graphique des {\em ports}} +\end{center} +\end{figure} +\FloatBarrier + +%%%%%%%%%%%%% +\subsection{Connexions} + +\paragraph{Définition} Une connexion est un lien orienté entre les {\em features} de deux composants qui représente les échanges de données et de contrôle entres les composants. Cela peut être la transmission de contrôle et de données entre des ports de différents {\em threads} ou entre des {\em threads} et un {\em data}. + +\paragraph{Règles syntaxiques} Une connexion doit contenir au moins une source et une destination et respecter le sens de communication des {\em ports}. + + +\begin{figure}[htbp] +\begin{center} +\includegraphics[scale=.6]{figures_pdf/connexion2.pdf} +\caption{Représentation graphique des connexions} +\end{center} +\end{figure} +\FloatBarrier + +%%%%%%%%%%%%% +\newpage +\section{Code source des schémas d'activité} + +\begin{multicols}{2} +\subsection{Thread th\_server} +{\scriptsize +\begin{verbatim} +@startuml +skinparam monochrome true +start +:status = monitor.Open(); +if (status) then (failed) + :print("Unable to start server"); +stop +else (succeed) + :monitor.AcceptClient(); + :serverOk!; + stop +endif +@enduml +\end{verbatim}} + +\subsection{Thread th\_sendToMon} +{\scriptsize +\begin{verbatim} +@startuml +skinparam monochrome true +start +:serverOK?; +while () + :messageToMon?msg; + :monitor.Write(msg); +endwhile +stop +@enduml +\end{verbatim} +} + +\subsection{Thread th\_receiveFromMon} +{\scriptsize +\begin{verbatim} +@startuml +skinparam monochrome true +start +:serverOk?; +while () + :msgRcv = monitor.Read(); + if (msgRcv.CompareID(MESSAGE_MONITOR_LOST)) then (true) + stop + else (false) + if (msgRcv.CompareID(MESSAGE_ROBOT_COM_OPEN)) then (true) + :openComRobot!; + else (false) + if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) then (true) + :startRobot!; + else (false) + if (msgRcv.CompareID(MESSAGE_ROBOT_GO_FORWARD + || msgRcv.CompareID(MESSAGE_ROBOT_GO_BACKWARD + || msgRcv.CompareID(MESSAGE_ROBOT_GO_LEFT + || msgRcv.CompareID(MESSAGE_ROBOT_GO_RIGHT + || msgRcv.CompareID(MESSAGE_ROBOT_STOP)) then (true) + :move = msg.GetId(); + endif + endif + endif + endif +endwhile +stop +@enduml +\end{verbatim} +} + +\subsection{Thread th\_openComRobot} +{\scriptsize +\begin{verbatim} +@startuml +skinparam monochrome true +start +while () + :openComRobot?; + :err = robot.Open(); + if (err) then (robot_ok) + :msgSend = new Message(MESSAGE_ANSWER_ACK); + else + :msgSend = new Message(MESSAGE_ANSWER_NACK); + endif + :messageToMon!msgSend; +endwhile +stop +@enduml +\end{verbatim} +} + + +\subsection{Thread th\_openStartRobot} +{\scriptsize +\begin{verbatim} +@startuml +skinparam monochrome true +start +while () + :startRobot?; + :msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITH_WD)); + :messageToMon!msgSend; + if (msgSend->getId()) then (MESSAGE_ANSWER_ACK) + :robotStarted = true; + endif +endwhile +stop +@enduml +\end{verbatim} +} + +\subsection{Thread th\_move} +{\scriptsize +\begin{verbatim} +@startuml +skinparam monochrome true +start +:start_period(100 ms); +while () + :wait_next_period(); + if (robotStarted) then (true) + :robot.Wirte(new Message(move)); + endif +endwhile +stop +@enduml +\end{verbatim} +} +\end{multicols} + +\end{appendices} + +\bibliographystyle{plain} 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BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFklwCG + + NSTopMargin + + coded + BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFklwCG + + + ReadOnly + NO + RowAlign + 1 + RowSpacing + 36 + SheetTitle + Canevas 1 + SmartAlignmentGuidesActive + YES + SmartDistanceGuidesActive + YES + UniqueID + 1 + UseEntirePage + + VPages + 1 + WindowInfo + + CurrentSheet + 0 + DrawerOpen + + DrawerTab + Outline + DrawerWidth + 209 + FitInWindow + + Frame + {{61, 3}, {586, 742}} + ShowRuler + + ShowStatusBar + + VisibleRegion + {{0, 0}, {571, 628}} + Zoom + 1 + + + diff --git a/doc/sujets/tex/conception/figures/AADL_cours/noeud_activite.graffle b/doc/sujets/tex/conception/figures/AADL_cours/noeud_activite.graffle new file mode 100644 index 0000000..550b14f --- /dev/null +++ b/doc/sujets/tex/conception/figures/AADL_cours/noeud_activite.graffle @@ -0,0 +1,425 @@ + + + + + ActiveLayerIndex + 0 + AutoAdjust + + CanvasColor + + w + 1 + + CanvasOrigin + {0, 0} + CanvasScale + 1 + ColumnAlign + 1 + ColumnSpacing + 36 + CreationDate + 2012-01-14 18:10:23 +0100 + Creator + Pirem + DisplayScale + 1 cm = 1 cm + GraphDocumentVersion + 5 + GraphicsList + + + Bounds + {{257.791, 86.2126}, {115, 14}} + Class + ShapedGraphic + FitText + YES + Flow + Resize + ID + 184 + Shape + Rectangle + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + stroke + + Draws + NO + + + Text + + Text + {\rtf1\ansi\ansicpg1252\cocoartf949\cocoasubrtf540 +{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\qc\pardirnatural + +\f0\fs24 \cf0 n\'9cuds de crontr\'f4le} + + Wrap + NO + + + Class + Group + Graphics + + + Bounds + {{371.35, 47.0197}, {21, 21}} + Class + ShapedGraphic + ID + 169 + Shape + Circle + Style + + fill + + Color + + b + 0 + g + 0 + r + 0 + + + shadow + + Draws + NO + + + + + Bounds + {{366.85, 42.5197}, {30, 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GridInfo + + GridSpacing + 14.17322826385498 + MajorGridSpacing + 10 + ShowsGrid + YES + SnapsToGrid + YES + + GuidesLocked + NO + GuidesVisible + YES + HPages + 1 + ImageCounter + 2 + IsPalette + NO + KeepToScale + + Layers + + + Lock + NO + Name + Calque 1 + Print + YES + View + YES + + + LayoutInfo + + LinksVisible + NO + MagnetsVisible + NO + MasterSheet + Master 1 + MasterSheets + + + ActiveLayerIndex + 0 + AutoAdjust + + CanvasColor + + w + 1 + + CanvasOrigin + {0, 0} + CanvasScale + 1 + ColumnAlign + 1 + ColumnSpacing + 36 + DisplayScale + 1 cm = 1 cm + GraphicsList + + GridInfo + + GridSpacing + 14.17322826385498 + MajorGridSpacing + 10 + + HPages + 1 + IsPalette + NO + KeepToScale + + Layers + + + Lock + NO + Name + Layer 1 + Print + YES + View + YES + + + LayoutInfo + + Orientation + 2 + OutlineStyle + Basic + RowAlign + 1 + RowSpacing + 36 + SheetTitle + Master 1 + UniqueID + 1 + VPages + 1 + + + ModificationDate + 2012-01-14 18:24:10 +0100 + Modifier + Pirem + NotesVisible 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0}, {559, 628}} + Zoom + 1 + + + diff --git a/doc/sujets/tex/conception/figures/AADL_cours/pin_act.graffle b/doc/sujets/tex/conception/figures/AADL_cours/pin_act.graffle new file mode 100644 index 0000000..e449d77 --- /dev/null +++ b/doc/sujets/tex/conception/figures/AADL_cours/pin_act.graffle @@ -0,0 +1,1428 @@ + + + + + ActiveLayerIndex + 0 + AutoAdjust + + CanvasColor + + w + 1 + + CanvasOrigin + {0, 0} + CanvasScale + 1 + ColumnAlign + 1 + ColumnSpacing + 36 + CreationDate + 2012-01-14 18:41:10 +0100 + Creator + Pirem + DisplayScale + 1 cm = 1 cm + GraphDocumentVersion + 5 + GraphicsList + + + Bounds + {{382.677, 28.1732}, {99.2126, 28.3465}} + Class + ShapedGraphic + FontInfo + + Color + + b + 1 + g + 0 + r + 0 + + + ID + 490 + Shape + Rectangle + Style + + shadow + + Draws + NO + + stroke + + Color + + b + 1 + g + 0 + r + 0 + + + + Text + + Text + {\rtf1\ansi\ansicpg1252\cocoartf949\cocoasubrtf540 +{\fonttbl\f0\fswiss\fcharset0 Helvetica;} 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CanvasOrigin + {0, 0} + CanvasScale + 1 + ColumnAlign + 1 + ColumnSpacing + 36 + DisplayScale + 1 cm = 1 cm + GraphicsList + + GridInfo + + GridSpacing + 14.17322826385498 + MajorGridSpacing + 10 + + HPages + 1 + IsPalette + NO + KeepToScale + + Layers + + + Lock + NO + Name + Layer 1 + Print + YES + View + YES + + + LayoutInfo + + Orientation + 2 + OutlineStyle + Basic + RowAlign + 1 + RowSpacing + 36 + SheetTitle + Master 1 + UniqueID + 1 + VPages + 1 + + + ModificationDate + 2012-01-14 17:30:23 +0100 + Modifier + Pirem + NotesVisible + NO + Orientation + 2 + OriginVisible + NO + OutlineStyle + Basic + PageBreaks + YES + PrintInfo + + NSBottomMargin + + coded + BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFklwCG + + NSLeftMargin + + coded + BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFklwCG + + NSPaperSize + + size + {595, 842} + + NSRightMargin + + coded + BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFklwCG + + NSTopMargin + + coded + BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFklwCG + + + ReadOnly + NO + RowAlign + 1 + RowSpacing + 36 + SheetTitle + Canevas 1 + SmartAlignmentGuidesActive + YES + SmartDistanceGuidesActive + YES + UniqueID + 1 + UseEntirePage + + VPages + 1 + WindowInfo + + CurrentSheet + 0 + DrawerOpen + + DrawerTab + Outline + DrawerWidth + 209 + FitInWindow + + Frame + {{171, 3}, {586, 742}} + ShowRuler + + ShowStatusBar + + VisibleRegion + {{-6, 0}, {571, 628}} + Zoom + 1 + + + diff --git a/doc/sujets/tex/conception/figures/AADL_cours/system.graffle b/doc/sujets/tex/conception/figures/AADL_cours/system.graffle new file mode 100644 index 0000000..e34ade7 --- /dev/null +++ b/doc/sujets/tex/conception/figures/AADL_cours/system.graffle @@ -0,0 +1,262 @@ + + + + + ActiveLayerIndex + 0 + AutoAdjust + + CanvasColor + + w + 1 + + CanvasOrigin + {0, 0} + CanvasScale + 1 + ColumnAlign + 1 + ColumnSpacing + 36 + CreationDate + 2010-05-10 23:29:47 +0200 + Creator + Pirem + DisplayScale + 1 cm = 1 cm + GraphDocumentVersion + 5 + GraphicsList + + + Bounds + {{129.594, 99.2126}, {155.906, 56.6929}} + Class + ShapedGraphic + ID + 10 + Shape + Rectangle + Style + + shadow + + Draws + NO + + stroke + + CornerRadius + 5 + + + Text + + Text + {\rtf1\ansi\ansicpg1252\cocoartf949\cocoasubrtf540 +{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\qc\pardirnatural + +\f0\fs24 \cf0 System1} + + + + GridInfo + + GridSpacing + 14.17322826385498 + MajorGridSpacing + 10 + ShowsGrid + YES + SnapsToGrid + YES + + GuidesLocked + NO + GuidesVisible + YES + HPages + 1 + ImageCounter + 1 + IsPalette + NO + KeepToScale + + Layers + + + Lock + NO + Name + Calque 1 + Print + YES + View + YES + + + LayoutInfo + + LinksVisible + NO + MagnetsVisible + NO + MasterSheet + Master 1 + MasterSheets + + + ActiveLayerIndex + 0 + AutoAdjust + + CanvasColor + + w + 1 + + CanvasOrigin + {0, 0} + CanvasScale + 1 + ColumnAlign + 1 + ColumnSpacing + 36 + DisplayScale + 1 cm = 1 cm + GraphicsList + + GridInfo + + GridSpacing + 14.17322826385498 + MajorGridSpacing + 10 + + HPages + 1 + IsPalette + NO + KeepToScale + + Layers + + + Lock + NO + Name + Layer 1 + Print + YES + View + YES + + + LayoutInfo + + Orientation + 2 + OutlineStyle + Basic + RowAlign + 1 + RowSpacing + 36 + SheetTitle + Master 1 + UniqueID + 1 + VPages + 1 + + + ModificationDate + 2010-05-11 14:03:09 +0200 + Modifier + Pirem + NotesVisible + NO + Orientation + 2 + OriginVisible + NO + OutlineStyle + Basic + PageBreaks + YES + PrintInfo + + NSBottomMargin + + coded + BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFklwCG + + NSLeftMargin + + coded + BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFklwCG + + NSPaperSize + + size + {595, 842} + + NSRightMargin + + coded + BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFklwCG + + NSTopMargin + + coded + BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFklwCG + + + ReadOnly + NO + RowAlign + 1 + RowSpacing + 36 + SheetTitle + Canevas 1 + SmartAlignmentGuidesActive + YES + SmartDistanceGuidesActive + YES + UniqueID + 1 + UseEntirePage + + VPages + 1 + WindowInfo + + CurrentSheet + 0 + DrawerOpen + + DrawerTab + Outline + DrawerWidth + 209 + FitInWindow + + Frame + {{28, 4}, {586, 742}} + ShowRuler + + ShowStatusBar + + VisibleRegion + {{0, 0}, {571, 628}} + Zoom + 1 + + + diff --git a/doc/sujets/tex/conception/figures/AADL_cours/thread.graffle b/doc/sujets/tex/conception/figures/AADL_cours/thread.graffle new file mode 100644 index 0000000..9613fd1 --- /dev/null +++ b/doc/sujets/tex/conception/figures/AADL_cours/thread.graffle @@ -0,0 +1,564 @@ + + + + + ActiveLayerIndex + 0 + AutoAdjust + + CanvasColor + + w + 1 + + CanvasOrigin + {0, 0} + CanvasScale + 1 + ColumnAlign + 1 + ColumnSpacing + 36 + CreationDate + 2010-05-10 22:03:32 +0200 + Creator + Pirem + DisplayScale + 1 cm = 1 cm + GraphDocumentVersion + 5 + GraphicsList + + + Class + LineGraphic + Head + + ID + 6 + + ID + 152 + Points + + {422.557, 85.4554} + {404.214, 112.97} + + Style + + stroke + + HeadArrow + 0 + TailArrow + 0 + + + Tail + + ID + 150 + + + + Class + LineGraphic + Head + + ID + 4 + + ID + 151 + Points + + {209.862, 85.5297} + {215.335, 112.896} + + Style + + stroke + + HeadArrow + 0 + TailArrow + 0 + + + Tail + + ID + 149 + + + + Bounds + {{340.157, 56.6929}, {184.252, 28.3465}} + Class + ShapedGraphic + ID + 150 + Shape + Rectangle + Style + + shadow + + Draws + NO + + + Text + + Align + 0 + Text + {\rtf1\ansi\ansicpg1252\cocoartf949\cocoasubrtf540 +{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\ql\qnatural + +\f0\fs24 \cf0 Dispatch_protocol => Aperiodic\ +Priority => 10} + + + + Bounds + {{113.386, 42.5197}, {184.252, 42.5197}} + Class + ShapedGraphic + ID + 149 + Shape + Rectangle + Style + + shadow + + Draws + NO + + + Text + + Align + 0 + Text + {\rtf1\ansi\ansicpg1252\cocoartf949\cocoasubrtf540 +{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720 + +\f0\fs24 \cf0 Dispatch_protocol => Periodic\ +Period => 10ms\ +Priority => 7} + + + + Bounds + {{334.24, 170.079}, {97, 14}} + Class + ShapedGraphic + FitText + YES + Flow + Resize + ID + 9 + Shape + Rectangle + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + stroke + + Draws + NO + + + Text + + Text + {\rtf1\ansi\ansicpg1252\cocoartf949\cocoasubrtf540 +{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\qc\pardirnatural + +\f0\fs24 \cf0 aperiodic thread} + + Wrap + NO + + + Bounds + {{167.661, 170.079}, {90, 14}} + Class + ShapedGraphic + FitText + YES + Flow + Resize + ID + 8 + Shape + Rectangle + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + stroke + + Draws + NO + + + Text + + Text + {\rtf1\ansi\ansicpg1252\cocoartf949\cocoasubrtf540 +{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\qc\pardirnatural + +\f0\fs24 \cf0 periodic thread} + + Wrap + NO + + + Bounds + {{325.984, 99.2126}, {42.5197, 28.3465}} + Class + ShapedGraphic + ID + 7 + Shape + Circle + Style + + shadow + + Draws + NO + + + Text + + Text + {\rtf1\ansi\ansicpg1252\cocoartf949\cocoasubrtf540 +{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\qc\pardirnatural + +\f0\fs18 \cf0 A} + + + + Bounds + {{325.984, 113.386}, {127.559, 42.5197}} + Class + ShapedGraphic + ID + 6 + Shape + Parallelogram + Style + + shadow + + Draws + NO + + stroke + + Pattern + 1 + + + Text + + Text + {\rtf1\ansi\ansicpg1252\cocoartf949\cocoasubrtf540 +{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\qc\pardirnatural + +\f0\fs24 \cf0 Thread2} + + + + Bounds + {{155.906, 99.2126}, {42.5197, 28.3465}} + Class + ShapedGraphic + ID + 5 + Shape + Circle + Style + + shadow + + Draws + NO + + + Text + + Text + {\rtf1\ansi\ansicpg1252\cocoartf949\cocoasubrtf540 +{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\qc\pardirnatural + +\f0\fs18 \cf0 10ms} + + + + Bounds + {{155.906, 113.386}, {127.559, 42.5197}} + Class + ShapedGraphic + ID + 4 + Shape + Parallelogram + Style + + shadow + + Draws + NO + + stroke + + Pattern + 1 + + + Text + + Text + {\rtf1\ansi\ansicpg1252\cocoartf949\cocoasubrtf540 +{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\qc\pardirnatural + +\f0\fs24 \cf0 Thread1} + + + + GridInfo + + GridSpacing + 14.17322826385498 + MajorGridSpacing + 10 + ShowsGrid + YES + SnapsToGrid + YES + + GuidesLocked + NO + GuidesVisible + YES + HPages + 1 + ImageCounter + 2 + IsPalette + NO + KeepToScale + + Layers + + + Lock + NO + Name + Calque 1 + Print + YES + View + YES + + + LayoutInfo + + LinksVisible + NO + MagnetsVisible + NO + MasterSheet + Master 1 + MasterSheets + + + ActiveLayerIndex + 0 + AutoAdjust + + CanvasColor + + w + 1 + + CanvasOrigin + {0, 0} + CanvasScale + 1 + ColumnAlign + 1 + ColumnSpacing + 36 + DisplayScale + 1 cm = 1 cm + GraphicsList + + GridInfo + + GridSpacing + 14.17322826385498 + MajorGridSpacing + 10 + + HPages + 1 + IsPalette + NO + KeepToScale + + Layers + + + Lock + NO + Name + Layer 1 + Print + YES + View + YES + + + LayoutInfo + + Orientation + 2 + OutlineStyle + Basic + RowAlign + 1 + RowSpacing + 36 + SheetTitle + Master 1 + UniqueID + 1 + VPages + 1 + + + ModificationDate + 2012-01-14 17:21:18 +0100 + Modifier + Pirem + NotesVisible + NO + Orientation + 2 + OriginVisible + NO + OutlineStyle + Basic + PageBreaks + YES + PrintInfo + + NSBottomMargin + + coded + BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFklwCG + + NSLeftMargin + + coded + BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFklwCG + + NSPaperSize + + size + {595, 842} + + NSRightMargin + + coded + BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFklwCG + + NSTopMargin + + coded + BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFklwCG + + + ReadOnly + NO + RowAlign + 1 + RowSpacing + 36 + SheetTitle + Canevas 1 + SmartAlignmentGuidesActive + YES + SmartDistanceGuidesActive + YES + UniqueID + 1 + UseEntirePage + + VPages + 1 + WindowInfo + + CurrentSheet + 0 + DrawerOpen + + DrawerTab + Outline + DrawerWidth + 209 + FitInWindow + + Frame + {{154, 36}, {586, 742}} + ShowRuler + + ShowStatusBar + + VisibleRegion + {{-6, 0}, {571, 628}} + Zoom + 1 + + + diff --git a/doc/sujets/tex/conception/figures/conception/diag_fonc2.graffle b/doc/sujets/tex/conception/figures/conception/diag_fonc2.graffle new file mode 100644 index 0000000..caf1e18 --- /dev/null +++ b/doc/sujets/tex/conception/figures/conception/diag_fonc2.graffle @@ -0,0 +1,4986 @@ + + + + + ActiveLayerIndex + 0 + ApplicationVersion + + com.omnigroup.OmniGraffle6 + 169.14.0.260934 + + AutoAdjust + + BackgroundGraphic + + Bounds + {{0, 0}, {1712.3525390625, 1634.7967529296875}} + Class + SolidGraphic + ID + 2 + Style + + stroke + + Draws + NO + + + + BaseZoom + 0 + CanvasOrigin + {0, 0} + ColumnAlign + 1 + ColumnSpacing + 36 + CreationDate + 2011-03-28 16:03:00 +0000 + Creator + Pirem + DisplayScale + 1.0000 cm = 1.0000 cm + GraphDocumentVersion + 12 + GraphicsList + + + Class + LineGraphic + FontInfo + + Font + Monaco + Size + 11 + + ID + 3750 + Points + + {90.708660888671872, 39.68503913879394} + {901.41731758117749, 39.685039138793982} + {867.39802627563608, 575.43274786071811} + {70.864434997558689, 575.43274786071811} + {90.708660888671872, 39.685039138793947} + + Style + + shadow + + Draws + NO + + stroke + + HeadArrow + 0 + Legacy + + TailArrow + 0 + + + + + Class + LineGraphic + FontInfo + + Font + Helvetica + Size + 12 + + ID + 3622 + Points + + {595.27558708190929, 530.58267402648949} + {697.32283058166502, 530.58267402648937} + {697.32283058166502, 385.42535224914548} + + Style + + shadow + + Draws + NO + + stroke + + HeadArrow + 0 + Legacy + + TailArrow + 0 + + + Tail + + ID + 3609 + Info + 1 + + + + Class + LineGraphic + FontInfo + + Font + Helvetica + Size + 12 + + Head + + ID + 3598 + + ID + 3621 + Points + + {750.90039558410774, 359.41060441589366} + {591.12318166503951, 358.49805441589365} + + Style + + shadow + + Draws + NO + + stroke + + HeadArrow + 0 + Legacy + + TailArrow + 0 + + + Tail + + ID + 3614 + Info + 1 + + + + Class + LineGraphic + FontInfo + + Font + Helvetica + Size + 12 + + Head + + ID + 3618 + + ID + 3620 + Points + + {597.90966535949758, 386.92951747131337} + {755.72362058410818, 387.84096747131343} + + Style + + shadow + + Draws + NO + + stroke + + HeadArrow + 0 + Legacy + + TailArrow + 0 + + + Tail + + ID + 3604 + Info + 1 + + + + Class + Group + Graphics + + + Bounds + {{714.83039558410803, 366.66951747131333}, {44, 15}} + Class + ShapedGraphic + FitText + YES + Flow + Resize + FontInfo + + Font + Monaco + Size + 11 + + HFlip + YES + ID + 3616 + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + stroke + + Draws + NO + + + Text + + Align + 0 + Text + {\rtf1\ansi\ansicpg1252\cocoartf1671 +{\fonttbl\f0\fnil\fcharset0 Monaco;} +{\colortbl;\red255\green255\blue255;} +{\*\expandedcolortbl;;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\partightenfactor0 + +\f0\fs22 \cf0 ordre} + VerticalPad + 0.0 + + Wrap + NO + + + Class + Group + Graphics + + + Bounds + {{752.18039558410817, 380.75451747131342}, {7.0864500000000001, 14.1729}} + Class + ShapedGraphic + FontInfo + + Font + Monaco + Size + 11 + + ID + 3618 + Shape + Bezier + ShapeData + + UnitPoints + + {-0.50000100000000003, -0.5} + {-0.50000100000000003, -0.5} + {-0.50000100000000003, 0.5} + {-0.50000100000000003, 0.5} + {-0.50000100000000003, 0.5} + {0.49999900000000003, 1.90735e-06} + {0.49999900000000003, 1.90735e-06} + {0.49999900000000003, 1.90735e-06} + {-0.50000100000000003, -0.5} + + + Style + + fill + + Color + + b + 0.0 + g + 0.0 + r + 0.0 + + + shadow + + Draws + NO + + + Text + + Align + 0 + VerticalPad + 0.0 + + + + Class + LineGraphic + FontInfo + + Font + Monaco + Size + 11 + + ID + 3619 + Points + + {759.26039558410832, 380.75451747131342} + {766.34039558410825, 387.84251747131339} + {759.26039558410832, 394.92951747131337} + + Style + + shadow + + Draws + NO + + stroke + + HeadArrow + 0 + Legacy + + TailArrow + 0 + + + + + ID + 3617 + + + HFlip + YES + ID + 3615 + + + Class + Group + Graphics + + + Bounds + {{699.39039558410798, 338.2356044158937}, {57, 15}} + Class + ShapedGraphic + FitText + YES + Flow + Resize + FontInfo + + Font + Monaco + Size + 11 + + HFlip + YES + ID + 3611 + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + stroke + + Draws + NO + + + Text + + Align + 0 + Text + 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aller dans l'onglet \og Available \fg et rafraichir, + \item puis choisir C/C++ et suivre le guide... +\end{itemize} + +%%%%%%%%%%%%%%%%%%%% +\section{Code initial du projet} +\label{sec:git} +%%%%%%%%%%%%%%%%%%%% + +Le code du projet est disponible sur un dépôt git hébergé sur GitHub. Pour le récupérer, placer vous le répertoire cible et exécuter la commande\\ \indent\indent {\tt git clone https://github.com/INSA-GEI/dumber.git}\\ + +Tout le code relatif au projet est disponible, cependant vous n'aurez besoin que des codes présents dans les répertoires : +\begin{itemize} + \item {\tt ./dumber/software/raspberry/superviseur-robot} : ce répertoire contient un projet Netbeans avec l'ensemble du code source pour le projet initial, + \item {\tt ./dumber/software/monitor/monitor} : ce répertoire contient un projet Mono contenant l'ensemble du code source pour le moniteur.\\ +\end{itemize} + +Le répertoire {\tt superviseur-robot} est constitué des fichiers suivants : +\begin{itemize} +\item {\tt /destijl\_init/main.cpp} qui contient le main de l'application et lance la création des objets et leur exécution, +\item {\tt /destijl\_init/src/tasks.h} qui contient l'entête des différentes fonctions, +\item {\tt /destijl\_init/src/tasks.cpp} qui contient l'implémentation des fonctions de création des objets (tâches, sémaphores, mutex, etc.) ainsi que les fonctions de traitement. +\end{itemize} + + + + +%%%%%%%%%%%%%%%%%%%% +\section{Compilation d'une application distante} +%%%%%%%%%%%%%%%%%%%% + +L'application étant sur une \raspi, il vous faut compiler le programme pour cette architecture. Nous vous proposons d'utiliser Netbeans pour écrire votre code et faire la compilation distante. Cela signifie que votre code est stocké sur votre compte INSA, que vous éditez le code sur la machine de TP, que ce code est ensuite automatiquement chargé sur la \raspi puis compilé (Netbeans permet de faire tout cela). + +Pour commencer, lancez Netbeans et ouvrez le projet {\tt superviseur-robot}. + +Avant de compiler, il vous faut configurer la cible sur laquelle la compilation va se faire: +\begin{enumerate} +\item Cliquez droit sur le projet et choisir {\tt Properties}, +\item Allez dans l'onglet {\tt Build}, +\item Choisir {\tt ...} pour {\tt Build Host}, +\item Cliquez sur {\tt Add}, +\item Remplir {\tt Hostname} avec {\tt 10.105.1.x} l'adresse de la \raspi, +\item Cliquez {\tt Next}, +\item Saisir {\tt pi} pour le {\tt login}, +\item Cliquez {\tt Next}, +\item Attendre l'ouverture de la communication, +\item Saisir {\tt insa} comme mot de passe, +\item Sélectionner {\tt SFTP} pour {\tt Access project files via}, +\item Cliquez {\tt Finish}, +\item Cliquez {\tt OK}, +\item Cliquez {\tt Apply}, +\item Cliquez {\tt OK}. +\end{enumerate} + +Pour compiler, il suffit ensuite de cliquer sur l'icône en forme de marteau. Vous pourrez voir dans le terminal les étapes de compilation qui commencent par le transfert des fichiers suivi de la compilation proprement dite. + +{\bf Remarque} : la première compilation est un peu longue, mais devrait ensuite se fluidifier avec la compilation incrémentale. + + +%%%%%%%%%%%%%%%%%%%% +\section{Exécution du superviseur} +\label{sec:utilisation} +%%%%%%%%%%%%%%%%%%%% + +Pour exécuter l'application sur le superviseur, il faut avoir mis en place un terminal distant (voir ci-dessous) puis démarrer l'exécution avec la commande {\tt sudo ./path/app} où {\tt path} est le chemin du répertoire où se trouve l'application et {\tt app} est le nom de votre application. Attention les droits {\tt sudo} sont nécessaires pour des questions d'accès à certains services Xenomai de gestion de la mémoire. + +Si vous utilisez Netbeans, le répertoire dans lequel est compilée l'application se trouve dans l'arboressence commençant par {\tt .netbeans} (attention au "." au début). Il faut descendre dans cette arboressence jusqu'à une bifurcation, puis choisir le répertoire {\tt dist} et aller jusqu'au bout. L'application se trouve au bout de cette branche. + + +%%%%%%%%%%%%%%%%%%%% +\section{Mise en place d'un terminal distant avec la \raspi} +\label{sec:ssh} +%%%%%%%%%%%%%%%%%%%% + +Pour se connecter à la \raspi, vous aurez besoin de créer un accès via ssh. Pour cela, depuis un PC d'une salle informatique utilisez la commande :\\ \indent\indent{\tt ssh pi@10.105.1.x}\\ +avec {\tt x} le numéro sur le boitier de la \raspi. + +Le mot de passe est : insa. + + +%%%%%%%%%%%%%%%%%%%% +\section{Exécution du moniteur} +\label{sec:utilisation} +%%%%%%%%%%%%%%%%%%%% + +Pour exécuter le moniteur, il suffit depuis votre PC de travail de se placer dans le répertoire {\tt ./dumber/software/monitor/monitor} et de lancer {\tt ./monitor}. + +{\bf Attention} : avant de lancer la première fois l'application, il vous faut ouvrir l'environnement de développement MonoDevelop et ouvrir le projet {\tt ./dumber/software/monitor/monitor} et l'exécuter (cela recompile le projet et permet de faire les liens avec les librairies de votre PC). Cette étape ne sera plus à faire par la suite. + + +%%%%%%%%%%%%%%%%%%%% +\section{Comprendre la structuration du code} +\label{sec:code} +%%%%%%%%%%%%%%%%%%%% + L'ensemble du code du projet initial est contenu dans le répertorie {\tt superviseur-robot}. Les bibliothèques de traitement sont disponibles dans le repertoire {\tt lib}. Vous n'aurez pas à modifier ces bibliothèques, par contre vous devrez les utiliser. La documentation est directement écrite dans le code source. + + Les seuls fichiers que vous allez avoir à modifier sont les fichiers {\tt tasks.h} et {\tt tasks.cpp}. La classe {\tt Tasks} a pour attributs privés l'ensemble des structures constituant l'application (tâches, mutex, sémarphores, ressources, etc.). Les fonctions de traitement associées aux tâches sont déclarées comme des méthodes privées de {\tt Tasks}. + + La classe {\tt Tasks} propose quatre méthodes publiques : + \begin{itemize} + \item {\tt Init()} qui crée les structures de l'application, + \item {\tt Run()} qui lance les tâches, + \item {\tt Stop()} qui termine les tâches, + \item {\tt Join()} qui suspend l'exécution du {\tt main}.\\ + \end{itemize} + +Pour ajouter des structures à l'application, il suffit de les déclarer dans le fichier {\tt tasks.h} puis de s'assurer qu'elles sont bien instanciées dans les méthodes adéquates de {\tt tasks.cpp}. Pour une tâche, il faut en plus déclarer une nouvelle méthode privée dans {tasks.h} et fournir son implémentation dans {tasks.cpp}. Cette nouvelle méthode sera le point d'entrée de la tâche. + +Toute la documentation de Xenomai se trouve en ligne (attention c'est Xenomai 3) et nous utilisons l'\href{https://xenomai.org/documentation/xenomai-3/html/xeno3prm/group__alchemy.html}{API alchemy}. + +\end{document} \ No newline at end of file diff --git a/doc/sujets/tex/rapport_etudiant/figures-pdf/diag_fonc_gen.pdf b/doc/sujets/tex/rapport_etudiant/figures-pdf/diag_fonc_gen.pdf new file mode 100644 index 0000000000000000000000000000000000000000..eb4f59216a00a8c8d8f80f2c48da1e89e11aa74d GIT binary patch literal 47244 zcmeFaby!sC8$S#~cS;KbQiF6OT>?XcbT=p^CEbnm07^@zbf==Egdj=^A|N3l-MquB z>+ZT<*SmiA-TnQp>s|g}&dfRIInVvM`+n|o4xNhBZ59qzE_AvVOFK*Jg}d1!FS^mW zf$TsB)4S+GLO?bJ3wtXUYakEwCp943Z5vw`3n%EOt%-|;l!cjtxdl)}1l`%i$-=}A z-5owZRo;Q339o1C9OSNmZNEFa$fJafRw?Gj0t^Fc^VfV#B2MVO*>`bve9dS!^D!kG zE-Lv=x@zsRPaToxEhnnyPq{@Wt(WXnhGq8I_VeDidvUC7=O`R|2o&*kTP$U$#`Xul 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NSPrintReverseOrientation + + coded + BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFxlwCG + + NSRightMargin + + float + 12.2457 + + NSTopMargin + + float + 12.2457 + + + PrintOnePage + + ReadOnly + NO + RowAlign + 1 + RowSpacing + 36 + SheetTitle + Canevas 1 + SmartAlignmentGuidesActive + YES + SmartDistanceGuidesActive + YES + UniqueID + 1 + UseEntirePage + + VPages + 2 + WindowInfo + + CurrentSheet + 0 + Expanded_Canvases + + Frame + {{-577, 1437}, {1252, 742}} + ShowInfo + + Sidebar + + SidebarWidth + 0 + TopSlabHeight + 250 + VisibleRegion + {{141, 0}, {955, 632}} + Zoom + 1 + ZoomValues + + + Canevas 1 + 1 + 1 + + + + + diff --git a/doc/sujets/tex/rapport_etudiant/rapport_etudiant.tex b/doc/sujets/tex/rapport_etudiant/rapport_etudiant.tex new file mode 100644 index 0000000..ac8fc14 --- /dev/null +++ b/doc/sujets/tex/rapport_etudiant/rapport_etudiant.tex @@ -0,0 +1,512 @@ +% Description du contenu du rapport à rendre pour l'UF temps réel en 4AE et 4IR +% Auteur : P.-E. Hladik +% Institut : INSA de Toulouse + +\documentclass[11pt, a4paper]{paper} +\usepackage{a4wide,color} + +\usepackage[utf8]{inputenc} +\usepackage[T1]{fontenc} +\usepackage[frenchb]{babel} + +\usepackage{graphicx} +\usepackage{amssymb} +\usepackage{hyperref} + +\usepackage{amstext} +\usepackage{amsmath} + +\usepackage[dvipsnames]{xcolor} + +\usepackage{placeins} + +\newcounter{cptreq} + + +\usepackage{framed} + + +\title{{\Huge Rapport de projet De Stijl 2.0}\\ +{\large version \today}\\ +---\\ +} +\author{\color{blue}{Mettez ici vos noms et les parties sur lesquelles vous avez travaillées :}\\ +\color{blue}{conception, robot, vidéo, mission, intégration, rédaction du compte-rendu}\\ +\color{blue}{Exemple : P.-E. Hladik (conception, robot, rédaction du compte-rendu)} +} + +\begin{document} + +%%%%%%%%%%%%%% +% PAGE DE GARDE +\maketitle + + +{\color{red} +\begin{framed} +\begin{center}{\bf\Large --- Ce qu'il faut faire --- } \end{center} + +{\bf Remplacez tous les textes en bleu et supprimer les textes en rouge}\\ + + +{\bf Le rapport est à rendre en pdf et à déposer sur moodle avant le 31 mars 2019 23h59: +\url{https://moodle.insa-toulouse.fr/mod/assign/view.php?id=33071}}\\ + +{\bf Vous devez \underline{aussi} rendre les fichiers {\tt tasks.h} et {\tt tasks.cpp}.}\\ + +Vous pouvez utiliser word ou un autre logiciel d'édition pour rédiger ce rapport, par contre vous devez {\bf impérativement respecter la structure ci-après et le rendre au format pdf}.\\ + + +Critères d'évaluation : +\begin{itemize} + \item Qualité rédactionnelle, + \item Exhaustivité et justesse des règles de codage, + \item Qualité de la conception (clarté, respect de la syntaxe, exhaustivité, justesse), + \item Qualité des explications, + \item Respect des règles dans la production du code.\\ +\end{itemize} + +Compétences évaluées : +\begin{itemize} + \item rédaction et communication sur un dossier de conception, + \item concevoir une application concurrente temps réel, + \item analyser une conception, + \item passer d'un modèle de conception à une implémentation, + \item écriture de code et utilisation de primitives au niveau système. +\end{itemize} +\end{framed} +} + +%%%%%%%%%%%%%% +% DEBUT DU RAPPORT +\newpage + + + + +%%%%%%%%%%%%%% +% CONCEPTION +\section{Conception} + +{\color{red} Mettez dans cette partie tous les éléments de votre conception en particulier vos diagrammes AADL (vue globale du système) et les diagrammes d'activité (détails des threads). Cette partie doit être auto-suffisante pour comprendre votre application. + +Pour faciliter la lecture des schémas, vous allez présenter votre conception en trois parties, l'une focalisée sur la communication entre le moniteur et le superviseur, la seconde consacrée au traitement vidéo et la troisième au contrôle du robot. + +Si vous le souhaitez, au lieu de dessiner vos diagrammes sous un éditeur, vous pouvez joindre un scan de vos schémas — ils doivent être lisibles et propres.} + +% VUE GENERAL DU SYSTEME +\subsection{Diagramme fonctionnel général} + +{\color{red} Mettez ici un diagramme fonctionnel qui présente les principaux blocs de votre conception. Pour cela, inspirez vous du diagramme ci-dessous (fig.~\ref{fig:diag_fonc_gen}) en indiquant pour chaque groupe de threads les données et ports partagés. La figure~\ref{fig:diag_fonc_gen} a été réalisée à partir du document de conception. {\bf Vous devez absolument conserver le découpage en trois groupes de threads ({\tt th\_group\_gestion\_moniteur}, {\tt th\_group\_vision}, {\tt th\_group\_gestion\_robot}).}} + +\begin{figure}[htbp] +\begin{center} +{\includegraphics[scale=.5]{./figures-pdf/diag_fonc_gen}} +{\caption{Diagramme fonctionnel du système}} +\end{center} +\label{fig:diag_fonc_gen} +\end{figure} +\FloatBarrier + +% DIAGRAMME FONCTIONNEL GT MONITEUR +\subsection{Groupe de threads gestion du moniteur} + +{\color{red}Placez ici : +\begin{itemize} +\item le diagramme fonctionnel en AADL décrivant le groupe de threads de gestion du moniteur (voir exemple de la figure~\ref{fig:diag_fonc_moniteur} réalisée à partir du dossier de conception), +\item remplir le tableau~\ref{tab:gt_moniteur} pour expliquer le rôle de chacun des threads, +\item les diagrammes d'activité de chaque thread de ce groupe. +\end{itemize} + +Décrivez tous les éléments (paramètres, variables, etc.) qui vous semblent pertinents pour comprendre les diagrammes.} + +% DIAGRAMME FONCTIONNEL GT MONITEUR +\subsubsection{Diagramme fonctionnel du groupe gestion du moniteur} + +{\color{red} Exemple de diagramme fonctionnel pour le groupe de thread de gestion du moniteur. Mettez à jour ce diagramme avec votre conception.} + +\begin{figure}[htbp] +\label{fig:diag_fonc_moniteur} +\begin{center} +{\includegraphics[scale=.5]{./figures-pdf/diag_fonc_moniteur}} +{\caption{Diagramme fonctionnel du groupe de threads gestion du moniteur}} +\end{center} +\end{figure} +\FloatBarrier + +% DESCRIPTION THREADS GT MONITEUR +\subsubsection{Description des threads du groupe gestion du moniteur} +{\color{red} Remplissez le tableau ci-dessous pour expliquer le rôle de chaque thread et donner son niveau de priorité.} + + +\begin{table}[htp] +\caption{Description des threads du groupe {\tt th\_group\_gestion\_moniteur}} +\begin{center} +\begin{tabular}{|p{3cm}|p{8.5cm}|p{2cm}|} +\hline +\bf Nom du thread & \bf Rôle & \bf Priorité \\ +\hline +\hline +\color{blue}tCommuniquer & \color{blue}Prend en charge les messages entrants depuis le moniteur & \color{blue}25\\ +\hline +\color{blue}tEnvoyer & \color{blue}Envoi l'ensemble des messages du superviseur au moniteur & \color{blue}30\\ +\hline +\color{blue}... & \color{blue}... & \color{blue}...\\ +\hline +\end{tabular} +\end{center} +\label{tab:gt_moniteur} +\end{table}% + +% DIAGRAMMES D'ACTIVITE GT MONITEUR +\subsubsection{Diagrammes d'activité du groupe gestion du moniteur} +{\color{red}Décrivez le comportement de chacun de vos threads avec des diagrammes d'activité. Apportez les explications qui vous semblent nécessaires pour comprendre votre conception. A titre d'exemple les diagrammes fonctionnels tirés du document de conception sont remis.} + +\begin{figure}[htbp] +\label{fig:act_communiquer} +\begin{center} +{\includegraphics[scale=.3]{./figures-pdf/th_receiveFromMon.png}} +{\caption{Diagramme d'activité du thread {\tt th\_receiveFromMon}}} +\end{center} +\end{figure} + + +\begin{figure}[htbp] +\label{fig:act_envoyer} +\begin{center} +{\includegraphics[scale=.3]{./figures-pdf/th_sendToMon}} +{\caption{Diagramme d'activité du thread {\tt th\_sendToMon}}} +\end{center} +\end{figure} + + +\begin{figure}[htbp] +\label{fig:act_envoyer} +\begin{center} +{\includegraphics[scale=.3]{./figures-pdf/th_server}} +{\caption{Diagramme d'activité du thread {\tt th\_server}}} +\end{center} +\end{figure} +\FloatBarrier + +% DIAGRAMME FONCTIONNEL GT VISION +\subsection{Groupe de threads vision} + +% DIAGRAMME FONCTIONNEL GT VISION +\subsubsection{Diagramme fonctionnel du groupe vision} + +{\color{blue} Ajoutez le diagramme fonctionnel du groupe de threads de vision.} + +% DESCRIPTION THREADS GT VISION +\subsubsection{Description des threads du groupe vision} +{\color{red} Remplissez le tableau ci-dessous pour expliquer le rôle de chaque thread et donner son niveau de priorité.} + + +\begin{table}[htp] +\caption{Description des threads du groupe {\tt th\_group\_vision}} +\begin{center} +\begin{tabular}{|p{3cm}|p{8.5cm}|p{2cm}|} +\hline +\bf Nom du thread & \bf Rôle & \bf Priorité \\ +\hline +\hline +\color{blue}... & \color{blue}... & \color{blue}...\\ +\hline +\end{tabular} +\end{center} +\label{tab:gt_moniteur} +\end{table}% +\FloatBarrier + +% DIAGRAMMES D'ACTIVITE GT VISION +\subsubsection{Diagrammes d'activité du groupe vision} +{\color{blue}Décrivez le comportement de chacun de vos threads avec des diagrammes d'activité. Apportez les explications qui vous semblent nécessaires pour comprendre votre conception.} + + +% DIAGRAMME FONCTIONNEL GT ROBOT +\subsection{Groupe de threads gestion du robot} + +% DIAGRAMME FONCTIONNEL GT ROBOT +\subsubsection{Diagramme fonctionnel du groupe gestion robot} +{\color{blue} Ajoutez le diagramme fonctionnel du groupe de threads de gestion du robot.} + +% DESCRIPTION THREADS GT ROBOT +\subsubsection{Description des threads du groupe gestion robot} +{\color{red} Remplissez le tableau ci-dessous pour expliquer le rôle de chaque thread et donner son niveau de priorité.} + + +\begin{table}[htp] +\caption{Description des threads du groupe {\tt th\_group\_gestion\_robot}} +\begin{center} +\begin{tabular}{|p{3cm}|p{8.5cm}|p{2cm}|} +\hline +\bf Nom du thread & \bf Rôle & \bf Priorité \\ +\hline +\hline +\color{blue}... & \color{blue}... & \color{blue}...\\ +\hline +\end{tabular} +\end{center} +\label{tab:gt_moniteur} +\end{table}% +\FloatBarrier + +% DIAGRAMMES D'ACTIVITE GT ROBOT +\subsubsection{Diagrammes d'activité du groupe robot} +{\color{blue}Décrivez le comportement de chacun de vos threads avec des diagrammes d'activité. Apportez les explications qui vous semblent nécessaires pour comprendre votre conception.} + + +%%%%%%%%%%%%%%% +% ANALYSE ET VALIDATION +\section{Analyse et validation de la conception} + +{\color{red}Pour chacune des fonctionnalités attendues, indiquez si elle a été réalisée. Ajoutez d'éventuelles remarques de conception si le fonctionnement n'est pas exactement celui attendu et justifiez le respect des propriétés temporelles. Vous n'êtes pas obligé de répondre à ces éléments pour les fonctionnalités réalisées dans la conception préliminaire (ces fonctionnalités sont indiquées dans la suite par un astérisque). Si vous ne souhaitez pas apporter de détails supplémentaires pour ces fonctionnalités, supprimez les de la liste ci-dessous.} + +{\color{gray} +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq *} + +\paragraph{Description :} Le lancement du serveur doit être réalisé au démarrage du superviseur. En cas d'échec du démarrage du serveur, un message textuel doit être affiché sur la console de lancement de l'application. Ce message doit signaler le problème et le superviseur doit s'arrêter. + +\paragraph{\color{black}Réalisation :} {\color{blue} Fait en partie. La fonctionnalité est impléméntée sauf pour l'arrêt suite à l'échec de démarrage du serveur. L'implémentation actuelle stoppe la tâche en charge du démarrage du serveur, mais pas l'ensemble de l'application. Après discussion avec le client, la version actuelle est suffisante.} +} +%%% +{\color{gray} +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq *} + +\paragraph{Description :} La connexion entre le moniteur et le superviseur (via le socket) doit être établie suite à la demande de connexion de l'utilisateur. + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} +} + +%%% +{\color{gray} +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq *} + +\paragraph{Description :} Tous les messages envoyés depuis le moniteur doivent être réceptionnés par le superviseur. + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} +%%% +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq *} + +\paragraph{Description :} L'application superviseur doit être capable d'envoyer les messages au moniteur (via le serveur) avec un délai d'au plus 10~ms. + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} +} +%%% +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq} + +\paragraph{Description :} Le superviseur doit détecter la perte de communication avec le moniteur. En cas de perte de la communication un message doit être affiché sur la console de lancement du superviseur. + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} +%%% +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq} + +\paragraph{Description :} En cas de perte de communication entre le superviseur et moniteur, il faut stopper le robot, la communication avec le robot, fermer le serveur et déconnecter la caméra afin de revenir dans le même état qu'au démarrage du superviseur. + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} +%%% +{\color{gray} +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq *} + +\paragraph{Description :} Dès que la communication avec le moniteur est en place, la communication entre le superviseur et le robot doit être ouverte. Si la communication est active, il faut envoyer un message d'acquittement au moniteur. En cas d'échec, un message le signalant est renvoyé au moniteur. + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} +} +%%% +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq} + +\paragraph{Description :} La communication entre le robot et le superviseur doit être surveillée par un mécanisme de compteur afin de détecter une perte du médium de communication. + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} + +%%% +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq} + +\paragraph{Description :} Lorsque la communication entre le robot et le superviseur est perdue, un message spécifique doit être envoyé au moniteur. Le système doit fermer la communication entre le robot et le superviseur et se remettre dans un état initial permettant de relancer la communication. + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} + +%%% +{\color{gray} +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq *} + +\paragraph{Description :} Lorsque l'utilisateur demande, via le moniteur, le démarrage sans watchdog, le robot doit démarrer dans ce mode. En cas de succès, un message d'acquittement est retourné au moniteur. En cas d'échec, un message indiquant l'échec est transmis au moniteur. + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} +} +%%% +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq} + +\paragraph{Description :} Lorsque l'utilisateur demande, via le moniteur, le démarrage avec watchdog, le robot doit démarrer dans ce mode. Un message d'acquittement est retourné au moniteur. En cas d'échec, un message indiquant l'échec est transmis au moniteur. + +Une fois le démarrage effectué, le robot doit rester vivant en envoyant régulièrement le message de rechargement du watchdog. + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} + +%%% +{\color{gray} +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq *} + +\paragraph{Description :} Lorsque qu'un ordre de mouvement est reçu par le superviseur, le robot doit réaliser ce déplacement en moins de 100~ms. + +\paragraph{\color{black}Réalisation :} {\color{blue} Cette fonctionnalité a été implémentée à l'aide d'une tâche qui envoie toutes les 100~ms un ordre de mouvement au robot une fois que celui-ci est démarré (tâche th\_move). Cette implémentation ne garantit pas que le temps soit inférieur à 100~ms entre la réception du message et sa prise en compte par le robot. En effet, le temps de traitement de la réception par la tâche th\_receiveFromMon, le temps de traitement de la tâche th\_move et celui de l'envoi de l'ordre via le Xbee ne sont pas considérés. Afin de réduire ces délais, les priorités de th\_receiveFromMon et de th\_move sont élevés mais ne permettent pas de garantir l'exigence de temps. Augmenter la fréquence de la tâche th\_move permettrait de tenir cette contrainte, mais risque de surcharger la communication avec le robot (une version avec l'envoi de l'ordre que s'il a changé serait souhaitable). Finalement, une version asynchrone (attente d'un événement-donnée entre th\_receiveFromMon et de th\_move) aurait été préférable. Cependant, après discussion avec le client, la version périodique à 100~ms est cependant validée.} +} +%%% +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq} + +\paragraph{Description :} Le niveau de la batterie du robot doit être mis à jour toutes les 500~ms sur le moniteur. + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} +%%% +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq} + +\paragraph{Description :} La caméra doit être démarrée suite à une demande provenant du moniteur. Si l'ouverture de la caméra a échoué, il faut envoyer un message au moniteur. + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} +%%% +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq} + +\paragraph{Description :} Dès que la caméra est ouverte, une image doit être envoyée au moniteur toutes les 100 ms. + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} +%%% +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq} + +\paragraph{Description :} La caméra doit être fermée suite à une demande provenant du moniteur. Un message doit être envoyé au moniteur pour signifier l'acquittement de la demande. L'envoi périodique des images doit alors être stoppé. + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} +%%% +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq} + +\paragraph{Description :} Suite à une demande de recherche de l'arène, le superviseur doit stopper l'envoi périodique des images, faire la recherche de l'arène et renvoyer une image sur laquelle est dessinée cette arène. Si aucune arène n'est trouvée un message d'échec est envoyé.\\ + +L'utilisateur doit ensuite valider visuellement via le moniteur si l'arène a bien été trouvée. L'utilisateur peut : +\begin{itemize} + \item valider l'arène : dans ce cas, le superviseur doit sauvegarder l'arène trouvée (pour l'utiliser ultérieurement) puis retourner dans son mode d'envoi périodique des images en ajoutant à l'image l'arène dessinée. + \item annuler la recherche : dans ce cas, le superviseur doit simplement retourner dans son mode d'envoi périodique des images et invalider la recherche. +\end{itemize} + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} +%%% +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq} + +\paragraph{Description :} Suite à une demande de l'utilisateur de calculer la position du robot, le superviseur doit calculer cette position, dessiner sur l'image le résultat et envoyer un message au moniteur avec la position toutes les 100~ms. Si le robot n'a pas été trouvé, un message de position est envoyé avec une position (-1,-1). + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} +\stepcounter{cptreq} +\subsection{Fonctionnalité \thecptreq} + +\paragraph{Description :} Suite à une demande de l'utilisateur de stopper le calcul de la position du robot, le superviseur doit rebasculer dans un mode d'envoi de l'image sans le calcul de la position. + +\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.} + + +%%%%%%%%%%%%%%%%%%% +% TRANSFORMATION AADL2XENO +\section{Transformation AADL vers Xenomai} + + {\color{red} Cette section est consacrée à la méthode pour passer d'un modèle AADL à un code sous Xenomai. Pour chacun des éléments AADL, vous expliquerez {\bf comment vous l'avez traduit en code} et quels {\bf services de Xenomai} vous avez utilisés {\bf en expliquant ce qu'ils font}. Chaque élément devra être illustré avec des {\bf extraits de code de votre projet}.} + + % THREAD +\subsection{Thread} +% INSTANCIATION THREAD +\subsubsection{Instanciation et démarrage} + {\color{blue} Expliquer comment vous implémentez sous Xenomai l'instanciation et le démarrage d'un thread AADL.} + + {\color{blue} {\bf Exemple de réponse} : Chaque thread a été implémenté par un {\tt RT\_TASK} déclarés dans le fichier {\tt tasks.h}. La création de la tâche se fait à l'aide du service {\tt rt\_task\_create} et son démarrage à l'aide de {\tt rt\_task\_start}. Toutes les tâches sont crées dans la méthode {\tt init} de {\tt tasks.cpp} et démarrées dans la méthode {\tt run}. + +Par exemple, pour la tâche {\tt th\_server}, sa déclaration est faite ligne 73 dans le fichier {\tt tasks.h} +\begin{verbatim} + RT_TASK th_server; +\end{verbatim} +sa création ligne 102 de {\tt tasks.cpp} lors de l'appel de +\begin{verbatim} + rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0) +\end{verbatim} +et son démarrage ligne 146 avec +\begin{verbatim} + rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, this) +\end{verbatim} +} + +% CODE THREAD +\subsubsection{Code à exécuter} + {\color{blue} Comment se fait le lien sous Xenomai entre le thread et le traitement à exécuter.} + +% PRIORITE THREAD +\subsubsection{Niveau de priorités} + {\color{blue} Expliquer comment vous fixez sous Xenomai le niveau de priorité d'un thread AADL.} + +% PERIODICITE THREAD +\subsubsection{Activation périodique} + {\color{blue} Expliquer comment vous rendez périodique l'activation d'un thread AADL sous Xenomai.} + +% THREAD EVENEMENTIEL +\subsubsection{Activation événementielle} + {\color{blue} Expliquer les moyens mis en {\oe}uvre dans l'implémentation sous Xenomai pour gérer les activations événementielles d'un thread AADL.} + + + % PORT D'EVENEMENT +\subsection{Port d’événement} + +% INSTANCIATION PORT D'EVENEMENT +\subsubsection{Instanciation} + {\color{blue} Comment avez-vous instancié un port d'événement ?}\\ + + % ENVOI PORT D'EVENEMENT +\subsubsection{Envoi d’un événement} + {\color{blue} Quels services ont été employés pour signaler un événement ?} + +% RECEPTION PORT D'EVENEMENT +\subsubsection{Réception d’un événement} + {\color{blue} Comment se fait l'attente d'un événement ?} + +% DONNEE PARTAGEE +\subsection{Donnée partagée} + +% INSTANCIATION DONNEE PARTAGEE +\subsubsection{Instanciation} + {\color{blue} Quelle structure instancie une donnée partagée ?} + +% LECTURE/ECRITURE DONNEE PARTAGEE +\subsubsection{Accès en lecture et écriture} + {\color{blue} Comment garantissez-vous sous Xenomai l'accès à une donnée partagée ?} + +% PORT D'EVENEMENT-DONNEES +\subsection{Ports d’événement-données} + +% INSTANCIATION PORT D'EVENEMENT-DONNEES +\subsubsection{Instanciation} + {\color{blue} Donnez la solution retenue pour implémenter un port d'événement-données avec Xenomai.} + +% ENVOI PORT D'EVENEMENT-DONNEES +\subsubsection{Envoi d’une donnée} + {\color{blue} Quels services avez-vous employés pour envoyer des données ?} + +% RECEPTION PORT D'EVENEMENT-DONNEES +\subsubsection{Réception d’une donnée} + {\color{blue} Quels services avez-vous employés pour recevoir des données ?} + + + + + +\end{document} \ No newline at end of file diff --git a/doc/sujets/tex/specifications/figures/arene.graffle b/doc/sujets/tex/specifications/figures/arene.graffle new file mode 100644 index 0000000..70c45c8 --- /dev/null +++ b/doc/sujets/tex/specifications/figures/arene.graffle @@ -0,0 +1,393 @@ + + + + + ActiveLayerIndex + 0 + 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    __#Z6{f739 z>VSUs$wJ(+JLG=vKT~z)I*^=N`(!8dz)=lrx9cAHVTnOq5q@9pa1pz+N*nyII+51Ip!83WypWY$vo&#tZ> ztrm47kK9S4Y!8Rb#+*G-C zGdEttkcZ0femt1V_6g2>-Vr+z*M8*%mq1&JaRW;FHQJ?abfu=80M%l>Y3@@2i;BMH zD)e^2kg}9$);9GBxzXumtLZ5nlI_!=$gbH~4NdSQJ9R57TT1e!RYz%_iVms8a>) z)8M|?)I6X_$}Gyhk=l@nihC}RPi{PDXjq4Ni_J}_%fc6#D+#vxz|vA#uQ^7EB-koU zlLIXXXh)nFHd3r;kDrAbG&#UsqADa@#?t6rrqxGz8^0;Dr=7>LU}TU47qGzp@^)h} z9vD}wtDq#b>NI0;T`cp}jAG{%${z-SzP@>;rq8>&RxZ8eDXVe(+~0fS)Mp3zUz526 z%?aII0+*DyoGp8z=eu?c5cQHOggtQQ5Z(nVm7D*x(={cJ`f>6tD>FZ*>4VY!AbcXP6}}! literal 0 HcmV?d00001 diff --git a/doc/sujets/tex/specifications/src/annexes.tex b/doc/sujets/tex/specifications/src/annexes.tex new file mode 100644 index 0000000..a784b9c --- /dev/null +++ b/doc/sujets/tex/specifications/src/annexes.tex @@ -0,0 +1,283 @@ +\begin{appendices} +\section{Annexes} + +\subsection{Messages robot-superviseur} +\label{sec:sec:comm_rob_sup} + +La communication fonctionne sur le principe d'une communication synchrone de type requête. La communication ne peut être initiée que par le superviseur. + +Toutes les communications ont par défaut un retour en cas d'erreur. Ce retour est porté par la valeur de {\tt messageID} d'un objet {\tt Message}. Si la communication s'est bien déroulée la valeur MESSAGE\_ANSWER\_ACK est retournée, sinon une valeur de retour correspondante à l'un des cas d'erreur suivant est produite : +\begin{itemize} + \item MESSAGE\_ANSWER\_ROBOT\_TIMEOUT : la réponse n'est pas arrivée avant 80 ms, + \item MESSAGE\_ANSWER\_ROBOT\_UNKNOWN\_COMMAND : la commande n'a pas été comprise par le robot, + \item MESSAGE\_ANSWER\_ROBOT\_ERROR : la commande n'est pas conforme à sa définition. +\end{itemize} +\FloatBarrier + +Les messages envoyés au robot sont composés d'une entête codée sur un octect ({\tt char}) correspondant à l'ordre à réaliser. Certains ordres sont aussi accompagnés d'une donnée codée sur un entier ({\tt int}). Le tableau~\ref{tab:ordre_robot} décrit les entêtes. + +\begin{table}[htp] +\begin{center} +\begin{tabular}{|l|c|l|c|c|} +\hline +Entête (\scriptsize{MESSAGE\_ROBOT\_}) & Données & Description & Retour\\ +\hline\hline +{\scriptsize PING} & -- & Teste la disponibilité de la communication & --\\ +{\scriptsize RESET} & -- & Demande un redémarrage du robot & --\\ +\hline +{\scriptsize START\_WITHOUT\_WD} & -- & Démarre le robot sans le {\it watchdog} & -- \\ +{\scriptsize START\_WITH\_WD} & -- & Démarre le robot avec le {\it watchdog} & -- \\ +{\scriptsize RELOAD\_WD} & -- & Recharge le {\it watchdog} & --\\ +\hline +{\scriptsize BATTERY\_GET} & -- & Retourne le niveau de la batterie & niv. batterie\\ +{\scriptsize STATE\_GET} & -- & Retourne l'état du robot & état\\ +\hline +{\scriptsize GO\_FORWARD} & -- & Déplace le robot en avant & -- \\ +{\scriptsize GO\_BACK} & -- & Déplace le robot en arrière & -- \\ +{\scriptsize GO\_LEFT} & -- & Fait tourner dans le sens anti-horaire & -- \\ +{\scriptsize GO\_RIGHT} & -- & Fait tourner dans le sens horaire & -- \\ +{\scriptsize STOP\_MOVE} & -- & Stoppe le mouvement du robot & -- \\ +\hline +{\scriptsize MOVE} & distance & Déplace en ligne droite & --\\ +{\scriptsize TURN} & angle & Tourne d'un angle donné & -- \\ +\hline +\end{tabular} +\end{center} +\caption{Liste des messages du superviseur vers le robot} +\label{tab:ordre_robot} +\end{table}% +\FloatBarrier + +Le niveau de la batterie peut prendre comme valeur : +\begin{itemize} + \item BATTERY\_UNKNOWN : la mesure n'a pas abouti, + \item BATTERY\_EMPTY : niveau vide, + \item BATTERY\_LOW : niveau faible, + \item BATTERY\_FULL: niveau haut. +\end{itemize} + +Les états possibles du robot sont : +\begin{itemize} + \item MESSAGE\_ROBOT\_STATE\_BUSY : le robot est en train de réaliser un mouvement, + \item MESSAGE\_ROBOT\_STATE\_NOT\_BUSY : le robot ne réalise pas de mouvement. +\end{itemize} + +%%%%%%%%%%%%%%% + +\subsection{Messages moniteur-superviseur} +\label{sec:comm_mon_sup} + +\subsubsection{Moniteur vers Superviseur} +\label{sec:mts} + +Les message envoyés du moniteur vers le superviseur sont composés d'un entête de trois octets et d'une donnée d'un octet. Le tableau~\ref{tab:mts} décrit ces entêtes et les données. Certains messages nécessitent une réponse par un acquittement (cf. messages section~\ref{sec:stm}). Les messages spécifiques pour le robot ont les même entêtes que la communication entre le robot et le superviseur. + + +\begin{table}[htp] + +\begin{center} +\begin{tabular}{|l|p{7cm}|} +\hline +{\bf Id} & {\bf Description} \\ +\hline +MESSAGE\_ROBOT\_COM\_OPEN & Demande d'ouverture de la comm. avec le robot\\ +MESSAGE\_ROBOT\_COM\_CLOSE & Demande de fermeture de la comm. avec le robot \\ +\hline +\multicolumn{2}{|l|}{{\bf Acquittement} : oui}\\ +\hline +\hline +MESSAGE\_ROBOT\_* & Message portant un ordre pour le robot (voir tableau précédent)\\ +\hline +\multicolumn{2}{|p{\textwidth}|}{{\bf Acquittement} : les messages MESSAGE\_ROBOT\_START\_WITH\_WD et MESSAGE\_ROBOT\_START\_WITHOUT\_WD nécessitent un acquitement}\\ +\hline +\hline +MESSAGE\_CAM\_OPEN & Demande d'ouverture de la caméra\\ +MESSAGE\_CAM\_CLOSE & Demande de fermeture de la caméra\\ +MESSAGE\_CAM\_ASK\_ARENA & Demande de détection de l'arène \\ +MESSAGE\_CAM\_ARENA\_CONFIRM & L'arène est la bonne\\ +MESSAGE\_CAM\_ARENA\_INFIRM & L'arène n'est pas la bonne\\ +MESSAGE\_CAM\_POSITION\_COMPUTE\_START & Calcul de la position du robot\\ +MESSAGE\_CAM\_POSITION\_COMPUTE\_STOP & Arrêt du calcul de la position du robot\\ +\hline +\multicolumn{2}{|p{\textwidth}|}{{\bf Acquittement} : les messages MESSAGE\_CAM\_OPEN et MESSAGE\_CAM\_CLOSE attendent un acquittement.}\\ +\hline +\end{tabular} +\end{center} +\caption{Description des messages du moniteur vers le superviseur} +\label{tab:mts} +\end{table}% + +\newpage +%%%%%%%%% +\subsubsection{Superviseur vers Moniteur} +\label{sec:stm} + +Les messages du superviseur vers le moniteur sont composés d'une entête de 3 octets et de données de taille variables. Le tableau~\ref{tab:stm} décrit ces messages. + +\begin{table}[htp] +\begin{center} +\begin{tabular}{lcl} +\hline +Entête & Données & Description\\ +\hline +\hline +MESSAGE\_ANSWER\_ACK & -- & Message d'acquittement en cas de succès\\ +MESSAGE\_ANSWER\_NACK & -- & Message d'acquittement en cas d'échec\\ +MESSAGE\_MONITOR\_LOST & -- & Signale la perte de la comm. avec le robot\\ +MESSAGE\_CAM\_IMAGE & Image & Envoi d'une image\\ +MESSAGE\_CAM\_POSITION & Position & Envoi de la postion du robot\\ +MESSAGE\_ROBOT\_BATTERY\_LEVEL & int & Envoi du niveau de la batterie\\ +\hline +\end{tabular} +\end{center} +\caption{Liste des messages du moniteur vers le superviseur} +\label{tab:stm} +\end{table}% +\FloatBarrier + +\newpage +\section{Diagramme de classe des bibliothèques} +\label{ann:diag_class} + +% +%@startuml +%skinparam monochrome true +% +%class Message{ +%-MessageID messageID +% +%+Message() +%+Message(MessageId id) +%+string ToString() +%+bool CompareID(MessageID id) +%+MessageID GetID() +%+void SetID(MessageID id) +%-bool CheckID(MessageID id) +%} +% +% +%class MessageBattery{ +% -BatteryLevel level +% +MessageBattery(MessageID id, BatteryLevel level) +% +BatteryLevel GetLevel() +% +void SetLevel(BatteryLevel level) +%} +% +%class MessagePosition{ +% -Position pos +% +MessagePosition(MessageID id, Position& pos) +% +Position GetPosition() +% +void SetPosition(Position& pos) +%} +% +%class MessageImg{ +% -Img* image +% +MessageImg(MessageID id, Img *image) +% +Img* GetImage() +% +void SetImage(Img* image) +%} +% +%class MessageInt{ +% - int value +% + MessageInt(MessageID id, int val) +% +int GetValue() +% +void SetValue(int val) +%} +% +%class MessageString{ +% - string s +% +MessageString(MessageID id, string s) +% +string GetString() +% +void SetString(string s) +%} +% +%Message <|-down- MessageImg +%Message <|-down- MessageInt +%Message <|-up- MessageString +%Message <|-up- MessageBattery +%Message <|-- MessagePosition +% +%class ComRobot { +% +int Open() +% +int Open(string usart) +% +int Close() +% +Message *Write(Message* msg) +% +void Write_Pre() +% +void Write_Post() +% +Message *Ping() +% +Message *Reset() +% +Message *PowerOff() +% +Message *StartWithWD() +% +Message *StartWithoutWD() +% +Message *ReloadWD() +% +Message *Move(int length) +% +Message *Turn(int angle) +% +Message *Stop() +% +Message *GoForward() +% +Message *GoBackward() +% +Message *GoLeft() +% +Message *GoRight() +% +Message *GetBattery() +% +Message *GetState() +%} +% +%class ComMonitor { +% +int Open(int port) +% +void Close() +% +int AcceptClient() +% +void Write(Message *msg) +% +void Write_Pre() +% +void Write_Post() +% +Message *Read() +% +void Read_Pre() +% +void Read_Post() +%} +%class Img{ +% +ImageMat img +% +Img(ImageMat imgMatrice) +% +string ToString() +% +Jpg ToJpg() +% +Arena SearchArena() +% +int DrawRobot(Position robot) +% +int DrawArena(Arena arenaToDraw) +% +std::list SearchRobot(Arena arena) +%} +% +%class Camera{ +% +Camera(int size, int fps); +% +% +bool Open(); +% +void Close(); +% +Img Grab(); +% +int GetWidth() const; +% +int GetHeight() const; +% +% +bool IsOpen(); +% +void SetSize(int size); +%} +% +%class Position{ +% +cv::Point2f center +% +cv::Point2f direction +% +float angle +% +int robotId +%} +% +%class Arena{ +% +cv::Rect arena +% +Arena() +% +bool IsEmpty() +%} +% +%@enduml + + \begin{figure}[htbp] +\begin{center} +\includegraphics[scale=0.55]{./figures_pdf/classes1} +\includegraphics[scale=0.55]{./figures_pdf/classes2} +\caption{Diagramme de classes des bibliothèques De Stijl} +\label{fig:diag17} +\end{center} +\end{figure} +\FloatBarrier +\end{appendices} \ No newline at end of file diff --git a/doc/sujets/tex/specifications/src/besoins.tex b/doc/sujets/tex/specifications/src/besoins.tex new file mode 100644 index 0000000..ded8948 --- /dev/null +++ b/doc/sujets/tex/specifications/src/besoins.tex @@ -0,0 +1,493 @@ +%%%%%%%%%%%%%%%%%%%%%%% +\section{Expression fonctionnelle du besoin} +%%%%%%%%%%%%%%%%%%%%%%% + +\subsection{Présentation générale} + +L'objectif est de concevoir et de développer l'architecture logicielle du superviseur afin d'assurer le fonctionnement de la plate-forme. Les fonctions attendues sont : +\begin{enumerate} + \item Assurer la communication entre le moniteur et le superviseur. + \item Assurer la communication entre le superviseur et le robot. + \item Superviser l'état du robot. + \item Contrôler le déplacement du robot. + \item Contrôler et diffuser les images de la webcam. + \item Réaliser des missions.\\ +\end{enumerate} + +\noindent\framebox[\textwidth]{ +\begin{minipage}{0.9\textwidth} +{\bf Remarque :} Les plateformes matérielle et logicielle ont de nouveau évoluées cette année. Les bibliothèques fournies ont été réécrites pour faciliter leur prise en main. Bien qu'elles aient été testées, elles comportent certainement des erreurs. Soyez indulgents, nous faisons de notre mieux pour fournir une plate-forme opérationnelle !\\ +{\bf Si vous remarquez des erreurs, des problèmes ou des optimisations à faire, n'hésitez pas à le communiquer} (via GitHub pour en garder la trace). +\end{minipage} +}\\ + + \subsection{Diagramme de contexte} + +La figure~\ref{fig:contexte} présente le superviseur dans son contexte et ses interactions avec les autres composants de la plate-forme. + + \begin{figure}[htbp] +\begin{center} +\includegraphics[scale=0.6]{figures_pdf/contexte} +\caption{Diagramme de contexte} +\label{fig:contexte} +\end{center} +\end{figure} +\FloatBarrier + +La webcam produit des données (\texttt{image}) sous la forme d'un tableau d'octets. Le robot reçoit des ordres (\texttt{ordre}) sous la forme d'une chaîne de caractères et retourne une réponse aussi sous la forme d'une chaîne (\texttt{reponse}). Le moniteur envoie un événement (\texttt{connecter serveur}) pour demander la connexion avec le serveur puis établit une communication bi-directionnelle sous la forme d'un flux d'octets (\texttt{inputStream} et \texttt{outputStream}). + +%Si l'on se focalise uniquement sur le superviseur, nous avons donc un unique processus (voir figure~\ref{fig:processus}). +% +% \begin{figure}[htbp] +%\begin{center} +%\includegraphics[scale=0.6]{figures_pdf/AADL/system} +%\caption{Vue systéme du Superviseur} +%\label{fig:processus} +%\end{center} +%\end{figure} +%\FloatBarrier + + + %%%%%%%%%%%%%%%%%%%%%%%%% +\subsection{Description des fonctionnalités} +%%%%%%%%%%%%%%%%%%%%%%%%% + +Vous trouverez dans cette partie la description des différentes fonctionnalités attendues. Les annexes apportent des compléments techniques.\\ + +\noindent\fcolorbox{black}{Fond}{% couleur du texte, couleur du fond +\begin{minipage}{\textwidth} +L'expression des fonctionnalités est repérée par des encadrés avec un fond gris. C'est ce que vous devez réaliser. +\end{minipage} +} + +%%%%%%%%%%%%%%%%%%%%%%%%% +\subsubsection{Fonctionnement du moniteur} +%%%%%%%%%%%%%%%%%%%%%%%%% + +Le moniteur sert pour le contrôle du robot et la visualisation d'une scène. La communication entre le moniteur et le superviseur est réalisée par un socket avec un serveur du côté du superviseur. La communication est bi-directionnelle : le moniteur peut envoyer des requêtes et le superviseur peut envoyer des données pour mettre à jour certains éléments de l'interface. Les messages sont prédéfinis et sont présentés dans l'annexe~\ref{sec:comm_mon_sup}. + + +%%%%%%%%%%%%%%%%%%%%%%%%% + \subsubsection{Communication entre le superviseur et le moniteur} +%%%%%%%%%%%%%%%%%%%%%%%%% + +La communication entre le serveur et le superviseur est réalisée à l'aide d'un socket. Le superviseur joue le rôle de serveur. Toutes les fonctions pour gérer la communication entre le moniteur et le superviseur sont fournies dans {\tt monitor}. + +Les figures~\ref{fig:diag1_2} et~\ref{fig:diag3_6} illustrent le mode de fonctionnement nominal attendu pour la communication entre le superviseur et le moniteur. + +%https://sequencediagram.org + +%%%%%%%%%%%%%%%%%%%%%%%%% +\paragraph{Lancement du serveur.} Le lancement du serveur est réalisé à l'aide de la méthode {\tt Open} de la classe {\tt ComMonitor}.\\ + +\req{Le lancement du serveur doit être réalisé au démarrage du superviseur. En cas d'échec du démarrage du serveur, un message textuel doit être affiché sur la console de lancement de l'application. Ce message doit signaler le problème et le superviseur doit s'arrêter.} + + +%%%%%%%%%%%%%%%%%%%%%%%%% +\paragraph{Etablissement du socket.} La connexion entre le moniteur et le superviseur est réalisée suite à la demande de l'utilisateur via l'interface graphique. Lorsque la demande est faite, un socket est créé, il faut donc que le serveur soit en attente d'une demande de connexion, c'est-à-dire que la méthode {\tt AcceptClient} de la classe {\tt ComMonitor} soit en cours d'exécution. Cette méthode est bloquante.\\ + +\req{La connexion entre le moniteur et le superviseur (via le socket) doit être établie suite à la demande de connexion de l'utilisateur.} + +%Terminal->*Supervisor:exec +%note left of Supervisor: (req 1) start server +%Supervisor->+Supervisor: ComMonitor::Open() +%Supervisor-->-Supervisor:err +%alt err != failed +% Supervisor->+Supervisor: ComMonitor::AcceptClient() +% Monitor->Supervisor: connexion +% note left of Supervisor: (req 2) connect socket +% Supervisor->Monitor:accept +% Supervisor-->-Supervisor:err +% +%else +% Supervisor->Terminal: print("server failed") +% destroy Supervisor +%end +\begin{figure}[htbp] +\begin{center} +\includegraphics[scale=0.4]{./seq_req/req1-2} +\caption{Diagramme de séquence des fonctionnalités 1 à 2} +\label{fig:diag1_2} +\end{center} +\end{figure} + +%%%%%%%%%%%%%%%%%%%%%%%%% +\paragraph{Réception des messages.} La réception des messages du serveur par le superviseur est réalisée par l'appel de la méthode {\tt Read} de la classe {\tt ComMonitor}. Cette méthode est bloquante. Les messages du moniteur vers le superviseur sont pré-formatés dans la classe {\tt Message} et définis dans l'annexe~\ref{sec:mts}.\\ + +\req{Tous les messages envoyés depuis le moniteur doivent être réceptionnés par le superviseur.} + + +%%%%%%%%%%%%%%%%%%%%%%%%% +\paragraph{Envoi des messages.} L'envoi des messages du superviseur vers le moniteur est réalisé à l'aide de la fonction {\tt Write} de la classe {\tt ComMonitor}. Les messages du superviseur vers le moniteur sont pré-formatés et définis dans l'annexe~\ref{sec:stm}.\\ + +\req{L'application superviseur doit être capable d'envoyer les messages au moniteur (via le serveur) avec un délai d'au plus 10~ms.} + +%%%%%%%%%%%%%%%%%%%%%%%%% +\paragraph{Détection de la perte de communication.} La perte de communication entre le moniteur et le superviseur est détectée lors de la lecture sur le socket. La méthode {\tt Read} retourne un message de type {\tt MESSAGE\_MONITOR\_LOST} si la communication est perdue. \\ + +\req{Le superviseur doit détecter la perte de communication avec le moniteur. En cas de perte de la communication un message doit être affiché sur la console de lancement du superviseur.} + +%%%%%%%%%%%%%%%%%%%%%%%%% +\paragraph{Reprise de la communication.} La communication entre le moniteur et le superviseur est fermé à l'aide de la méthode {\tt Close} de la classe {\tt ComMonitor}. {\bf Attention} cette fonctionnalité ne peut être mise en place que lorsque l'ensemble de l'application est déjà réalisée, il ne sert à rien d'y travailler tant que le reste n'est pas fait.\\ + +\req{En cas de perte de communication entre le superviseur et moniteur, il faut stopper le robot, la communication avec le robot, fermer le serveur et déconnecter la caméra afin de revenir dans le même état qu'au démarrage du superviseur.} + +%loop message is not MESSAGE_MONITOR_LOST +%par +%note left of Monitor: (req 3) receive message from Monitor +%Supervisor->+Supervisor: ComMonitor::Read() +%Monitor->Supervisor: message +%Supervisor-->-Supervisor: message +%note over Supervisor: compute message +%else +%note left of Monitor: (req 4) send message to Monitor +%note over Supervisor: wait message to send +%Supervisor->Monitor: ComMonitor::Write(message) +%end +%note left of Monitor +% (req 5) detect loss of +% communication between Supervisor +% and Monitor +%end note +%end +%note right of Supervisor: (req 6) kill server +%Supervisor->+Supervisor:ComMonitor::Close +%Supervisor->Terminal:print("Monitor is lost") +%note over Supervisor: clear Supervisor +\begin{figure}[htbp] +\begin{center} +\includegraphics[scale=0.4]{./seq_req/req3-6} +\caption{Diagramme de séquence des fonctionnalités 3 à 6} +\label{fig:diag3_6} +\end{center} +\end{figure} +\FloatBarrier + + %%%%%%%%%%%%%%%%%%%%%%%%% +\subsubsection{Communication entre le superviseur et le robot} +%%%%%%%%%%%%%%%%%%%%%%%%% + +La communication avec le robot s'effectue par le biais d'émetteur-récepteur Xbee. Pour communiquer, il est nécessaire de commencer par ouvrir la communication entre le superviseur et le boîtier Xbee. Toutes les fonctions de gestion de la communication entre le robot et le superviseur sont fournies dans la bibliothèque {\tt robot}. La figure~\ref{fig:diag7_9} illustre les fonctionnalités 7 à 9. + +\paragraph{Mettre en place la communication avec le robot.} L'ouverture de la communication (c'est-à-dire la réservation d'un port série) avec le robot se fait à l'aide de la fonction {\tt Open} de la classe {\tt ComRobot}. Cette demande est automatiquement demandée par le moniteur dès que le socket est en place.\\ + +\req{Dès que la communication avec le moniteur est en place, la communication entre le superviseur et le robot doit être ouverte. Si la communication est active, il faut envoyer un message d'acquittement au moniteur. En cas d'échec, un message le signalant est renvoyé au moniteur.} + +\paragraph{Surveillance de la communication avec le robot.} La communication entre le robot et le superviseur peut être perdue. Afin de surveiller cela, il faut mettre en place un mécanisme permettant d'inférer cette perte. L'envoi des messages au robot se fait à l'aide de la fonction {\tt Write} de la classe {\tt ComRobot}. En cas d'échec de communication, la méthode retourne un message contenant un code d'erreur. Cependant, l'envoi d'un message par Xbee peut retourner un échec même si le médium de communication est encore opérationnel. + +De ce fait, le simple retour d'un échec ne suffit pas à déterminer si la communication est définitivement perdue ou bien si c'est une erreur fugace. Afin de conclure que la communication est perdue, il faut donc mettre en place un mécanisme de compteur. Pour cela, il faut incrémenter un compteur à chaque échec sur l'envoi d'un message et le remettre à zéro à chaque succès. Si le compteur dépasse 3, la communication est alors déclarée perdue.\\ + +\req{La communication entre le robot et le superviseur doit être surveillée par un mécanisme de compteur afin de détecter une perte du médium de communication.} + +\paragraph{Perte de la communication avec le robot.} Le medium de communication entre le robot et le superviseur est stoppé par l'appel à la fonction {\tt close\_communication\_robot}.\\ + +\req{Lorsque la communication entre le robot et le superviseur est perdue, un message spécifique doit être envoyé au moniteur. Le système doit fermer la communication entre le robot et le superviseur et se remettre dans un état initial permettant de relancer la communication.} + + +%%%%%%%%%%%%%%%%%%%%%%%%% +\subsubsection{Démarrage du robot} +%%%%%%%%%%%%%%%%%%%%%%%%% + +Tous les messages entre le superviseur et le robot sont décrits dans l'annexe~\ref{sec:sec:comm_rob_sup}. L'envoi d'un message se fait par l'utilisation de la méthode {\tt Write} de la classe {\tt ComRobot}. La figure~\ref{fig:diag10_11} représente la séquence pour les fonctionnalités 10 et 11.\\ + +\noindent\framebox[\textwidth]{ +\begin{minipage}{0.9\textwidth} +{\bf Remarque :} Aucun mécanisme n'est mis en {\oe}uvre dans l'implémentation de {\tt Write} de {\tt ComRobot} pour se prémunir des appels concurrents. +\end{minipage} +} + + +%%%%%%%%%%%%%%%% +\paragraph{Démarrage sans watchdog du robot.} Le robot a deux modes de démarrage. Un mode simple, dit sans watchdog et un mode évolué exposé ci-après.\\ + +\req{Lorsque l'utilisateur demande, via le moniteur, le démarrage sans watchdog, le robot doit démarrer dans ce mode. En cas de succès, un message d'acquittement est retourné au moniteur. En cas d'échec, un message indiquant l'échec est transmis au moniteur.} + + +%note right of Monitor: (req 7) connect robot +%Monitor->Supervisor:connexion robot +%Supervisor->+Supervisor: ComRobot::Open() +%Supervisor-->-Supervisor:err +%alt err == 0 +%Supervisor->Monitor: ComMonitor::Write(ACK) +%else +%Supervisor->Monitor: ComMonitor::Write(NO_ACK) +%end +%note right of Monitor +% (req 8) monitor communication with robot +%end note +%loop cmpt <= 3 +%Supervisor->+Supervisor: ComRobot:Write(message) +%Supervisor-->-Supervisor:msg +%alt msg is not an error +% note over Supervisor: cmpt = 0 +%else +% note over Supervisor: cmpt ++ +%end +%end +%note right of Monitor: (req 9) robot communication lost +%Supervisor->Monitor: ComMonitor::Write(LOST_DMB) +%Supervisor->Supervisor: ComRobot::Close() +%note over Supervisor: initialize_communication_robot + +\begin{figure}[htbp] +\begin{center} +\includegraphics[scale=0.48]{./seq_req/req7-9} +\caption{Diagramme de séquence des fonctionnalités 7 à 9} +\label{fig:diag7_9} +\end{center} +\end{figure} +\FloatBarrier + +%%%%%%%%%%%%%%%% +\paragraph{Démarrage avec watchdog du robot.} En cas de perte de la communication entre le superviseur et le robot, ce dernier n'est plus contrôlable et continue à exécuter des ordres. Pour éviter cela, un mécanisme de surveillance à base de watchdog a été mis en place sur le robot. + +Le principe est simple : au démarrage du robot (c.-à-d. quand le robot traite l'ordre de démarrage avec watchdog), un watchdog périodique d'une seconde est lancé. \`A chaque expiration du watchdog un compteur dans le robot est incrémenté. Si le compteur atteint 3, le robot s'arrête et doit être redémarré manuellement. Pour éviter cela, le robot doit recevoir du superviseur un ordre spécifique de rechargement du watchdog (DMB\_RELOAD\_WD). Si l'ordre est valide, le compteur est décrémenté de 1 (minimum 0). Pour que cet ordre soit valide il faut qu'il arrive au moment où le watchdog expire avec un tolérance de 50~ms. \\ + +\req{Lorsque l'utilisateur demande, via le moniteur, le démarrage avec watchdog, le robot doit démarrer dans ce mode. Un message d'acquittement est retourné au moniteur. En cas d'échec, un message indiquant l'échec est transmis au moniteur. + +Une fois le démarrage effectué, le robot doit rester vivant. Pour cela, il faut que le moniteur envoie régulièrement le message de rechargement du watchdog.} + +%alt +%note right of Monitor +% (req 10) start without watchdog +%end note +%Monitor->Supervisor:start_robot_without_wd +%Supervisor->+Supervisor: ComRobot::Write(START_WITHOUT_WD) +%Supervisor-->-Supervisor:err +%note over Monitor, Supervisor:ack or no_ack +% +%else +%note right of Monitor +% (req 11) start with watchdog +%end note +% +%Monitor->Supervisor:start_robot_with_wd +%Supervisor->+Supervisor: ComRobot::Write(START_WITH_WD) +%Supervisor-->-Supervisor:err +%alt err == ROBOT_OK +%Supervisor->Monitor: ComMonitor::Write(message(ACK)) +%note over Supervisor +% start to reload wd periodically +%end note +%else +%Supervisor->Monitor: ComMonitor::Write(message(NO_ACK) +%end +%end + +\begin{figure}[htbp] +\begin{center} +\includegraphics[scale=0.4]{./seq_req/req10-11} +\caption{Diagramme de séquence des fonctionnalités 10 et 11} +\label{fig:diag10_11} +\end{center} +\end{figure} +\FloatBarrier + +%%%%%%%%%%%%%%%%%%%%%%%%% +\subsubsection{Déplacement et état du robot} +%%%%%%%%%%%%%%%%%%%%%%%%% + +Le robot n'a aucune intelligence et ne réagit qu'aux ordres qu'il reçoit. La figure~\ref{fig:diag12_13} représente la séquence pour les fonctionnalités 12 et 13. + +%%%%%%%%%%%%%%%%%%%%%%%%% +\paragraph{Déplacement manuel du robot.} Le robot peut recevoir cinq ordres de mouvement (avancer, reculer, tourner à droite, tourner à gauche et stopper). Lorsque l'utilisateur presse les flèches de l'interface graphique un message est envoyé au superviseur avec le mouvement à réaliser.\\ + +\req{Lorsque qu'un ordre de mouvement est reçu par le superviseur, le robot doit réaliser ce déplacement en moins de 100~ms.} + +%%%%%%%%%%%%%%%%%%%%%%%%% +\paragraph{Niveau de batterie du robot.} Il est possible de récupérer le niveau de la batterie du robot à l'aide de la fonction {\tt Write} de {\tt ComRobot} avec l'entête {\tt DMB\_GET\_VBAT}. La valeur retournée est ensuite à transmettre au moniteur.\\ + +\req{Le niveau de la batterie du robot doit être mis à jour toutes les 500~ms sur le moniteur.} + +%par +%note right of Monitor +% (req 12) move robot +%end note +%loop +%Monitor->Supervisor:move_robot(move) +%note over Supervisor: treat the message +%Supervisor->Supervisor: ComRobot::Write(Message(move)) +%end +%else +%note right of Monitor +% (req 13) check battery +%end note +%loop 500 ms +%Supervisor->+Supervisor: ComRobot::Write(Message(GET_VBAT)) +%Supervisor-->-Supervisor: levelBat +%Supervisor->Monitor:ComMonitor::Write(Message(levelBat)) +%end +%end +\begin{figure}[htbp] +\begin{center} +\includegraphics[scale=0.4]{./seq_req/req12-13} +\caption{Diagramme de séquence des fonctionnalités 12 et 13} +\label{fig:diag12_13} +\end{center} +\end{figure} +\FloatBarrier + +%%%%%%%%%%%%%%%%%%%%%%%%% +\subsubsection{Gestion de la caméra} +%%%%%%%%%%%%%%%%%%%%%%%%% + +Les fonctions permettant la manipulation des images sont fournies dans les librairies {\tt img} et {\tt camera}. L'implémentation des méthodes utilise \textsc{openCV}, une libraire libre en C/C++ de traitement d'images. + +%%%%%%%%%%%%%%%%%%%%%%%%% +\paragraph{Ouverture de la caméra.} La méthode {\tt Open} de la classe {\tt Camera} donne accès à la caméra.\\ + +\req{La caméra doit être démarrée suite à une demande provenant du moniteur. Si l'ouverture de la caméra a échoué, il faut envoyer un message au moniteur.} + +%%%%%%%%%%%%%%%%%%%%%%%%% +\paragraph{Capture d'une image (mode nominal).} La méthode {\tt Grab} de {\tt Camera} permet de capturer une image. L'envoi de l'image au moniteur s'effectue normalement par l'envoi d'un message\footnote{L'image est compressée lors de l'envoi du message.}. La fréquence de capture d'une image est fixée par un paramètre lors de l'instanciation d'un objet {\tt Camera}.\\ + +\req{Dès que la caméra est ouverte, une image doit être envoyée au moniteur toutes les 100 ms.} + +%%%%%%%%%%%%%%%%%%%%%%%%% +\paragraph{Fermeture de la caméra.} La méthode {\tt Close} de la classe {\tt Camera} permet de fermer proprement la caméra.\\ + +\req{La caméra doit être fermée suite à une demande provenant du moniteur. Un message doit être envoyé au moniteur pour signifier l'acquittement de la demande. L'envoi périodique des images doit alors être stoppé.} + +%note right of Monitor +%(req 14) open camera +%end note +%Monitor->Supervisor: open camera +%Supervisor->+Supervisor: Camera::Open() +%Supervisor-->-Supervisor: err +%note over Monitor, Supervisor: ack or no_ack +%par +%loop camera active +%note right of Monitor +%(req 15) capture image +%end note +%Supervisor->+Supervisor: Camera:Grab() +%Supervisor-->-Supervisor: image +%Supervisor->+Supervisor: Img::ToJpg(image) +%Supervisor-->-Supervisor: jpgimage +%Supervisor->Monitor:ComMonitor::Write(Message(jpgimage)) +%end +%else +% note right of Monitor +% (req 16) close camera +% end note +% Monitor->Supervisor: close camera +% Supervisor->+Supervisor: Camera::Close() +% Supervisor-->-Supervisor: err +% note over Monitor, Supervisor: ack or no_ack +%end + +\begin{figure}[htbp] +\begin{center} +\includegraphics[scale=0.4]{./seq_req/req14-16} +\caption{Diagramme de séquence des fonctionnalités 14 et 16} +\label{fig:diag14_15} +\end{center} +\end{figure} +\FloatBarrier + +\paragraph{Calibration de l'arène} Pour accélérer le traitement de l'image et le rendre plus stable\footnote{Si vous placez un robot en dehors de l'arène, il y a de fortes chances pour que cela perturbe le calcul de la position du robot.}, il est préférable de limiter la zone d'étude à l'arène. Pour cela il est nécessaire de faire un pré-traitement qui recherche l'arène. + +Le calcul se fait par l'appel à la méthode {\tt SearchArena} de {\tt Img}. Il est possible de tracer sur l'image l'arène en faisant appel à la méthode {\tt DrawArena}.\\ + +\req{Suite à une demande de recherche de l'arène, le superviseur doit stopper l'envoi périodique des images, faire la recherche de l'arène et renvoyer une image sur laquelle est dessinée cette arène. Si aucune arène n'est trouvée un message d'échec est envoyé.\\ + +L'utilisateur doit ensuite valider visuellement via le moniteur si l'arène a bien été trouvée. L'utilisateur peut : +\begin{itemize} + \item valider l'arène : dans ce cas, le superviseur doit sauvegarder l'arène trouvée (pour l'utiliser ultérieurement) puis retourner dans son mode d'envoi périodique des images en ajoutant à l'image l'arène dessinée. + \item annuler la recherche : dans ce cas, le superviseur doit simplement retourner dans son mode d'envoi périodique des images et invalider la recherche. +\end{itemize} +} + +%note left of Monitor:(req 17) find arena +%Monitor->Supervisor:find arena +%note over Supervisor:stop periodic image +%Supervisor->+Supervisor: Camera:Grab() +%Supervisor-->-Supervisor: image +%Supervisor->+Supervisor: Img::SearchArena(image) +%Supervisor-->-Supervisor: arena +%alt arena == NULL +%Supervisor->Monitor:ComMonitor::Write(Message(NO_ACK)) +%else +%Supervisor->+Supervisor: Img::DrawArena(image, arena) +%Supervisor-->-Supervisor: image +%Supervisor->+Supervisor: Img::ToJpg(image) +%Supervisor-->-Supervisor: jpgimage +%Supervisor->Monitor:ComMonitor::Write(Message(jpgimage)) +%alt +% Monitor->Supervisor: arena ok +% note over Supervisor: save arena +%else +% Monitor->Supervisor: arena ko +% note over Supervisor: delete arena +%end +%end +% +%note over Supervisor: restart periodic image + +\begin{figure}[htbp] +\begin{center} +\includegraphics[scale=0.4]{./seq_req/req17} +\caption{Diagramme de séquence de la fonctionnalité 17} +\label{fig:diag16} +\end{center} +\end{figure} +\FloatBarrier + +%%%%%%%%%%%%% +\paragraph{Calcul de la position du robot.} Le traitement d'une image pour trouver la position du robot se fait à l'aide de la méthode {\tt SearchRobot} de {\tt Img}. Il est possible de dessiner sur l'image la position trouvée en faisant appel à la méthode {\tt DrawRobot}. La position est envoyée du superviseur vers le moniteur en utilisant un message avec une entête dédié.\\ + +\req{Suite à une demande de l'utilisateur de calculer la position du robot, le superviseur doit calculer cette position, dessiner sur l'image le résultat et envoyer un message au moniteur avec la position toutes les 100~ms. Si le robot n'a pas été trouvé, un message de position est envoyé avec une position (-1,-1).} + +%%%%%%%%%%%%% +\paragraph{Stopper le calcul de la position du robot.} Il est possible pour l'utilisateur de demander l'arrêt du calcul de la position.\\ + +\req{Suite à une demande de l'utilisateur de stopper le calcul de la position du robot, le superviseur doit rebasculer dans un mode d'envoi de l'image sans le calcul de la position.} + +% note right of Monitor:(req 18) compute position +%Monitor->Supervisor:find_position +%loop +%Supervisor->+Supervisor: Camera:Grab() +%Supervisor-->-Supervisor: image +%Supervisor->+Supervisor: Img::SearchRobot(image, arena) +%Supervisor-->-Supervisor: position +%alt position != null +% Supervisor->+Supervisor: Img::DrawRobot(image, positin) +% Supervisor-->-Supervisor: image +% Supervisor->Monitor:ComMonitor::Write(Message(position)) +%else +% Supervisor->Monitor:ComMonitor::Write(Message(position nulle)) +%end +% Supervisor->+Supervisor: Img::ToJpg(image) +% Supervisor-->-Supervisor: jpgimage +% Supervisor->Monitor:ComMonitor::Write(Message(image)) +%end + + \begin{figure}[htbp] +\begin{center} +\includegraphics[scale=0.4]{./seq_req/req18} +\caption{Diagramme de séquence de la fonctionnalité 18} +\label{fig:diag17} +\end{center} +\end{figure} +\FloatBarrier + +%%%%%%%%%%%%%%%%%%%%%%%%%% +\subsubsection{Réaliser une mission} +%%%%%%%%%%%%%%%%%%%%%%%%%% + +TBD +%Les missions à effectuer consistent à déplacer le robot d'une position à une autre. Le choix de la destination se fait par l'utilisateur en cliquant sur l'image du moniteur puis en envoyant un message de type mission en la validant avec le bouton\og send mission \fg. +% +%Une mission est constituée de différents champs décrits dans un objet \texttt{DMission}. La position à atteindre peut être récupérée à l'aide de la méthode \texttt{d\_mission\_get\_position}. De plus, une mission est identifiée par un numéro contenu dans son champ \texttt{id}. +% +%La réalisation d'une mission s'effectue à l'aide des méthodes \texttt{d\_robot\_move} et \texttt{d\_robot\_turn}. Quand le point final est atteint, le superviseur doit envoyer un message de type mission portant l'identifiant de la mission. La méthode {\tt d\_message\_mission\_terminate} permet de construire un message portant les valeurs appropriées. +% +%Il est aussi possible pour l'utilisateur de mettre fin à une mission en cours en envoyant un message d'alerte (bouton \og Stop mission \fg). Ce message est de type {\tt MESSAGE\_TYPE\_MISSION} et porte \texttt{MISSION\_TYPE\_STOP} comme valeur dans le champ type. Dans ce cas le robot doit immédiatement s'arrêter puis le superviseur doit envoyer un message de fin de mission. +% +%Le diagramme~\ref{diag:seq_position} donne un aperçu de cette séquence.\\ +% +% \noindent\fcolorbox{black}{Fond}{% couleur du texte, couleur du fond +%\begin{minipage}{\textwidth} +%Réaliser la fonction qui permet d'effectuer une mission. Aucune méthode n'est fournie pour concevoir le déplacement, le plus simple étant de tourner le robot dans la direction du point à atteindre puis d'avancer de la distance souhaitée. +%\end{minipage} +%} diff --git a/doc/sujets/tex/specifications/src/plateforme.tex b/doc/sujets/tex/specifications/src/plateforme.tex new file mode 100644 index 0000000..b64d58c --- /dev/null +++ b/doc/sujets/tex/specifications/src/plateforme.tex @@ -0,0 +1,103 @@ +\section{Vue générale de la plate-forme} + +Le projet {\it De Stijl} est une plate-forme de contrôle d'un robot mobile développée au département Génie \'Electronique et Informatique. Les éléments constituant la plate-forme sont fournis et ont été testés de manière unitaire, mais nous ne garantissons pas un fonctionnement parfait. Toutes suggestions, corrections et modifications seront appréciées pour faire évoluer ce TP. Vous pouvez soumettre vos corrections (sujet, code ou autre) via le dépôt \href{https://github.com/INSA-GEI/dumber/}{GitHub}. + +\subsection{\'Eléments de la plate-forme} + +La plate-forme est constituée de quatre éléments (voir figure~\ref{fig:vue_gen}) : +\begin{enumerate} +\item {\bf L'arène :} Boîte rectangulaire de couleur grise, elle est le terrain dans lequel le robot évolue.% Deux zones de couleur y sont tracées pour représenter des objectifs à atteindre. +\item {\bf Le robot mobile :} Robot deux roues embarquant un microcontrôleur et un ensemble de composants matériels nécessaires à son déplacement. L'intelligence embarquée est volontairement limitée au contrôle de son déplacement (contrôle des moteurs) et à des fonctionnalités pour connaître son état. +\item {\bf Le superviseur :} Entité principale de la plate-forme, elle est dédiée au contrôle et à la supervision du robot. Elle est couplée à une Webcam fixée au-dessus du terrain afin d'en faire une acquisition visuelle et de localiser le robot. +\item {\bf Le moniteur :} Entité entièrement logicielle et distante, son rôle est d'offrir une interface de contrôle pour l'utilisateur.\\ + \end{enumerate} + +La communication entre les équipements est hétérogène et assurée par différents supports : +\begin{enumerate} +\item La communication entre le robot et le superviseur est réalisée par une liaison sans fils point à point à l'aide de modules XBee. Cette communication est vue comme une liaison série. +\item La communication entre le superviseur et le moniteur est réalisée par un socket. La liaison physique est assurée par WiFi. +\end{enumerate} + + +\begin{figure}[htbp] +\begin{center} +\includegraphics[scale=.6]{figures_pdf/schema_general2.pdf} +\caption{Vue générale de la plate-forme} +\label{fig:vue_gen} +\end{center} +\end{figure} +\FloatBarrier + + \subsubsection{Arène} + +L'arène (voir figure~\ref{fig:arene}) a été réalisée dans les ateliers du département par J. Perez. C'est une boîte de 60$\times$80 cm en Medium et recouverte d'une peinture uniforme grise. Les bords sont peints en blanc. Deux zones distinctes sont peintes sur les bords opposés. L'une étant de couleur verte (ou orange) et l'autre de couleur rouge. Actuellement ces zones ne servent pas. %Ces zones sont désignées comme étant des buts. + + \begin{figure}[htbp] +\begin{center} +\includegraphics[scale=.6]{figures_pdf/arene.pdf} +\caption{Vue schématique de l'arène} +\label{fig:arene} +\end{center} +\end{figure} +\FloatBarrier + + \subsubsection{Robot} + +La version 2.1 du robot a été conçue et réalisée par S. Di Mercurio. Schématiquement (figure~\ref{fig:robot}), le robot est constitué de deux moteurs, d'un microcontrôleur STM32F103RB et d'une puce Xbee assurant une liaison série point à point avec le superviseur. Chaque robot a un symbol différent sur le dos afin de l'identifier et de le localiser dans l'arène. + +Le robot est mobile sur deux roues avec un patin. Le contrôle de la trajectoire est assuré par le contrôle en vitesse des moteurs. + +Le code embarqué dans les robots a été produit par S. Di Mercurio et L. Senaneuch. Il offre tous les services nécessaires pour contrôler le robot. + + \begin{figure}[htbp] +\begin{center} +\includegraphics[scale=.6]{figures_pdf/schema_robot.pdf} +\caption{Vue schématique du robot} +\label{fig:robot} +\end{center} +\end{figure} +\FloatBarrier + +\noindent\framebox[\textwidth]{ +\begin{minipage}{0.9\textwidth} +{\bf Remarque :} L'application que vous allez réaliser sera celle du superviseur. Vous ne toucherez pas au code embarqué dans le robot. +\end{minipage} +}\\ + + \subsubsection{Superviseur} + + +Le superviseur orchestre le fonctionnement de la plate-forme en assurant le respect des contraintes temporelles du système. Il est déployé sur une Raspberry Pi 3B sur laquelle est installé un Ubuntu patché PREEMPT-RT avec l'extension mercury de Xenomai 3.0. Une Raspberry~Pi est un ordinateur à processeur ARM de taille réduite. La version 3B possède un processeur Broadcom BCM2837 64 bit à quatre cœurs ARM Cortex-A53 à 1,2 GHz, de puces WiFi 802.11n et Bluetooth 4.1. Un module Xbee a été ajouté pour communiquer avec le robot. + +La webcam est intégrée au bloc du superviseur et est une caméra Raspberry. + +\subsubsection{Moniteur} + +Le moniteur permet à l'utilisateur de saisir les ordres que le robot doit réalisée et aussi de connaître l'état global du système. Il a été développé par S. Di~Mercurio en C\# à l'aide de \href{https://www.monodevelop.com}{MonoDevelop}. Le moniteur communique avec le superviseur via un socket. Le serveur est mis en place sur la superviseur et le moniteur en est le client. + +\subsection{Bibliothèques logicielles} + +\framebox[\textwidth]{ +\begin{minipage}{0.9\textwidth} +Votre travail consistera à concevoir uniquement l'architecture logicielle du superviseur. Toutes les fonctions de traitement (communication, vidéo, etc.) {\bf ont déjà été implémentées} par L. Senaneuch et S. Di Mercurio. Vous n'aurez pas à modifier ce code, simplement à faire appel aux fonctions. Il n'en reste pas moins un gros travail d'architecte logiciel à faire. +\end{minipage} +}\\ + + + +Le code est disponible sur la branche stage du dépôt \href{https://github.com/INSA-GEI/dumber/}{GEI-INSA/dumber} sur GitHub . L'annexe~\ref{ann:diag_class} présente sous forme de diagramme de classes les bibliothèques disponibles.\\ + +Les fonctions de traitement sont réparties en cinq bibliothèques : +\begin{itemize} + \item commonitor : services de communication entre le superviseur et le moniteur, + \item comrobot : services de communication entre le superviseur et le robot, + \item message : services définissant le format des messages entre le moniteur, le superviseur et le robot, + \item camera : services de gestion de la caméra, + \item img : services réalisant tous les traitements vidéos. \\ +\end{itemize} + +\framebox[\textwidth]{ +\begin{minipage}{0.9\textwidth} +Toutes les bibliothèques ont été développées en C++, mais vous n'avez pas besoin de connaissances évoluées pour les utiliser (aucun support ne sera fourni par les encadrants pour le C++). Des explications sont fournies dans un document annexe pour manipuler les bibliothèques, mais d'une manière générale, vous n'avez pas besoin de connaissances évoluées en programmation objet pour les utiliser. +\end{minipage} +} diff --git a/doc/sujets/tex/specifications/sujet_robot.tex b/doc/sujets/tex/specifications/sujet_robot.tex new file mode 100644 index 0000000..ac88cd8 --- /dev/null +++ b/doc/sujets/tex/specifications/sujet_robot.tex @@ -0,0 +1,142 @@ +\documentclass[11pt]{paper} +\usepackage[frenchb]{babel} + +\usepackage[T1]{fontenc} + +\usepackage{graphicx} +\usepackage{amssymb} +\usepackage{amstext} +\usepackage{amsmath} +\usepackage{a4wide,color} +\usepackage[utf8]{inputenc} +\usepackage{xspace} +\usepackage{anysize} +\usepackage{tabularx} +\usepackage{multirow} +\usepackage{fancybox} +\usepackage{fancyhdr} +\usepackage{bbding} + +\usepackage{threeparttable} +\usepackage{color} +\usepackage{float} + +\usepackage[toc,page]{appendix} +\usepackage{lscape} + +\usepackage{placeins} + +\usepackage{listingsutf8} + +\usepackage{todonotes} + +\lstset{% general command to set parameter(s) + basicstyle=\footnotesize, % print whole listing small + keywordstyle=\color{magenta}\bfseries, % underlined bold black keywords + identifierstyle=, % nothing happens + commentstyle=\color{black}, % white comments + stringstyle=\ttfamily, % typewriter type for strings + showstringspaces=false % no special string spaces +} + +\lstdefinelanguage{aald} + {morekeywords={system, implementation}, + sensitive=false, + morecomment=[l]{//}, + morecomment=[s]{/*}{*/}, + morestring=[b]", +} + +\usepackage[colorlinks=true]{hyperref} + +\usepackage[normalem]{ulem} +\usepackage{color} + +\definecolor{Fond}{gray}{0.9} + +\renewcommand{\floatpagefraction}{.99} +\renewcommand{\textfraction}{.01} +\newcommand{\modif}[1]{\textcolor{red}{\uline{#1}}} + +\newcounter{cptreq} +\newcommand{\req}[1]{ +\stepcounter{cptreq} + \noindent\fcolorbox{black}{Fond}{% couleur du texte, couleur du fond + \begin{minipage}[t]{\textwidth} + {\bf Fonctionnalité \thecptreq}\, : #1 + \end{minipage} + } +} + +\pagestyle{fancy} +\fancyhf{} +\fancyhead[RE,RO]{\thepage} +\fancyhead[LE]{} +\fancyhead[LO]{Programmation et conception de systémes temps réel -- 4éme année AE/IR} +\fancyfoot[LO]{INSA Toulouse — P.-E. Hladik} +\fancypagestyle{plain}{% + \fancyhf{} % get rid of headers + \renewcommand{\headrulewidth}{0pt} % and the line +} + +\newenvironment{maliste}% +{ \begin{list}% + {\ArrowBoldRightStrobe}% + {\setlength{\labelwidth}{30pt}% + \setlength{\leftmargin}{35pt}% + \setlength{\itemsep}{\parsep}}}% +{ \end{list} } + +\renewcommand{\appendixtocname}{Annexes} +\renewcommand{\appendixpagename}{Annexes} + + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +\title{{\Huge Projet De Stijl 2.0} +{\small : Plateforme pour robots mobiles}\\ +{\scriptsize Programmation et conception de systémes temps réel -- 4éme année AE/IR}\\ +{\scriptsize Institut National des Sciences Appliquées de Toulouse}\\ +---\\ +Cahier des charges fonctionnel \\ +{\large Version 3.0.1 (\today)}\\ +{\scriptsize Référent pédagogique : P.-E. Hladik (\texttt{pehladik@insa-toulouse.fr})}\\ +{\scriptsize Référents plateforme : S. Di Mercurio (\texttt{dimercur@insa-toulouse.fr})}\\ +--- +} + + +\begin{document} +\maketitle + +%\tableofcontents +%\newpage + +\section*{Travail demandé} + +\begin{enumerate} + \item Le travail sera réalisé dans le cadre d'un groupe de trois ou quatre étudiants sur deux séances de TD et cinq séances de TP. + \item Il est attendu une conception complète lors lors de la 3e séance de TP. La conception sera sous forme de brouillon, mais doit couvrir l'ensemble des exigences. + \item Le projet fera l'objet d'un rapport évalué ainsi qu'une démonstration (si l'emploi du temps le permet). Un squelette pour le rapport est disponible sur la page moodle de l'enseignement. + \item L'évaluation a pour but de juger de vos compétences pour rédiger un compte rendu, réaliser la conception d'une application temps réel et programmer sur un système temps réel, mais aussi sur vos connaissances plus générale des systèmes temps réel. + \item Le code réalisé devra être rendu sous forme d'archive ne comprenant que les codes sources modifiés. + \item Le rendu du rapport et du code se fera sous la forme d'une archive à envoyer à votre encadrant de TP. + \item La démonstration aura lieu la semaine qui suit la dernière séance de TP. +\end{enumerate} + +\section*{Ressources indispensables} +\begin{enumerate} + \item Page Moodle : \href{https://moodle.insa-toulouse.fr/course/view.php?id=235}{Programmation et conception sur exécutif temps réel} + \item Dépôt GEI-INSA sur GitHub : \href{https://github.com/INSA-GEI/dumber/}{dumber} +\end{enumerate} + +\newpage +\input{src/plateforme} + +\newpage 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287P 1904 +104,16.,0.,16.0019062779357,0.,0.,-256.03050044697,0., 289P 1905 +0.174487942986311,-3.99619288632743,4.00023827764493, 289P 1906 +7.105427357601D-14; 289P 1907 +104,16.,0.,16.0019062779357,0.,0.,-256.03050044697,0., 291P 1908 +4.00023827764493,-7.105427357601D-14,0.174487942986311, 291P 1909 +3.99619288632743; 291P 1910 +104,1.,0.,1.00190627793566,0.,0.,-1.00190627793566,0., 293P 1911 +0.04366094290853,-0.999048221581854,0.119015516475501, 293P 1912 +-0.992905965993275; 293P 1913 +104,16.,0.,16.0019062779357,0.,0.,-256.03050044697,0., 295P 1914 +0.174487942986132,-3.99619288632744,4.00023827764493, 295P 1915 +-1.06581410364015D-13; 295P 1916 +104,9.00000000000001,0.,9.03431300284189,0.,0., 297P 1917 +-81.3088170255771,0.,2.12738127131653,-2.11930131663867, 297P 1918 +2.12738127131652,2.11930131663868; 297P 1919 +104,9.00000000000001,0.,9.03431300284189,0.,0., 299P 1920 +-81.3088170255771,0.,2.12738127131652,-2.11930131663869, 299P 1921 +2.12738127131652,2.11930131663868; 299P 1922 +104,9.00000000000001,0.,9.03431300284189,0.,0., 301P 1923 +-81.3088170255771,0.,2.12738127131653,-2.11930131663867, 301P 1924 +2.12738127131652,2.11930131663868; 301P 1925 +104,9.00000000000001,0.,9.03431300284189,0.,0., 303P 1926 +-81.3088170255771,0.,2.12738127131652,-2.11930131663869, 303P 1927 +2.12738127131652,2.11930131663868; 303P 1928 +104,1.,0.,1.00190627793566,0.,0.,-1.00190627793566,0., 305P 1929 +0.86932624380904,-0.494196005258658,1.00095268516332, 305P 1930 +-2.80331313717852D-14; 305P 1931 +104,16.,0.,16.0019062779357,0.,0.,-256.03050044697,0., 307P 1932 +4.00023827764493,1.06581410364015D-13,0.174487942986132, 307P 1933 +3.99619288632744; 307P 1934 +104,1.,0.,1.00190627793566,0.,0.,-1.00190627793566,0., 309P 1935 +0.0436609429084849,-0.99904822158186,0.11902647843352, 309P 1936 +-0.99282843351752; 309P 1937 +104,1.,0.,1.00190627793566,0.,0.,-1.00190627793566,0., 311P 1938 +0.118954734968436,0.992753175084939,0.0436609429084849, 311P 1939 +0.99904822158186; 311P 1940 +104,16.,0.,16.0019062779357,0.,0.,-256.03050044697,0., 313P 1941 +0.174487942986132,-3.99619288632744,4.00023827764493, 313P 1942 +-1.06581410364015D-13; 313P 1943 +104,1.,0.,1.00190627793566,0.,0.,-1.00190627793566,0., 315P 1944 +1.00095268516332,3.15858450505857D-14,0.869908130623496, 315P 1945 +0.494681585324517; 315P 1946 +104,1.,0.,1.00190627793566,0.,0.,-1.00190627793566,0., 317P 1947 +0.869326243809041,-0.494196005258658,1.00095268516332, 317P 1948 +-2.80331313717852D-14; 317P 1949 +104,16.,0.,16.0019062779357,0.,0.,-256.03050044697,0., 319P 1950 +4.00023827764493,1.06581410364015D-13,0.174487942986132, 319P 1951 +3.99619288632744; 319P 1952 +104,1.,0.,1.00190627793566,0.,0.,-1.00190627793566,0., 321P 1953 +0.0436609429084849,-0.99904822158186,0.119026478433516, 321P 1954 +-0.992828433517523; 321P 1955 +104,1.,0.,1.00190627793566,0.,0.,-1.00190627793566,0., 323P 1956 +0.118954734968593,0.992753175084917,0.0436609429084849, 323P 1957 +0.99904822158186; 323P 1958 +104,16.,0.,16.0019062779357,0.,0.,-256.03050044697,0., 325P 1959 +0.174487942986132,-3.99619288632744,4.00023827764493, 325P 1960 +-1.06581410364015D-13; 325P 1961 +104,1.,0.,1.00190627793566,0.,0.,-1.00190627793566,0., 327P 1962 +1.00095268516332,3.15858450505857D-14,0.869908130623496, 327P 1963 +0.494681585324517; 327P 1964 +104,100.,0.,100.030467929165,0.,0.,-10003.0467929165,0., 329P 1965 +9.99200404643221,-0.43619387365336,9.99200404643221, 329P 1966 +0.43619387365336; 329P 1967 +104,100.,0.,100.030467929165,0.,0.,-10003.0467929165,0., 331P 1968 +9.99200404643221,-0.43619387365336,9.99200404643221, 331P 1969 +0.436193873653359; 331P 1970 +104,0.215214186873177,0.,0.21562457016448,0.,0., 333P 1971 +-0.0464054665378269,0.,-0.464353927693639,7.7628609254445D-13, 333P 1972 +0.000353886260434211,-0.46391169620523; 333P 1973 +104,0.215214186873177,0.,0.21562457016448,0.,0., 335P 1974 +-0.0464054665378269,0.,0.000353886260434211,0.463911696205227, 335P 1975 +-0.464353927693641,-7.76286092544453D-13; 335P 1976 +104,0.25,0.,0.251011648002851,0.,0.,-0.0627529120007127,0., 337P 1977 +0.137600790942788,-0.480772640259547,0.48178629252796, 337P 1978 +0.137176782701747; 337P 1979 +104,0.25,0.,0.250152339645824,0.,0.,-0.0625380849114561,0., 339P 1980 +0.353714950679949,-0.353499542699417,0.353714950679948, 339P 1981 +0.353499542699411; 339P 1982 +104,0.25,0.,0.251011648002851,0.,0.,-0.0627529120007126,0., 341P 1983 +0.481786292527953,-0.137176782701763,0.137600790942801, 341P 1984 +0.480772640259536; 341P 1985 +104,0.25,0.,0.250152339645824,0.,0.,-0.062538084911456,0., 343P 1986 +0.353714950679957,-0.353499542699399,0.353714950679946, 343P 1987 +0.353499542699415; 343P 1988 +104,0.25,0.,0.251011648002851,0.,0.,-0.0627529120007127,0., 345P 1989 +0.137600790942788,-0.480772640259539,0.481786292527958, 345P 1990 +0.137176782701753; 345P 1991 +104,0.25,0.,0.250152339645824,0.,0.,-0.0625380849114561,0., 347P 1992 +0.353714950679949,-0.353499542699417,0.353714950679949, 347P 1993 +0.353499542699413; 347P 1994 +104,0.25,0.,0.251011648002851,0.,0.,-0.0627529120007126,0., 349P 1995 +0.481786292527954,-0.137176782701759,0.137600790942799, 349P 1996 +0.480772640259536; 349P 1997 +104,0.25,0.,0.250152339645824,0.,0.,-0.062538084911456,0., 351P 1998 +0.353714950679957,-0.353499542699399,0.353714950679947, 351P 1999 +0.353499542699419; 351P 2000 +104,0.215184581732828,0.,0.215594908571476,0.,0., 353P 2001 +-0.0463927002246803,0.,-0.464321988033527,2.13316521188156D-13, 353P 2002 +0.000353861919633573,-0.463879786963126; 353P 2003 +104,0.215184581732828,0.,0.215594908571476,0.,0., 355P 2004 +-0.0463927002246803,0.,0.000353861919635387,0.46387978696313, 355P 2005 +-0.464321988033533,-2.13316521188158D-13; 355P 2006 +192,8031,6701,2.00000000000001,6703; 357P 2007 +192,8035,6709,2.00000000000001,6711; 359P 2008 +192,8045,6729,2.00000000000001,6731; 361P 2009 +192,8049,6737,2.00000000000001,6739; 363P 2010 +192,8057,6753,3.,6755; 365P 2011 +192,8101,6841,3.,6843; 367P 2012 +192,8105,6849,3.,6851; 369P 2013 +192,8155,6949,3.,6951; 371P 2014 +192,8157,6953,3.,6955; 373P 2015 +192,8159,6957,4.,6959; 375P 2016 +192,8163,6965,4.,6967; 377P 2017 +192,8167,6973,3.,6975; 379P 2018 +192,8511,7661,3.,7663; 381P 2019 +192,8513,7665,3.,7667; 383P 2020 +192,8515,7669,3.,7671; 385P 2021 +192,8519,7677,4.,7679; 387P 2022 +192,8523,7685,4.,7687; 389P 2023 +192,8527,7693,3.,7695; 391P 2024 +192,8529,7697,3.,7699; 393P 2025 +192,8531,7701,3.,7703; 395P 2026 +192,8541,7721,1.5,7723; 397P 2027 +192,8545,7729,1.5,7731; 399P 2028 +192,8549,7737,1.5,7739; 401P 2029 +192,8553,7745,1.5,7747; 403P 2030 +192,8557,7753,10.,7755; 405P 2031 +192,8595,7829,1.,7831; 407P 2032 +192,8599,7837,1.,7839; 409P 2033 +192,8603,7845,1.00000000000001,7847; 411P 2034 +192,8607,7853,1.00000000000001,7855; 413P 2035 +192,8621,7881,1.4224,7883; 415P 2036 +120,537,539,0.,6.28318530717959; 417P 2037 +120,697,699,0.,6.28318530717959; 419P 2038 +120,703,705,0.,6.28318530717959; 421P 2039 +120,709,711,0.,6.28318530717959; 423P 2040 +120,715,717,0.,6.28318530717959; 425P 2041 +120,721,723,0.,6.28318530717959; 427P 2042 +120,727,729,0.,6.28318530717959; 429P 2043 +120,733,735,0.,6.28318530717959; 431P 2044 +120,739,741,0.,6.28318530717959; 433P 2045 +120,745,747,0.,6.28318530717959; 435P 2046 +120,751,753,0.,6.28318530717959; 437P 2047 +120,757,759,0.,6.28318530717959; 439P 2048 +120,763,765,0.,6.28318530717959; 441P 2049 +120,769,771,0.,6.28318530717959; 443P 2050 +120,775,777,0.,6.28318530717959; 445P 2051 +120,821,823,0.,6.28318530717959; 447P 2052 +120,845,847,0.,6.28318530717959; 449P 2053 +120,853,855,0.,6.28318530717959; 451P 2054 +120,865,867,0.,6.28318530717959; 453P 2055 +120,875,877,0.,6.28318530717959; 455P 2056 +120,887,889,0.,6.28318530717959; 457P 2057 +120,897,899,0.,6.28318530717959; 459P 2058 +120,909,911,0.,6.28318530717959; 461P 2059 +120,921,923,0.,6.28318530717959; 463P 2060 +120,1025,1027,0.,6.28318530717959; 465P 2061 +120,1051,1053,0.,6.28318530717959; 467P 2062 +120,1061,1063,0.,6.28318530717959; 469P 2063 +120,1073,1075,0.,6.28318530717959; 471P 2064 +120,1827,1829,0.,6.28318530717959; 473P 2065 +120,1833,1835,0.,6.28318530717959; 475P 2066 +120,1839,1841,0.,6.28318530717959; 477P 2067 +120,1845,1847,0.,6.28318530717959; 479P 2068 +120,1883,1885,0.,6.28318530717959; 481P 2069 +120,1895,1897,0.,6.28318530717959; 483P 2070 +120,1903,1905,0.,6.28318530717959; 485P 2071 +120,1913,1915,0.,6.28318530717959; 487P 2072 +120,1923,1925,0.,6.28318530717959; 489P 2073 +120,1935,1937,0.,6.28318530717959; 491P 2074 +120,2053,2055,0.,6.28318530717959; 493P 2075 +120,2067,2069,0.,6.28318530717959; 495P 2076 +120,2081,2083,0.,6.28318530717959; 497P 2077 +120,2093,2095,0.,6.28318530717959; 499P 2078 +120,2161,6493,0.,6.28318530717959; 501P 2079 +120,2169,6557,0.,6.28318530717959; 503P 2080 +120,2179,2181,0.,6.28318530717959; 505P 2081 +120,2197,2199,0.,6.28318530717959; 507P 2082 +120,2215,2217,0.,6.28318530717959; 509P 2083 +120,2227,2229,0.,6.28318530717959; 511P 2084 +120,2237,2239,0.,6.28318530717959; 513P 2085 +120,2243,2245,0.,6.28318530717959; 515P 2086 +120,2249,2251,0.,6.28318530717959; 517P 2087 +120,2255,2257,0.,6.28318530717959; 519P 2088 +120,2269,2271,0.,6.28318530717959; 521P 2089 +120,2305,2307,0.,6.28318530717959; 523P 2090 +110,28.6518606150165,27.830982828723,2.5,28.6518606150165, 525P 2091 +8.626953140301,2.5; 525P 2092 +110,28.6518606150165,27.830982828723,2.5,-28.6518606150165, 527P 2093 +27.8309828287235,2.5; 527P 2094 +110,-28.6518606150165,8.62695314030144,2.5,-28.6518606150165, 529P 2095 +27.8309828287235,2.5; 529P 2096 +110,-28.6518606150165,-27.8309828287255,2.5,-28.6518606150165, 531P 2097 +6.0350125171455,2.5; 531P 2098 +110,-28.6518606150165,-27.8309828287255,2.5,28.6518606150165, 533P 2099 +-27.8309828287258,2.5; 533P 2100 +110,28.6518606150165,6.03501251714506,2.5,28.6518606150165, 535P 2101 +-27.8309828287258,2.5; 535P 2102 +110,-28.6518606150165,21.8056266003596,3.5,-28.6518606150165, 537P 2103 +20.8056266003596,3.5; 537P 2104 +110,-29.6509088365983,27.8309828287257,3.45638061263467, 539P 2105 +-29.6509088365983,-27.8309828287255,3.45638061263467; 539P 2106 +110,-29.6509088365983,27.8309828287237,3.45638061263466, 541P 2107 +-29.6509088365983,-27.8309828287255,3.45638061263466; 541P 2108 +110,32.0325134035458,27.2522430315522,14.9,32.0325134035459, 543P 2109 +-27.2522430315522,14.9; 543P 2110 +110,32.1112532007192,-27.3309828287255,14.,32.0325134035459, 545P 2111 +-27.2522430315522,14.9; 545P 2112 +110,32.1112532007192,-27.3309828287255,14.,32.1112532007192, 547P 2113 +27.3309828287255,14.; 547P 2114 +110,32.1112532007192,27.3309828287255,14.,32.0325134035458, 549P 2115 +27.2522430315522,14.9; 549P 2116 +110,32.0325134035459,-27.2522430315522,14.9,31.3899929978925, 551P 2117 +-27.2522430315522,14.9; 551P 2118 +110,31.3112532007192,-27.3309828287255,14.,31.3899929978925, 553P 2119 +-27.2522430315522,14.9; 553P 2120 +110,32.1112532007192,-27.3309828287255,14.,31.3112532007192, 555P 2121 +-27.3309828287255,14.; 555P 2122 +110,31.3899929978925,-27.2522430315522,14.9,31.3899929978925, 557P 2123 +27.2522430315522,14.9; 557P 2124 +110,31.3112532007192,27.3309828287255,14.,31.3899929978925, 559P 2125 +27.2522430315522,14.9; 559P 2126 +110,31.3112532007192,-27.3309828287255,14.,31.3112532007192, 561P 2127 +27.3309828287255,14.; 561P 2128 +110,31.3899929978925,27.2522430315522,14.9,32.0325134035458, 563P 2129 +27.2522430315522,14.9; 563P 2130 +110,31.3112532007192,27.3309828287255,14.,32.1112532007192, 565P 2131 +27.3309828287255,14.; 565P 2132 +110,-32.0325134035458,27.2522430315522,14.9,-31.3899929978925, 567P 2133 +27.2522430315522,14.9; 567P 2134 +110,-31.3112532007192,27.3309828287255,14.,-31.3899929978925, 569P 2135 +27.2522430315522,14.9; 569P 2136 +110,-32.1112532007192,27.3309828287255,14.,-31.3112532007192, 571P 2137 +27.3309828287255,14.; 571P 2138 +110,-32.1112532007192,27.3309828287255,14.,-32.0325134035458, 573P 2139 +27.2522430315522,14.9; 573P 2140 +110,-31.3899929978925,27.2522430315522,14.9,-31.3899929978925, 575P 2141 +-28.2522430315522,14.9; 575P 2142 +110,-31.3112532007192,-28.3309828287256,14.,-31.3899929978925, 577P 2143 +-28.2522430315522,14.9; 577P 2144 +110,-31.3112532007192,27.3309828287255,14.,-31.3112532007192, 579P 2145 +-28.3309828287256,14.; 579P 2146 +110,-31.3899929978925,-28.2522430315522,14.9,-32.0325134035458, 581P 2147 +-28.2522430315522,14.9; 581P 2148 +110,-32.1112532007192,-28.3309828287256,14.,-32.0325134035458, 583P 2149 +-28.2522430315522,14.9; 583P 2150 +110,-31.3112532007192,-28.3309828287256,14.,-32.1112532007192, 585P 2151 +-28.3309828287256,14.; 585P 2152 +110,-32.0325134035458,-28.2522430315522,14.9,-32.0325134035458, 587P 2153 +27.2522430315522,14.9; 587P 2154 +110,-32.1112532007192,27.3309828287255,14.,-32.1112532007192, 589P 2155 +-28.3309828287256,14.; 589P 2156 +110,29.4409635752042,-32.6112532007192,13.5,30.1112532007192, 591P 2157 +-32.6112532007192,13.5; 591P 2158 +110,30.1112532007192,-32.6112532007192,14.,30.1112532007192, 593P 2159 +-32.6112532007192,13.5; 593P 2160 +110,29.4534364705529,-32.6112532007192,14.,30.1112532007192, 595P 2161 +-32.6112532007192,14.; 595P 2162 +110,30.1112532007192,32.6112532007192,14.,29.4534364705528, 597P 2163 +32.6112532007192,14.; 597P 2164 +110,30.1112532007192,32.6112532007192,14.,30.1112532007192, 599P 2165 +32.6112532007192,13.5; 599P 2166 +110,30.1112532007192,32.6112532007192,13.5,29.4409635752042, 601P 2167 +32.6112532007192,13.5; 601P 2168 +110,32.1112532007192,-30.6112532007192,14.,32.1112532007192, 603P 2169 +-30.6112532007192,13.5; 603P 2170 +110,32.1112532007192,-30.6112532007192,13.5,32.1112532007192, 605P 2171 +30.6112532007192,13.5; 605P 2172 +110,32.1112532007192,30.6112532007192,14.,32.1112532007192, 607P 2173 +30.6112532007192,13.5; 607P 2174 +110,32.1112532007192,27.3309828287255,14.,32.1112532007192, 609P 2175 +30.6112532007192,14.; 609P 2176 +110,32.1112532007192,-30.6112532007192,14.,32.1112532007192, 611P 2177 +-27.3309828287255,14.; 611P 2178 +110,30.0894227292649,-33.5894227292649,13.5,30.0894227292649, 613P 2179 +-33.5861953263388,13.5; 613P 2180 +110,30.0922780645193,-33.5894227292649,13.5,30.0894227292649, 615P 2181 +-33.5894227292649,13.5; 615P 2182 +110,33.0894227292649,30.5922780645193,13.5,33.0894227292649, 617P 2183 +-30.5922780645193,13.5; 617P 2184 +110,30.0894227292649,33.5894227292649,13.5,30.0922780645194, 619P 2185 +33.5894227292649,13.5; 619P 2186 +110,30.0894227292649,33.5861953263388,13.5,30.0894227292649, 621P 2187 +33.5894227292649,13.5; 621P 2188 +110,29.4534364705528,32.6112532007192,14.,28.6112532007192, 623P 2189 +31.3309828287256,14.; 623P 2190 +110,28.6112532007192,31.3309828287256,14.,30.1112532007192, 625P 2191 +31.3309828287256,14.; 625P 2192 +110,30.1112532007192,31.3309828287256,14.,30.1112532007192, 627P 2193 +29.3309828287256,14.; 627P 2194 +110,30.1112532007192,29.3309828287256,14.,29.1112532007192, 629P 2195 +29.3309828287256,14.; 629P 2196 +110,29.1112532007192,29.3309828287256,14.,29.1112532007192, 631P 2197 +27.8309828287256,14.; 631P 2198 +110,29.1112532007192,27.8309828287256,14.,30.1112532007192, 633P 2199 +27.8309828287255,14.; 633P 2200 +110,30.1112532007192,27.8309828287255,14.,30.1112532007192, 635P 2201 +-27.8309828287255,14.; 635P 2202 +110,29.1112532007192,-27.8309828287255,14.,30.1112532007192, 637P 2203 +-27.8309828287255,14.; 637P 2204 +110,29.1112532007192,-29.3309828287255,14.,29.1112532007192, 639P 2205 +-27.8309828287255,14.; 639P 2206 +110,30.1112532007192,-29.3309828287255,14.,29.1112532007192, 641P 2207 +-29.3309828287255,14.; 641P 2208 +110,30.1112532007192,-29.3309828287255,14.,30.1112532007192, 643P 2209 +-31.3309828287255,14.; 643P 2210 +110,30.1112532007192,-31.3309828287255,14.,28.6112532007192, 645P 2211 +-31.3309828287255,14.; 645P 2212 +110,28.6112532007192,-31.3309828287255,14.,29.4534364705529, 647P 2213 +-32.6112532007192,14.; 647P 2214 +110,28.6112532007192,31.3309828287256,14.,28.1861816313163, 649P 2215 +31.3309828287256,4.26426043309317; 649P 2216 +110,-30.1112532007192,-32.6112532007192,14.,-29.4534364705528, 651P 2217 +-32.6112532007192,14.; 651P 2218 +110,-30.1112532007192,-32.6112532007192,14.,-30.1112532007192, 653P 2219 +-32.6112532007192,13.5; 653P 2220 +110,-29.4409635752042,-32.6112532007192,13.5,-30.1112532007192, 655P 2221 +-32.6112532007192,13.5; 655P 2222 +110,-32.1112532007192,-30.6112532007192,13.5,-32.1112532007192, 657P 2223 +30.6112532007192,13.5; 657P 2224 +110,-30.1112532007192,32.6112532007192,13.5,-29.4409635752042, 659P 2225 +32.6112532007192,13.5; 659P 2226 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+110,-30.1112532007192,32.6112532007192,14.,-30.1112532007192, 679P 2245 +32.6112532007192,13.5; 679P 2246 +110,-29.4534364705528,32.6112532007192,14.,-30.1112532007192, 681P 2247 +32.6112532007192,14.; 681P 2248 +110,-28.6112532007192,-31.3309828287255,14.,-28.1861816313163, 683P 2249 +-31.3309828287255,4.26426043309318; 683P 2250 +110,-29.4534364705528,-32.6112532007192,14.,-28.6112532007192, 685P 2251 +-31.3309828287255,14.; 685P 2252 +110,-29.663738996974,-33.163738996974,3.75023959782836, 687P 2253 +-30.0894227292649,-33.5894227292649,13.5; 687P 2254 +110,-29.6698812525626,-33.1670259173082,3.82552245053865, 689P 2255 +-30.0922780645193,-33.5894227292649,13.5; 689P 2256 +110,-33.0894227292649,-30.5922780645193,13.5,-32.6670259173082, 691P 2257 +-30.1698812525626,3.82552245053866; 691P 2258 +110,-32.6670259173082,30.1698812525626,3.82552245053866, 693P 2259 +-33.0894227292649,30.5922780645193,13.5; 693P 2260 +110,-32.6670259173082,-30.1698812525626,3.82552245053866, 695P 2261 +-32.6670259173082,30.1698812525626,3.82552245053866; 695P 2262 +110,14.,-14.0000000000014,6.75,14.,-14.0000000000014,7.75; 697P 2263 +110,12.75,-14.0000000000014,6.5,12.75,-14.0000000000014,7.; 699P 2264 +110,12.75,-14.0000000000014,7.,12.75,-14.0000000000014,6.5; 701P 2265 +110,14.,-14.0000000000014,4.5,14.,-14.0000000000014,5.5; 703P 2266 +110,12.875,-14.0000000000014,2.,12.875,-14.0000000000014,6.5; 705P 2267 +110,12.875,-14.0000000000014,6.5,12.875,-14.0000000000014,2.; 707P 2268 +110,-14.,13.9999999999985,6.75,-14.,13.9999999999985,7.75; 709P 2269 +110,-15.25,13.9999999999985,6.5,-15.25,13.9999999999985,7.; 711P 2270 +110,-15.25,13.9999999999985,7.,-15.25,13.9999999999985,6.5; 713P 2271 +110,-14.,13.9999999999985,4.5,-14.,13.9999999999985,5.5; 715P 2272 +110,-15.125,13.9999999999985,2.,-15.125,13.9999999999985,6.5; 717P 2273 +110,-15.125,13.9999999999985,6.5,-15.125,13.9999999999985,2.; 719P 2274 +110,14.,13.9999999999986,6.75,14.,13.9999999999986,7.75; 721P 2275 +110,12.75,13.9999999999986,6.5,12.75,13.9999999999986,7.; 723P 2276 +110,12.75,13.9999999999986,7.,12.75,13.9999999999986,6.5; 725P 2277 +110,14.,13.9999999999986,4.5,14.,13.9999999999986,5.5; 727P 2278 +110,12.875,13.9999999999986,2.,12.875,13.9999999999986,6.5; 729P 2279 +110,12.875,13.9999999999986,6.5,12.875,13.9999999999986,2.; 731P 2280 +110,-14.,-14.0000000000015,6.75,-14.,-14.0000000000015,7.75; 733P 2281 +110,-15.25,-14.0000000000015,6.5,-15.25,-14.0000000000015,7.; 735P 2282 +110,-15.25,-14.0000000000015,7.,-15.25,-14.0000000000015,6.5; 737P 2283 +110,-14.,-14.0000000000015,4.5,-14.,-14.0000000000015,5.5; 739P 2284 +110,-15.125,-14.0000000000015,2.,-15.125,-14.0000000000015,6.5; 741P 2285 +110,-15.125,-14.0000000000015,6.5,-15.125,-14.0000000000015,2.; 743P 2286 +110,-25.,7.33098282872347,2.36277630541576,-25., 745P 2287 +7.33098282872347,1.36277630541576; 745P 2288 +110,-23.5,7.33098282872347,3.22555261083151,-22., 747P 2289 +7.33098282872347,1.5; 747P 2290 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2344 +110,28.6708330309808,30.1281247732356,0.,-28.6708330309808, 809P 2345 +30.1281247732356,0.; 809P 2346 +110,-29.6112532007192,-31.3309828287255,2.49,29.6112532007192, 811P 2347 +-31.3309828287255,2.49; 811P 2348 +110,-30.1112532007192,-31.3309828287255,14.,-30.1112532007192, 813P 2349 +-31.3309828287255,2.99; 813P 2350 +110,-28.6112532007192,-31.3309828287255,14.,-30.1112532007192, 815P 2351 +-31.3309828287255,14.; 815P 2352 +110,30.1112532007192,-31.3309828287255,14.,30.1112532007192, 817P 2353 +-31.3309828287255,2.99; 817P 2354 +110,-28.6708330309808,-30.1281247732356,0.,28.6708330309808, 819P 2355 +-30.1281247732356,0.; 819P 2356 +110,29.6112532007192,29.8309828287256,2.99,29.6112532007192, 821P 2357 +30.8309828287256,2.99; 821P 2358 +110,30.1112532007192,29.3309828287255,2.99,30.1112532007192, 823P 2359 +31.3309828287256,2.99; 823P 2360 +110,29.6112532007192,31.3309828287256,2.49,29.6112532007192, 825P 2361 +29.3309828287256,2.49; 825P 2362 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2380 +110,-29.6112532007192,30.8309828287256,2.99,-29.6112532007192, 845P 2381 +29.8309828287256,2.99; 845P 2382 +110,-30.1112532007192,31.3309828287256,2.99,-30.1112532007192, 847P 2383 +29.3309828287255,2.99; 847P 2384 +110,-30.1112532007192,31.3309828287256,2.99,-30.1112532007192, 849P 2385 +29.3309828287255,2.99; 849P 2386 +110,-30.1112532007192,29.3309828287255,14.,-30.1112532007192, 851P 2387 +31.3309828287256,14.; 851P 2388 +110,29.6112532007192,-30.8309828287255,2.99,29.6112532007192, 853P 2389 +-29.8309828287255,2.99; 853P 2390 +110,30.1112532007192,-31.3309828287255,2.99,30.1112532007192, 855P 2391 +-29.3309828287255,2.99; 855P 2392 +110,29.6112532007192,-29.3309828287255,2.49,29.6112532007192, 857P 2393 +-31.3309828287255,2.49; 857P 2394 +110,30.1112532007192,-31.3309828287255,2.99,30.1112532007192, 859P 2395 +-29.3309828287255,2.99; 859P 2396 +110,29.6112532007192,-29.3309828287255,2.49,-29.6112532007192, 861P 2397 +-29.3309828287255,2.49; 861P 2398 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3350 +110,29.6526202765585,33.1447837205913,3.50004097717276, 1815P 3351 +29.6514371154486,33.152402690998,3.50058618606409; 1815P 3352 +110,29.6635862060657,33.1637416482261,3.75030032148501, 1817P 3353 +30.1112532007192,33.6112532007192,14.; 1817P 3354 +110,-28.6708330309808,33.1252694379812,2.86914183790399, 1819P 3355 +28.6708330309808,33.1252694379812,2.86914183790399; 1819P 3356 +110,28.6708330309808,-33.1252694379812,2.86914183790399, 1821P 3357 +-28.6708330309808,-33.1252694379812,2.86914183790399; 1821P 3358 +110,-29.6523294984371,33.1523672300212,3.49976003059236, 1823P 3359 +-29.6526202813398,33.1447837144932,3.50004097854174; 1823P 3360 +110,29.6523294984371,-33.1523672300212,3.49976003059236, 1825P 3361 +29.6526202813398,-33.1447837144932,3.50004097854175; 1825P 3362 +110,-25.,7.35281330017982,13.,-25.,7.35281330017982,14.; 1827P 3363 +110,-26.5,7.35281330017982,12.5,-26.5,7.35281330017982,13.5; 1829P 3364 +110,-26.5,7.35281330017982,13.5,-26.5,7.35281330017982,12.5; 1831P 3365 +110,-25.,7.35281330017982,8.5,-25.,7.35281330017982,9.5; 1833P 3366 +110,-26.25,7.35281330017982,3.5,-26.25,7.35281330017982,12.5; 1835P 3367 +110,-26.25,7.35281330017982,12.5,-26.25,7.35281330017982,3.5; 1837P 3368 +110,25.,7.35281330017982,13.,25.,7.35281330017982,14.; 1839P 3369 +110,23.5,7.35281330017982,12.5,23.5,7.35281330017982,13.5; 1841P 3370 +110,23.5,7.35281330017982,13.5,23.5,7.35281330017982,12.5; 1843P 3371 +110,25.,7.35281330017982,8.5,25.,7.35281330017982,9.5; 1845P 3372 +110,23.75,7.35281330017982,3.5,23.75,7.35281330017982,12.5; 1847P 3373 +110,23.75,7.35281330017982,12.5,23.75,7.35281330017982,3.5; 1849P 3374 +110,-32.0675922578107,27.8091523572713,13.,-32.0675922578106, 1851P 3375 +-27.8091523572713,13.; 1851P 3376 +110,-32.1112532007192,27.8528133001798,14.,-32.0675922578107, 1853P 3377 +27.8091523572713,13.; 1853P 3378 +110,-32.1112532007192,-27.8528133001798,14.,-32.0675922578106, 1855P 3379 +-27.8091523572713,13.; 1855P 3380 +110,-32.0675922578106,-27.8091523572713,13.,-31.1549141436277, 1857P 3381 +-27.8091523572713,13.; 1857P 3382 +110,-31.1112532007192,-27.8528133001798,14.,-31.1549141436277, 1859P 3383 +-27.8091523572713,13.; 1859P 3384 +110,-31.1549141436277,-27.8091523572713,13.,-31.1549141436277, 1861P 3385 +27.8091523572713,13.; 1861P 3386 +110,-31.1112532007192,27.8528133001798,14.,-31.1549141436277, 1863P 3387 +27.8091523572713,13.; 1863P 3388 +110,-31.1549141436277,27.8091523572713,13.,-32.0675922578107, 1865P 3389 +27.8091523572713,13.; 1865P 3390 +110,31.1549141436277,27.8091523572713,13.,31.1549141436277, 1867P 3391 +-27.8091523572713,13.; 1867P 3392 +110,31.1112532007192,27.8528133001798,14.,31.1549141436277, 1869P 3393 +27.8091523572713,13.; 1869P 3394 +110,31.1112532007192,-27.8528133001798,14.,31.1549141436277, 1871P 3395 +-27.8091523572713,13.; 1871P 3396 +110,31.1549141436277,-27.8091523572713,13.,32.0675922578107, 1873P 3397 +-27.8091523572713,13.; 1873P 3398 +110,32.1112532007192,-27.8528133001798,14.,32.0675922578107, 1875P 3399 +-27.8091523572713,13.; 1875P 3400 +110,32.0675922578107,-27.8091523572713,13.,32.0675922578107, 1877P 3401 +27.8091523572713,13.; 1877P 3402 +110,32.1112532007192,27.8528133001798,14.,32.0675922578107, 1879P 3403 +27.8091523572713,13.; 1879P 3404 +110,32.0675922578107,27.8091523572713,13.,31.1549141436277, 1881P 3405 +27.8091523572713,13.; 1881P 3406 +110,27.7391409452903,29.3528133001798,5.49904822158197, 1883P 3407 +27.7391409452903,28.3528133001798,5.49904822158197; 1883P 3408 +110,27.7391409452903,29.3528133001798,4.49904822158197, 1885P 3409 +27.7391409452903,27.8528133001798,4.49904822158197; 1885P 3410 +110,27.7391409452903,29.3528133001798,4.49904822158197, 1887P 3411 +27.7391409452903,27.8528133001798,4.49904822158197; 1887P 3412 +110,28.7381891668722,27.8528133001798,5.45542883421663, 1889P 3413 +28.7381891668722,29.3528133001798,5.45542883421664; 1889P 3414 +110,-27.7391409452904,27.8528133001798,4.49904822158197, 1891P 3415 +-27.7391409452904,29.3528133001798,4.49904822158197; 1891P 3416 +110,27.7391409452903,27.8528133001798,4.49904822158197, 1893P 3417 +-27.7391409452904,27.8528133001798,4.49904822158197; 1893P 3418 +110,-27.7391409452904,29.3528133001798,5.49904822158197, 1895P 3419 +-27.7391409452904,28.3528133001798,5.49904822158197; 1895P 3420 +110,-28.7381891668722,29.3528133001798,5.45542883421663, 1897P 3421 +-28.7381891668722,27.8528133001798,5.45542883421663; 1897P 3422 +110,-28.7381891668722,29.3528133001798,5.45542883421664, 1899P 3423 +-28.7381891668722,27.8528133001798,5.45542883421663; 1899P 3424 +110,-28.7381891668722,27.8528133001798,5.45542883421663, 1901P 3425 +-29.1112532007192,27.8528133001798,14.; 1901P 3426 +110,27.7391409452903,-29.3528133001798,5.49904822158187, 1903P 3427 +27.7391409452903,-28.3528133001798,5.49904822158187; 1903P 3428 +110,28.7381891668722,-29.3528133001798,5.45542883421654, 1905P 3429 +28.7381891668722,-27.8528133001798,5.45542883421654; 1905P 3430 +110,28.7381891668722,-29.3528133001798,5.45542883421654, 1907P 3431 +28.7381891668722,-27.8528133001798,5.45542883421654; 1907P 3432 +110,27.7391409452903,-27.8528133001798,4.49904822158187, 1909P 3433 +27.7391409452903,-29.3528133001798,4.49904822158187; 1909P 3434 +110,28.7381891668722,-27.8528133001798,5.45542883421654, 1911P 3435 +29.1112532007192,-27.8528133001798,14.; 1911P 3436 +110,-27.7391409452903,-29.3528133001798,5.49904822158187, 1913P 3437 +-27.7391409452903,-28.3528133001798,5.49904822158187; 1913P 3438 +110,-27.7391409452903,-29.3528133001798,4.49904822158187, 1915P 3439 +-27.7391409452903,-27.8528133001798,4.49904822158187; 1915P 3440 +110,-27.7391409452903,-29.3528133001798,4.49904822158187, 1917P 3441 +-27.7391409452903,-27.8528133001798,4.49904822158187; 1917P 3442 +110,-28.7381891668722,-27.8528133001798,5.45542883421654, 1919P 3443 +-28.7381891668722,-29.3528133001798,5.45542883421654; 1919P 3444 +110,-27.7391409452903,-27.8528133001798,4.49904822158187, 1921P 3445 +27.7391409452903,-27.8528133001798,4.49904822158187; 1921P 3446 +110,28.695521557925,-21.8056266003596,4.5,28.695521557925, 1923P 3447 +-20.8056266003596,4.5; 1923P 3448 +110,29.6945697795069,-27.8528133001798,4.45638061263467, 1925P 3449 +29.6945697795068,27.8528133001798,4.45638061263467; 1925P 3450 +110,29.6945697795069,-27.8528133001795,4.45638061263466, 1927P 3451 +29.6945697795069,27.8528133001798,4.45638061263466; 1927P 3452 +110,-30.1112532007192,-27.8528133001798,14.,-29.6945697795068, 1929P 3453 +-27.8528133001798,4.45638061263466; 1929P 3454 +110,-29.1112532007192,-27.8528133001798,14.,-28.7381891668722, 1931P 3455 +-27.8528133001798,5.45542883421654; 1931P 3456 +110,29.6945697795069,-27.8528133001795,4.45638061263466, 1933P 3457 +30.1112532007192,-27.8528133001798,14.; 1933P 3458 +110,-28.695521557925,21.8056266003596,4.5,-28.695521557925, 1935P 3459 +20.8056266003596,4.5; 1935P 3460 +110,-29.6945697795068,27.8528133001798,4.45638061263467, 1937P 3461 +-29.6945697795068,-27.8528133001798,4.45638061263467; 1937P 3462 +110,-29.6945697795069,27.8528133001798,4.45638061263466, 1939P 3463 +-29.6945697795068,-27.8528133001798,4.45638061263466; 1939P 3464 +110,-29.6945697795069,27.8528133001798,4.45638061263466, 1941P 3465 +-30.1112532007192,27.8528133001798,14.0000000000001; 1941P 3466 +110,29.1112532007192,27.8528133001798,14.,28.7381891668722, 1943P 3467 +27.8528133001798,5.45542883421663; 1943P 3468 +110,30.1112532007192,27.8528133001798,14.,29.6945697795069, 1945P 3469 +27.8528133001798,4.45638061263466; 1945P 3470 +110,-30.1112532007192,33.6112532007192,14.,-29.663738996974, 1947P 3471 +33.163738996974,3.75023959782852; 1947P 3472 +110,27.4998330309808,27.4998752267644,1.,27.4998330309808, 1949P 3473 +-27.5001247732356,1.; 1949P 3474 +110,27.4998330309808,27.4998752267644,0.,27.4998330309808, 1951P 3475 +27.4998752267644,1.; 1951P 3476 +110,27.4998330309808,-27.5001247732356,0.,27.4998330309808, 1953P 3477 +27.4998752267644,0.; 1953P 3478 +110,27.4998330309808,-27.5001247732356,0.,27.4998330309808, 1955P 3479 +-27.5001247732356,1.; 1955P 3480 +110,27.4998330309808,-27.5001247732356,1.,-27.5001669690192, 1957P 3481 +-27.5001247732356,1.; 1957P 3482 +110,-27.5001669690192,-27.5001247732356,0.,27.4998330309808, 1959P 3483 +-27.5001247732356,0.; 1959P 3484 +110,-27.5001669690192,-27.5001247732356,0.,-27.5001669690192, 1961P 3485 +-27.5001247732356,1.; 1961P 3486 +110,-27.5001669690192,-27.5001247732356,1.,-27.5001669690192, 1963P 3487 +27.4998752267644,1.; 1963P 3488 +110,-27.5001669690192,27.4998752267644,0.,-27.5001669690192, 1965P 3489 +-27.5001247732356,0.; 1965P 3490 +110,-27.5001669690192,27.4998752267644,0.,-27.5001669690192, 1967P 3491 +27.4998752267644,1.; 1967P 3492 +110,-27.5001669690192,27.4998752267644,1.,27.4998330309808, 1969P 3493 +27.4998752267644,1.; 1969P 3494 +110,27.4998330309808,27.4998752267644,0.,-27.5001669690192, 1971P 3495 +27.4998752267644,0.; 1971P 3496 +110,30.1112532007192,-33.6112532007192,14.,29.663738996974, 1973P 3497 +-33.163738996974,3.75023959782857; 1973P 3498 +110,-29.6698812525626,-33.1670259173082,3.82552245053865, 1975P 3499 +-30.1141085359736,-33.6112532007192,14.; 1975P 3500 +110,30.1141085359736,-33.6112532007192,14.,29.6698812525626, 1977P 3501 +-33.1670259173082,3.82552245053865; 1977P 3502 +110,29.6698812525626,33.1670259173082,3.82552245053865, 1979P 3503 +30.1141085359736,33.6112532007192,14.; 1979P 3504 +110,-30.1141085359736,33.6112532007192,14.,-29.6698812525626, 1981P 3505 +33.1670259173082,3.82552245053865; 1981P 3506 +110,28.6708330309808,30.1281247732356,0.,-28.6708330309808, 1983P 3507 +30.1281247732356,0.; 1983P 3508 +110,-32.6670259173082,30.1698812525626,3.82552245053866, 1985P 3509 +-33.1112532007192,30.6141085359736,14.; 1985P 3510 +110,33.1112532007192,30.6141085359736,14.,32.6670259173082, 1987P 3511 +30.1698812525626,3.82552245053866; 1987P 3512 +110,-32.6670259173082,-30.1698812525626,3.82552245053866, 1989P 3513 +-32.6670259173082,30.1698812525626,3.82552245053866; 1989P 3514 +110,-33.1112532007192,-30.6141085359736,14.,-32.6670259173082, 1991P 3515 +-30.1698812525626,3.82552245053866; 1991P 3516 +110,-28.6708330309808,30.1281247732356,0.,-28.6708330309808, 1993P 3517 +-30.1281247732356,0.; 1993P 3518 +110,28.6708330309808,-30.1281247732356,0.,28.6708330309808, 1995P 3519 +30.1281247732356,0.; 1995P 3520 +110,-28.6708330309808,-30.1281247732356,0.,28.6708330309808, 1997P 3521 +-30.1281247732356,0.; 1997P 3522 +110,32.6670259173082,30.1698812525626,3.82552245053866, 1999P 3523 +32.6670259173082,-30.1698812525626,3.82552245053866; 1999P 3524 +110,32.6670259173082,-30.1698812525626,3.82552245053866, 2001P 3525 +33.1112532007192,-30.6141085359736,14.; 2001P 3526 +110,-30.,9.85,-0.85,-30.,-9.85,-0.85; 2003P 3527 +110,28.5,11.35,-0.85,-28.5,11.35,-0.85; 2005P 3528 +110,30.,-9.85,-0.85,30.,9.85,-0.85; 2007P 3529 +110,-28.5,-11.35,-0.85,28.5,-11.35,-0.85; 2009P 3530 +110,-28.5,11.35,0.85,28.5,11.35,0.85; 2011P 3531 +110,28.5,11.35,-0.85,28.5,11.35,0.85; 2013P 3532 +110,-28.5,11.35,0.85,-28.5,11.35,-0.85; 2015P 3533 +110,30.,9.85,-0.85,30.,9.85,0.85; 2017P 3534 +110,30.,9.85,0.85,30.,-9.85,0.85; 2019P 3535 +110,30.,-9.85,-0.85,30.,-9.85,0.85; 2021P 3536 +110,28.5,-11.35,-0.85,28.5,-11.35,0.85; 2023P 3537 +110,28.5,-11.35,0.85,-28.5,-11.35,0.85; 2025P 3538 +110,-28.5,-11.35,-0.85,-28.5,-11.35,0.85; 2027P 3539 +110,-30.,-9.85,-0.85,-30.,-9.85,0.85; 2029P 3540 +110,-30.,-9.85,0.85,-30.,9.85,0.85; 2031P 3541 +110,-30.,9.85,-0.85,-30.,9.85,0.85; 2033P 3542 +110,-28.3866947630342,-0.415258924316528,3.33095536418538, 2035P 3543 +28.3866947630342,-0.415258924316528,3.33095536418538; 2035P 3544 +110,28.3866947630342,0.45712882299019,3.33095536418538, 2037P 3545 +-28.3866947630342,0.457128822990191,3.33095536418538; 2037P 3546 +110,-28.3939116962052,-9.88500000000002,2.91749753972157, 2039P 3547 +-28.3866947630342,-0.415258924316528,3.33095536418538; 2039P 3548 +110,27.93,-10.3492655150868,2.89722726957297,-27.93, 2041P 3549 +-10.3492655150868,2.89722726957297; 2041P 3550 +110,28.3866947630342,-0.415258924316528,3.33095536418538, 2043P 3551 +28.3939116962052,-9.88500000000001,2.91749753972157; 2043P 3552 +110,-28.3866947630342,0.457128822990191,3.33095536418538, 2045P 3553 +-28.3938797869631,9.885,2.91932561897715; 2045P 3554 +110,-28.43,9.885,0.85,-28.3938797869631,9.885,2.91932561897715; 2047P 3555 +110,-28.43,-9.88500000000002,0.85,-28.43,9.885,0.85; 2049P 3556 +110,-28.43,-9.88500000000002,0.85,-28.3939116962052, 2051P 3557 +-9.88500000000002,2.91749753972157; 2051P 3558 +110,-26.1778655249306,8.13286552493057,0.952648542300711, 2053P 3559 +-26.1953152740913,8.15031527409125,-0.0470469175811769; 2053P 3560 +110,-26.6728496032257,8.12792575564752,1.24437393821003, 2055P 3561 +-26.7094867492569,8.1645629016787,-0.854566752176767; 2055P 3562 +110,-26.6728496032257,8.12792575564752,1.24437393821003, 2057P 3563 +-26.7094070363011,8.16448318872294,-0.85; 2057P 3564 +110,-26.2094831887229,8.66440703630114,-0.85,-26.173307040487, 2059P 3565 +8.62823088806518,1.2225301443867; 2059P 3566 +110,26.2094831887229,8.66440703630115,-0.85,-26.2094831887229, 2061P 3567 +8.66440703630114,-0.85; 2061P 3568 +110,26.173307040487,8.6282308880652,1.2225301443867, 2063P 3569 +26.2094831887229,8.66440703630115,-0.85; 2063P 3570 +110,-26.173307040487,8.62823088806518,1.2225301443867, 2065P 3571 +26.173307040487,8.6282308880652,1.2225301443867; 2065P 3572 +110,-26.1723709352881,-8.12737093528815,1.26743337209247, 2067P 3573 +-26.1898206844488,-8.14482068444883,0.267737912210582; 2067P 3574 +110,-26.1729576892263,-8.62788153680456,1.24254446470429, 2069P 3575 +-26.2095629016787,-8.66448674925691,-0.854566752176767; 2069P 3576 +110,-26.1733389740658,-8.62826282164402,1.22070067088096, 2071P 3577 +-26.209483188723,-8.66440703630115,-0.85; 2071P 3578 +110,-26.7094070363011,-8.16448318872296,-0.85,-26.6728815368045, 2073P 3579 +-8.12795768922636,1.24254446470429; 2073P 3580 +110,-26.6666712282944,0.0209349493368475,1.59833280096419, 2075P 3581 +-26.6728496032257,8.12792575564752,1.24437393821003; 2075P 3582 +110,-26.6728815368045,-8.12795768922636,1.24254446470429, 2077P 3583 +-26.6666712282944,0.0209349493368475,1.59833280096419; 2077P 3584 +110,-26.7094070363011,8.16448318872294,-0.85,-26.7094070363011, 2079P 3585 +-8.16448318872296,-0.85; 2079P 3586 +110,26.1778655249306,-8.13286552493057,0.952648542300711, 2081P 3587 +26.1953152740913,-8.15031527409125,-0.0470469175811767; 2081P 3588 +110,26.6728815368045,-8.12795768922635,1.24254446470429, 2083P 3589 +26.7094867492569,-8.1645629016787,-0.854566752176767; 2083P 3590 +110,26.6728815368045,-8.12795768922635,1.24254446470429, 2085P 3591 +26.7094070363011,-8.16448318872294,-0.85; 2085P 3592 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5479P 7917 +8697,62,0,0,0,8697,63,0,0,0,8697,64,0,0,0,8697,65,0,0; 5479P 7918 +508,8,0,8697,27,1,0,0,8697,23,0,0,0,8697,33,1,0,0,8697,30,0,0,0, 5481P 7919 +8697,40,1,0,0,8697,35,0,0,0,8697,18,1,0,0,8697,16,0,0; 5481P 7920 +508,4,0,8697,66,1,0,0,8697,67,0,0,0,8697,60,1,0,0,8697,68,0,0; 5483P 7921 +508,4,0,8697,69,1,0,0,8697,70,0,0,0,8697,61,1,0,0,8697,67,1,0; 5485P 7922 +508,4,0,8697,71,1,0,0,8697,72,0,0,0,8697,62,1,0,0,8697,70,1,0; 5487P 7923 +508,4,0,8697,73,1,0,0,8697,74,0,0,0,8697,63,1,0,0,8697,72,1,0; 5489P 7924 +508,4,0,8697,75,1,0,0,8697,76,0,0,0,8697,64,1,0,0,8697,74,1,0; 5491P 7925 +508,4,0,8697,77,1,0,0,8697,78,0,0,0,8697,65,1,0,0,8697,76,1,0; 5493P 7926 +508,4,0,8697,79,1,0,0,8697,80,0,0,0,8697,58,1,0,0,8697,78,1,0; 5495P 7927 +508,4,0,8697,81,1,0,0,8697,68,1,0,0,8697,59,1,0,0,8697,80,1,0; 5497P 7928 +508,8,0,8697,66,0,0,0,8697,81,0,0,0,8697,79,0,0,0,8697,77,0,0,0, 5499P 7929 +8697,75,0,0,0,8697,73,0,0,0,8697,71,0,0,0,8697,69,0,0; 5499P 7930 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5635P 8044 +3.49991432757401; 5635P 8045 +124,-0.691513055782269,0.722363962059756,-8.88178419700136D-15, 5637P 8046 +-28.6518606150165,0.,-1.60235236735457D-13,-1.,27.8309828287255, 5637P 8047 +-0.722363962059756,-0.691513055782269,2.22438831236157D-13,3.5; 5637P 8048 +124,-0.691513055782269,-0.722363962059756,4.44089209850062D-15, 5639P 8049 +-28.6518606150165,0.,3.07386049951732D-15,1.,-27.8309828287255, 5639P 8050 +-0.722363962059756,0.691513055782269,1.93893536375498D-16,3.5; 5639P 8051 +124,-1.,0.,-2.4348333483205D-32,-25.,-4.89870289051773D-64,1., 5641P 8052 +2.01192533111014D-32,7.33098282872347,2.4348333483205D-32, 5641P 8053 +2.01192533111014D-32,-1.,13.5; 5641P 8054 +124,-1.,0.,0.,30.1112532007192,0.,-1.,0.,-30.6112532007192,0., 5643P 8055 +0.,1.,13.5; 5643P 8056 +124,-1.,0.,0.,30.1112532007192,0.,-1.,0.,-30.6112532007192,0., 5645P 8057 +0.,1.,14.; 5645P 8058 +124,0.,1.,0.,30.1112532007192,-1.,0.,0.,30.6112532007192,0.,0., 5647P 8059 +1.,13.5; 5647P 8060 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5681P 8110 +-2.01192533111014D-32,-14.0000000000014,-2.4348333483205D-32, 5681P 8111 +2.01192533111014D-32,1.,2.; 5681P 8112 +124,1.,4.89870289051773D-64,2.4348333483205D-32,14.,0.,1., 5683P 8113 +-2.01192533111014D-32,-14.0000000000014,-2.4348333483205D-32, 5683P 8114 +2.01192533111014D-32,1.,2.; 5683P 8115 +124,1.,4.89870289051773D-64,2.4348333483205D-32,-14.,0.,1., 5685P 8116 +-2.01192533111014D-32,13.9999999999985,-2.4348333483205D-32, 5685P 8117 +2.01192533111014D-32,1.,6.5; 5685P 8118 +124,1.,4.89870289051773D-64,2.4348333483205D-32,-14.,0.,1., 5687P 8119 +-2.01192533111014D-32,13.9999999999985,-2.4348333483205D-32, 5687P 8120 +2.01192533111014D-32,1.,6.5; 5687P 8121 +124,1.,4.89870289051773D-64,2.4348333483205D-32,-14.,0.,1., 5689P 8122 +-2.01192533111014D-32,13.9999999999985,-2.4348333483205D-32, 5689P 8123 +2.01192533111014D-32,1.,6.5; 5689P 8124 +124,1.,-4.89870289051773D-64,-2.4348333483205D-32,-14.,0.,-1., 5691P 8125 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(www.steptools.com) + */ + +FILE_DESCRIPTION( +/* description */ (''), +/* implementation_level */ '2;1'); + +FILE_NAME( +/* name */ +'E:\\Eng\\Customer Service\\Drawings\\working on 1593\\STEP\\1593K\\15 +93K.iam.stp', +/* time_stamp */ '2016-04-25T15:45:16-04:00', +/* author */ ('Lynn'), +/* organization */ (''), +/* preprocessor_version */ 'ST-DEVELOPER v16.1', +/* originating_system */ 'Autodesk Inventor 2016', +/* authorisation */ ''); + +FILE_SCHEMA (('AUTOMOTIVE_DESIGN { 1 0 10303 214 3 1 1 }')); +ENDSEC; + +DATA; +#10=MECHANICAL_DESIGN_GEOMETRIC_PRESENTATION_REPRESENTATION('',(#80,#81, +#82,#83,#84,#85),#16994); +#11=ITEM_DEFINED_TRANSFORMATION($,$,#9031,#9659); +#12=ITEM_DEFINED_TRANSFORMATION($,$,#9234,#9660); +#13=ITEM_DEFINED_TRANSFORMATION($,$,#9491,#9661); +#14=ITEM_DEFINED_TRANSFORMATION($,$,#9491,#9662); +#15=ITEM_DEFINED_TRANSFORMATION($,$,#9510,#9663); +#16=ITEM_DEFINED_TRANSFORMATION($,$,#9510,#9664); +#17=ITEM_DEFINED_TRANSFORMATION($,$,#9568,#9665); +#18=ITEM_DEFINED_TRANSFORMATION($,$,#9568,#9666); 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