diff --git a/doc/sujets/tex/conception/conception_robot.tex b/doc/sujets/tex/conception/conception_robot.tex index 63a7c33..4590990 100644 --- a/doc/sujets/tex/conception/conception_robot.tex +++ b/doc/sujets/tex/conception/conception_robot.tex @@ -93,7 +93,7 @@ {\scriptsize Institut National des Sciences Appliquées de Toulouse}\\ ---\\ Dossier de conception \\ -{\large Version 2.0.$\beta$ (\today)}\\ +{\large Version 2.0.1 (\today)}\\ {\scriptsize Référent pédagogique : P.-E. Hladik (\texttt{pehladik@insa-toulouse.fr})}\\ --- } @@ -248,19 +248,7 @@ Jusqu'ici tout a été réalisé au brouillon par le concepteur, il faut donc ma Ensuite, pour chacun des threads, un diagramme d'activité UML est utilisé pour décrire son comportement. Les diagrammes ont été produits avec \href{https://www.planttext.com}{https://www.planttext.com} et les codes sources sont disponibles en annexe (disponibles numériquement sur la page moodle). \subsection{Thread th\_server} -%@startuml -%skinparam monochrome true -%start -%:err = run_nodejs(); -%if (err) then (failed) -% :print("Failed to start nodejs"); -%stop -%else (succeed) -% :open_server(); -% :serverOk!; -% stop -%endif -%@enduml + \begin{figure}[htbp] \begin{center} \includegraphics[scale=0.4]{figures_pdf/activity/th_server} @@ -270,16 +258,7 @@ Ensuite, pour chacun des threads, un diagramme d'activité UML est utilisé pour \FloatBarrier \subsection{Thread th\_sendToMon} -%@startuml -%skinparam monochrome true -%start -%:serverOK?; -%while () -% :messageToMon?header,data; -% :send_message_to_monitor(header,data); -%endwhile -%stop -%@enduml + \begin{figure}[htbp] \begin{center} \includegraphics[scale=0.4]{figures_pdf/activity/th_sendToMon} @@ -290,29 +269,7 @@ Ensuite, pour chacun des threads, un diagramme d'activité UML est utilisé pour \subsection{Thread th\_receiveFromMon} -%@startuml -%skinparam monochrome true -%start -%:serverOk?; -%while () -% :receive_message_from_monitor(header,data); -% if (header) then (HEADER_MTS_COM_DMB) -% if (data) then (OPEN_COM_DMB) -% :openComRobot!; -% endif -% else (HEADER_MTS_DMB_ORDER) -% if (data) then (DMB_START_WITHOUT_WD) -% :startRobot!; -% else (DMB_GO_FORWARD || DMB_GO_BACK -% || DMB_GO_LEFT || DMB_GO_RIGHT -% || DMB_STOP_MOVE) -% :move = data; -% endif -% endif -%endwhile -%stop -%@enduml -% + \begin{figure}[htbp] \begin{center} \includegraphics[scale=0.4]{figures_pdf/activity/th_receiveFromMon} @@ -322,19 +279,7 @@ Ensuite, pour chacun des threads, un diagramme d'activité UML est utilisé pour \FloatBarrier \subsection{Thread th\_openComRobot} -%@startuml -%skinparam monochrome true -%start -%while () -% :openComRobot?; -% :err = open_communication_robot(); -% if (err) then (robot_ok) -% :messageToMon!ACK; -% else -% :messageToMon!NAC; -% endif -%endwhile -%stop + \begin{figure}[htbp] \begin{center} \includegraphics[scale=0.4]{figures_pdf/activity/th_openComRobot} @@ -343,23 +288,8 @@ Ensuite, pour chacun des threads, un diagramme d'activité UML est utilisé pour \end{figure} \FloatBarrier -\subsection{Thread th\_openStartRobot} -%@startuml -%skinparam monochrome true -%start -%while () -% :startRobot?; -% :err = send_command_robot(START_WITHOUT_WD); -% if (err) then (robot_ok) -% :messageToMon!ACK; -% :robotStarted = true; -% else -% :messageToMon!NAC; -% endif -%endwhile -%stop -%@enduml -% +\subsection{Thread th\_startRobot} + \begin{figure}[htbp] \begin{center} \includegraphics[scale=0.4]{figures_pdf/activity/th_startRobot} @@ -369,18 +299,7 @@ Ensuite, pour chacun des threads, un diagramme d'activité UML est utilisé pour \FloatBarrier \subsection{Thread th\_move} -%@startuml -%skinparam monochrome true -%start -%:start_period(100 ms); -%while () -% :wait_next_period(); -% if (robotStarted) then (true) -% :send_command_robot(move); -% endif -%endwhile -%stop -%@enduml + \begin{figure}[htbp] \begin{center} \includegraphics[scale=0.4]{figures_pdf/activity/th_move} @@ -825,10 +744,9 @@ Les {\em event} et {\em event data ports} ont par défaut une file associée ave @startuml skinparam monochrome true start -:monitor = new ComMonitor() -:err = monitor.Open(); -if (err) then (failed) - :print("Failed to start server"); +:status = monitor.Open(); +if (status) then (failed) + :print("Unable to start server"); stop else (succeed) :monitor.AcceptClient(); @@ -862,13 +780,25 @@ skinparam monochrome true start :serverOk?; while () - :msg = monitor.Read(); - if (msg.GetId()) then (MESSAGE_ROBOT_COM_OPEN) - :openComRobot!; - else (MESSAGE_ROBOT_GO_FORWARD || MESSAGE_ROBOT_GO_BACKWARD - || MESSAGE_ROBOT_GO_LEFT || MESSAGE_ROBOT_GO_RIGHT - || MESSAGE_ROBOT_STOP) - :move = msg.GetId(); + :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 @@ -885,14 +815,12 @@ start while () :openComRobot?; :err = robot.Open(); - : msg = new Message(); if (err) then (robot_ok) - :msg.SetId(MESSAGE_ANSWER_ACK); - :messageToMon!msg; + :msgSend = new Message(MESSAGE_ANSWER_ACK); else - :msg.SetId(MESSAGE_ANSWER_NACK); - :messageToMon!msg; + :msgSend = new Message(MESSAGE_ANSWER_NACK); endif + :messageToMon!msgSend; endwhile stop @enduml @@ -908,15 +836,10 @@ skinparam monochrome true start while () :startRobot?; - :err = robot.Write(new Message(MESSAGE_ROBOT_START_WITH_WD)); - : msg = new Message(); - if (err) then (robot_ok) - :msg.SetId(MESSAGE_ANSWER_ACK); - :messageToMon!msg; - :robotStarted = true; - else - :msg.SetId(MESSAGE_ANSWER_NACK); - :messageToMon!msg; + :msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITH_WD)); + :messageToMon!msgSend; + if (msgSend->getId()) then (MESSAGE_ANSWER_ACK) + :robotStarted = true; endif endwhile stop diff --git a/doc/sujets/tex/conception/figures/conception/diag_fonc2.graffle b/doc/sujets/tex/conception/figures/conception/diag_fonc2.graffle index 0cfbf2c..caf1e18 100644 --- a/doc/sujets/tex/conception/figures/conception/diag_fonc2.graffle +++ b/doc/sujets/tex/conception/figures/conception/diag_fonc2.graffle @@ -14,7 +14,7 @@ BackgroundGraphic Bounds - {{0, 0}, {1677, 1636}} + {{0, 0}, {1712.3525390625, 1634.7967529296875}} Class SolidGraphic ID @@ -60,11 +60,11 @@ 3750 Points - {92.107726303100691, 68.431795666503945} - {901.41731758117749, 68.031495666503929} - {867.39802627563608, 535.74770872192448} - {70.864434997558689, 535.74770872192448} - {90.707726303100671, 68.031495666503929} + {90.708660888671872, 39.68503913879394} + {901.41731758117749, 39.685039138793982} + {867.39802627563608, 575.43274786071811} + {70.864434997558689, 575.43274786071811} + {90.708660888671872, 39.685039138793947} Style @@ -94,20 +94,13 @@ Size 12 - Head - - ID - 3620 - Position - 0.35979689130678499 - ID 3622 Points - {595.27558708190929, 490.89763488769557} - {697.32283058166502, 490.89763488769557} - {698.29124480893563, 346.2058303200792} + {595.27558708190929, 530.58267402648949} + {697.32283058166502, 530.58267402648937} + {697.32283058166502, 385.42535224914548} Style @@ -153,8 +146,8 @@ 3621 Points - {875.62480430603057, 315.89369136047378} - {591.12318166503951, 318.81301527709962} + {750.90039558410774, 359.41060441589366} + {591.12318166503951, 358.49805441589365} Style @@ -200,8 +193,8 @@ 3620 Points - {597.90966535949758, 347.24447833251935} - {880.448029306031, 344.32105441589351} + {597.90966535949758, 386.92951747131337} + {755.72362058410818, 387.84096747131343} Style @@ -235,7 +228,7 @@ Bounds - {{839.55480430603086, 323.14960441589341}, {44, 15}} + {{714.83039558410803, 366.66951747131333}, {44, 15}} Class ShapedGraphic FitText @@ -276,9 +269,10 @@ Align 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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} @@ -295,7 +289,7 @@ Bounds - {{876.904804306031, 337.2346044158935}, {7.0864500000000001, 14.1729}} + {{752.18039558410817, 380.75451747131342}, {7.0864500000000001, 14.1729}} Class ShapedGraphic FontInfo @@ -366,9 +360,9 @@ 3619 Points - {883.98480430603115, 337.2346044158935} - {891.06480430603108, 344.32260441589347} - {883.98480430603115, 351.40960441589345} + {759.26039558410832, 380.75451747131342} + {766.34039558410825, 387.84251747131339} + {759.26039558410832, 394.92951747131337} Style @@ -405,7 +399,7 @@ Bounds - {{824.11480430603081, 294.71869136047383}, {57, 15}} + {{699.39039558410798, 338.2356044158937}, {57, 15}} Class ShapedGraphic FitText @@ -446,9 +440,10 @@ Align 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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 reponse} @@ -465,7 +460,7 @@ Bounds - {{882.72480430603071, 308.80669136047379}, {7.0864500000000001, 14.1729}} + {{758.00039558410788, 352.32360441589367}, {7.0864500000000001, 14.1729}} Class ShapedGraphic FontInfo @@ -538,9 +533,9 @@ 3614 Points - {882.71480430603071, 308.80669136047379} - {875.62480430603057, 315.89369136047378} - {882.71480430603071, 322.98069136047377} + {757.99039558410789, 352.32360441589367} + {750.90039558410774, 359.41060441589366} + {757.99039558410789, 366.49760441589365} Style @@ -579,7 +574,7 @@ Bounds - {{539.06258708190933, 483.89763488769557}, {44, 15}} + {{539.06258708190933, 523.58267402648949}, {44, 15}} Class ShapedGraphic FitText @@ -620,9 +615,10 @@ Align 2 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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\qr\partightenfactor0 \f0\fs22 \cf0 ordre} @@ -639,7 +635,7 @@ Bounds - {{581.10358708190927, 483.81063488769558}, {7.0864500000000001, 14.1729}} + {{581.10358708190927, 523.4956740264895}, {7.0864500000000001, 14.1729}} Class ShapedGraphic FontInfo @@ -710,9 +706,9 @@ 3609 Points - {588.18958708190928, 483.81063488769558} - {595.27558708190929, 490.89763488769557} - {588.18958708190928, 497.98463488769556} + {588.18958708190928, 523.4956740264895} + {595.27558708190929, 530.58267402648949} + {588.18958708190928, 537.66967402648947} Style @@ -749,7 +745,7 @@ Bounds - {{541.69666535949762, 340.24447833251935}, {44, 15}} + {{541.69666535949762, 379.92951747131337}, {44, 15}} Class ShapedGraphic FitText @@ -790,9 +786,10 @@ Align 2 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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\qr\partightenfactor0 \f0\fs22 \cf0 ordre} @@ -809,7 +806,7 @@ Bounds - {{583.73766535949756, 340.15747833251936}, {7.0864500000000001, 14.1729}} + {{583.73766535949756, 379.84251747131339}, {7.0864500000000001, 14.1729}} Class ShapedGraphic FontInfo @@ -880,9 +877,9 @@ 3604 Points - {590.82366535949757, 340.15747833251936} - {597.90966535949758, 347.24447833251935} - {590.82366535949757, 354.33147833251934} + {590.82366535949757, 379.84251747131339} + {597.90966535949758, 386.92951747131337} + {590.82366535949757, 394.01651747131336} Style @@ -919,7 +916,7 @@ Bounds - {{523.84995666503949, 311.81256527709962}, {57, 15}} + {{523.84995666503949, 351.49760441589365}, {57, 15}} Class ShapedGraphic FitText @@ -960,9 +957,10 @@ Align 2 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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\qr\partightenfactor0 \f0\fs22 \cf0 reponse} @@ -979,7 +977,7 @@ Bounds - {{587.5799566650395, 311.72656527709961}, {7.0864500000000001, 14.1729}} + {{587.5799566650395, 351.41160441589363}, {7.0864500000000001, 14.1729}} Class ShapedGraphic FontInfo @@ -1052,9 +1050,9 @@ 3599 Points - {587.57895666503953, 311.7275652770997} - {580.49295666503951, 318.81356527709971} - {587.57895666503953, 325.9005652770997} + {587.57895666503953, 351.41260441589372} + {580.49295666503951, 358.49860441589374} + {587.57895666503953, 365.58560441589373} Style @@ -1107,11 +1105,11 @@ 3594 Points - {395, 120.47282611083983} - {391.18110008239745, 209.76377830505373} - {175.7480304718018, 209.76377830505373} - {175.7480304718018, 298.46456527709944} - {211.18148699951172, 298.22873049926744} + {395.00000034083217, 160.15786524963386} + {391.18110008239745, 249.44881744384776} + {175.7480304718018, 249.44881744384776} + {175.7480304718018, 338.14960441589346} + {211.18148699951172, 337.91376963806147} Style @@ -1135,7 +1133,7 @@ ID 3593 Position - 0.03598292427582378 + 0.035982925444841385 @@ -1159,8 +1157,8 @@ 3593 Points - {384.50902180480944, 120.47282611083983} - {676.06337405395618, 120.47282611083979} + {384.50902180480944, 160.15786524963386} + {676.06337405395618, 160.1578652496338} Style @@ -1194,7 +1192,7 @@ Bounds - {{311.81102180480951, 113.38582611083984}, {63, 15}} + {{311.81102180480951, 153.07086524963384}, {63, 15}} Class ShapedGraphic FitText @@ -1233,9 +1231,10 @@ Align 2 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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\qr\partightenfactor0 \f0\fs22 \cf0 serverOk} @@ -1259,9 +1258,9 @@ 3592 Points - {377.42202180480945, 113.38582611083984} - {384.50902180480944, 120.47282611083983} - {377.42202180480945, 127.55982611083982} + {377.42202180480945, 153.07086524963387} + {384.50902180480944, 160.15786524963386} + {377.42202180480945, 167.24486524963385} Style @@ -1292,7 +1291,7 @@ Bounds - {{215.32632177734348, 291.14173049926745}, {63, 15}} + {{215.32632177734348, 330.82676963806148}, {63, 15}} Class ShapedGraphic FitText @@ -1331,9 +1330,10 @@ Align 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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 serverOk} @@ -1357,9 +1357,9 @@ 3589 Points - {204.09448699951173, 291.14173049926745} - {211.18148699951172, 298.22873049926744} - {204.09448699951173, 305.31573049926743} + {204.09448699951173, 330.82676963806148} + {211.18148699951172, 337.91376963806147} + {204.09448699951173, 345.00076963806146} Style @@ -1390,7 +1390,7 @@ Bounds - {{680.20820883178794, 113.3858261108398}, {63, 15}} + {{680.20820883178794, 153.07086524963381}, {63, 15}} Class ShapedGraphic FitText @@ -1429,9 +1429,10 @@ Align 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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 serverOk} @@ -1455,9 +1456,9 @@ 3586 Points - {668.97637405395619, 113.3858261108398} - {676.06337405395618, 120.47282611083979} - {668.97637405395619, 127.55982611083977} + {668.97637405395619, 153.07086524963381} + {676.06337405395618, 160.1578652496338} + {668.97637405395619, 167.24486524963376} Style @@ -1502,8 +1503,8 @@ 3583 Points - {368.50393486022949, 315.23660441589345} - {440.42996533203149, 315.23660441589351} + {368.50393486022949, 354.92164355468748} + {440.42996533203149, 354.92164355468753} Style @@ -1551,10 +1552,10 @@ 3582 Points - {374.17322616577144, 284.88227397155748} - {413.85826530456541, 283.46456527709944} - {413.85826530456541, 192.75590438842767} - {443.62243052673335, 194.17361308288574} + {374.17322616577144, 324.56731311035151} + {413.85826530456541, 323.14960441589346} + {413.85826530456541, 232.44094352722169} + {443.62243052673335, 233.85865222167976} Style @@ -1588,7 +1589,7 @@ Bounds - {{274.47522616577152, 277.79527397155749}, {90, 15}} + {{274.47522616577152, 317.48031311035152}, {90, 15}} Class ShapedGraphic FitText @@ -1627,9 +1628,10 @@ Align 2 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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\qr\partightenfactor0 \f0\fs22 \cf0 openComRobot} @@ -1653,9 +1655,9 @@ 3581 Points - {367.08622616577145, 277.79527397155749} - {374.17322616577144, 284.88227397155748} - {367.08622616577145, 291.96927397155747} + {367.08622616577145, 317.48031311035152} + {374.17322616577144, 324.56731311035151} + {367.08622616577145, 331.6543131103515} Style @@ -1686,7 +1688,7 @@ Bounds - {{447.76726530456517, 187.08661308288575}, {90, 15}} + {{447.76726530456517, 226.77165222167977}, {90, 15}} Class ShapedGraphic FitText @@ -1725,9 +1727,10 @@ Align 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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 openComRobot} @@ -1751,9 +1754,9 @@ 3575 Points - {436.53543052673336, 187.08661308288575} - {443.62243052673335, 194.17361308288574} - {436.53543052673336, 201.26061308288573} + {436.53543052673336, 226.77165222167977} + {443.62243052673335, 233.85865222167976} + {436.53543052673336, 240.94565222167975} Style @@ -1784,7 +1787,7 @@ Bounds - {{444.5748001098633, 308.14960441589352}, {77, 15}} + {{444.5748001098633, 347.83464355468755}, {77, 15}} Class ShapedGraphic FitText @@ -1823,9 +1826,10 @@ Align 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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 startRobot} @@ -1849,9 +1853,9 @@ 3572 Points - {433.3429653320315, 308.14960441589352} - {440.42996533203149, 315.23660441589351} - {433.3429653320315, 322.3236044158935} + {433.3429653320315, 347.83464355468755} + {440.42996533203149, 354.92164355468753} + {433.3429653320315, 362.00864355468752} Style @@ -1882,7 +1886,7 @@ Bounds - {{281.80593486022957, 308.14960441589346}, {77, 15}} + {{281.80593486022957, 347.83464355468749}, {77, 15}} Class ShapedGraphic FitText @@ -1921,9 +1925,10 @@ Align 2 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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\qr\partightenfactor0 \f0\fs22 \cf0 startRobot} @@ -1947,9 +1952,9 @@ 3569 Points - {361.4169348602295, 308.14960441589346} - {368.50393486022949, 315.23660441589345} - {361.4169348602295, 322.32360441589344} + {361.4169348602295, 347.83464355468749} + {368.50393486022949, 354.92164355468748} + {361.4169348602295, 362.00864355468747} Style @@ -1988,15 +1993,15 @@ ID 3565 Position - 0.77273854467036696 + 0.77273851633071899 ID 3566 Points - {606.61416969299307, 290.55156527709943} - {651.9685001373291, 290.55156527709943} - {651.99998970801312, 167.83462964621006} + {606.61416969299307, 330.23660441589345} + {651.9685001373291, 330.23660441589345} + {651.99998804351981, 207.51966878501881} Style @@ -2042,8 +2047,8 @@ 3565 Points - {606.61416969299319, 167.83503047180173} - {668.89113385925293, 167.83448047180173} + {606.61416969299319, 207.52006961059575} + {668.89113385925293, 207.51951961059575} Style @@ -2077,7 +2082,7 @@ Bounds - {{686.69290885925284, 160.7480304718018}, {90, 15}} + {{686.69290885925284, 200.43306961059582}, {90, 15}} Class ShapedGraphic FitText @@ -2118,9 +2123,10 @@ Align 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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 messageToMon} @@ -2137,7 +2143,7 @@ Bounds - {{665.34790885925293, 160.74803047180171}, {7.0864500000000001, 14.1729}} + {{665.34790885925293, 200.43306961059574}, {7.0864500000000001, 14.1729}} Class ShapedGraphic FontInfo @@ -2201,9 +2207,9 @@ 3564 Points - {672.43790885925284, 160.74803047180171} - {679.51790885925288, 167.8350304718017} - {672.43790885925284, 174.92303047180167} + {672.43790885925284, 200.43306961059574} + {679.51790885925288, 207.52006961059573} + {672.43790885925284, 214.60806961059569} Style @@ -2240,7 +2246,7 @@ Bounds - {{490.19313055419934, 283.46456527709944}, {96, 15}} + {{490.19313055419934, 323.14960441589346}, {96, 15}} Class ShapedGraphic FitText @@ -2281,9 +2287,10 @@ Align 2 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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\qr\partightenfactor0 \f0\fs22 \cf0 messageTomMon} @@ -2300,7 +2307,7 @@ Bounds - {{592.44216969299305, 283.46456527709944}, {7.0864500000000001, 14.1729}} + {{592.44216969299305, 323.14960441589346}, {7.0864500000000001, 14.1729}} Class ShapedGraphic FontInfo @@ -2364,9 +2371,9 @@ 3559 Points - {599.52816969299306, 283.46456527709944} - {606.61416969299307, 290.55156527709943} - {599.52816969299306, 297.63856527709942} + {599.52816969299306, 323.14960441589346} + {606.61416969299307, 330.23660441589345} + {599.52816969299306, 337.32360441589344} Style @@ -2403,7 +2410,7 @@ Bounds - {{490.19313055419946, 160.74803047180174}, {96, 15}} + {{490.19313055419946, 200.43306961059577}, {96, 15}} Class ShapedGraphic FitText @@ -2444,9 +2451,10 @@ Align 2 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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\qr\partightenfactor0 \f0\fs22 \cf0 messageTomMon} @@ -2463,7 +2471,7 @@ Bounds - {{592.44216969299316, 160.74803047180174}, {7.0864500000000001, 14.1729}} + {{592.44216969299316, 200.43306961059577}, {7.0864500000000001, 14.1729}} Class ShapedGraphic FontInfo @@ -2527,9 +2535,9 @@ 3554 Points - {599.52816969299317, 160.74803047180174} - {606.61416969299319, 167.83503047180173} - {599.52816969299317, 174.92203047180172} + {599.52816969299317, 200.43306961059577} + {606.61416969299319, 207.52006961059575} + {599.52816969299317, 214.60706961059574} Style @@ -2571,8 +2579,10 @@ 3549 Points - {838.49126083374131, 142.78214344482399} - {887.25131453480458, 143.542541436048} + {838.49126083374131, 182.46718258361801} + {861.73227844238284, 182.46718258361801} + {861.73227844238284, 90.708660888671858} + {630.2877100311523, 89.228798135130376} Style @@ -2599,6 +2609,62 @@ 1 + + Bounds + {{634.96062622070269, 68.031495666503901}, {90, 15}} + Class + ShapedGraphic + FitText + YES + Flow + Resize + FontInfo + + Font + Monaco + Size + 11 + + HFlip + YES + ID + 3545 + 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 outputstream} + VerticalPad + 0.0 + + Wrap + NO + Class Group @@ -2606,13 +2672,9 @@ Bounds - {{850.39126083374151, 122.43414344482409}, {90, 15}} + {{622.70126316528331, 82.116495666503965}, {7.0864500000000001, 14.1729}} Class ShapedGraphic - FitText - YES - Flow - Resize FontInfo Font @@ -2623,151 +2685,93 @@ HFlip YES ID - 3545 + 3547 + 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 - Draws - NO + Color + + b + 0.0 + g + 0.0 + r + 0.0 + shadow Draws NO - stroke - - Draws - NO - Text Align 0 - Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 -{\fonttbl\f0\fnil\fcharset0 Monaco;} -{\colortbl;\red255\green255\blue255;} -\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\partightenfactor0 - -\f0\fs22 \cf0 outputstream} VerticalPad 0.0 - Wrap - NO Class - Group - Graphics - - - Bounds - {{887.75126083374153, 136.51914344482415}, {7.0864500000000001, 14.1729}} - Class - ShapedGraphic - FontInfo - - Font - Monaco - Size - 11 - - ID - 3547 - 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 - 3548 - Points - - {894.83126083374168, 136.51914344482415} - {901.91126083374161, 143.60714344482412} - {894.83126083374168, 150.69414344482411} - - Style - - shadow - - Draws - NO - - stroke - - HeadArrow - 0 - Legacy - - TailArrow - 0 - - - - + LineGraphic + FontInfo + + Font + Monaco + Size + 11 + ID - 3546 + 3548 + Points + + {622.70771316528317, 82.116495666503965} + {615.62771316528324, 89.204495666503931} + {622.70771316528317, 96.29149566650392} + + Style + + shadow + + Draws + NO + + stroke + + HeadArrow + 0 + Legacy + + TailArrow + 0 + + HFlip YES ID - 3544 + 3546 Class @@ -2776,7 +2780,7 @@ Bounds - {{732.27926083374132, 135.695143444824}, {90, 15}} + {{732.27926083374132, 175.38018258361802}, {90, 15}} Class ShapedGraphic FitText @@ -2817,9 +2821,10 @@ Align 2 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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\qr\partightenfactor0 \f0\fs22 \cf0 outputstream} @@ -2836,7 +2841,7 @@ Bounds - {{824.32326083374141, 135.695143444824}, {7.0864500000000001, 14.1729}} + {{824.32326083374141, 175.38018258361802}, {7.0864500000000001, 14.1729}} Class ShapedGraphic FontInfo @@ -2900,9 +2905,9 @@ 3543 Points - {831.41126083374138, 135.695143444824} - {838.49126083374131, 142.78214344482399} - {831.41126083374138, 149.86914344482398} + {831.41126083374138, 175.38018258361802} + {838.49126083374131, 182.46718258361801} + {831.41126083374138, 189.554182583618} Style @@ -2934,7 +2939,7 @@ Bounds - {{507.20146099853514, 402.51968269348146}, {105.08199999999999, 28.257899999999999}} + {{507.20146099853514, 442.20472183227548}, {105.08199999999999, 28.257899999999999}} Class ShapedGraphic FontInfo @@ -2949,9 +2954,10 @@ Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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\qc\partightenfactor0 \f0\fs22 \cf0 robotStarted} @@ -2978,8 +2984,8 @@ 3538 Points - {559.64193491516141, 460.62990444335935} - {559.74246099853508, 416.64863269348143} + {559.64193491516141, 500.31494358215338} + {559.74246099853508, 456.33367183227546} Style @@ -3023,8 +3029,8 @@ 3537 Points - {559.64193491516141, 369.73714356842044} - {559.74246099853508, 416.64863269348143} + {559.64193491516141, 409.42218270721446} + {559.74246099853508, 456.33367183227546} Style @@ -3051,7 +3057,7 @@ Bounds - {{552.55533491516144, 362.65054356842046}, {14.1732, 14.1732}} + {{552.55533491516144, 402.33558270721448}, {14.1732, 14.1732}} Class ShapedGraphic FontInfo @@ -3099,7 +3105,7 @@ Bounds - {{552.55533491516144, 453.54330444335938}, {14.1732, 14.1732}} + {{552.55533491516144, 493.2283435821534}, {14.1732, 14.1732}} Class ShapedGraphic FontInfo @@ -3166,8 +3172,8 @@ 3534 Points - {276.27789572143553, 496.01871097106925} - {432.28344791564933, 497.48032619323732} + {276.27789572143553, 535.70375010986322} + {432.28344791564933, 537.16536533203112} Style @@ -3211,8 +3217,8 @@ 3533 Points - {276.37796527709963, 364.06785226287838} - {276.27789572143553, 496.01871097106925} + {276.37796527709963, 403.7528914016724} + {276.27789572143553, 535.70375010986322} Style @@ -3239,7 +3245,7 @@ Bounds - {{425.19684791564936, 490.39372619323734}, {14.1732, 14.1732}} + {{425.19684791564936, 530.07876533203114}, {14.1732, 14.1732}} Class ShapedGraphic FontInfo @@ -3287,7 +3293,7 @@ Bounds - {{269.29136527709966, 356.9812522628784}, {14.1732, 14.1732}} + {{269.29136527709966, 396.66629140167242}, {14.1732, 14.1732}} Class ShapedGraphic FontInfo @@ -3340,7 +3346,7 @@ Bounds - {{226.51450433349606, 132.40211741638177}, {96, 15}} + {{226.51450433349606, 172.0871565551758}, {96, 15}} Class ShapedGraphic FitText @@ -3379,9 +3385,10 @@ Align 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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 connectServer} @@ -3405,9 +3412,9 @@ 3530 Points - {217.10179563903807, 132.40211741638177} - {224.18879563903806, 139.48911741638176} - {217.10179563903807, 146.57611741638175} + {217.10179563903807, 172.0871565551758} + {224.18879563903806, 179.17415655517578} + {217.10179563903807, 186.26115655517577} Style @@ -3445,8 +3452,10 @@ 3527 Points - {91.268504333496082, 140.31511741638167} - {224.18879563903806, 139.48911741638176} + {464.8818870544435, 106.29882611083983} + {198.42519569396967, 107.71653480529785} + {198.42519569396967, 175.38018258361802} + {224.18879563903806, 179.17415655517578} Style @@ -3474,102 +3483,94 @@ + Bounds + {{365.59759310013101, 88.975048989067204}, {96, 15}} Class - Group - Graphics - + ShapedGraphic + FitText + YES + Flow + Resize + FontInfo + + Font + Monaco + Size + 11 + + ID + 3525 + Style + + fill - Bounds - {{85.090504333496085, 119.05511741638168}, {96, 15}} - Class - ShapedGraphic - FitText - YES - Flow - Resize - FontInfo - - Font - Monaco - Size - 11 - - ID - 3525 - Style - - fill - - Draws - NO - - shadow - - Draws - NO - - stroke - - Draws - NO - - - Text - - Align - 0 - Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + 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 connectServer} - VerticalPad - 0.0 - - Wrap + VerticalPad + 0.0 + + Wrap + NO + + + Class + LineGraphic + FontInfo + + Font + Monaco + Size + 11 + + ID + 3526 + Points + + {471.96888705444348, 99.211826110839837} + {464.8818870544435, 106.29882611083983} + {471.96888705444348, 113.3858261108398} + + Style + + shadow + + Draws NO + stroke - Class - LineGraphic - FontInfo - - Font - Monaco - Size - 11 - - ID - 3526 - Points - - {84.181504333496065, 133.22811741638168} - {91.268504333496082, 140.31511741638167} - {84.181504333496065, 147.40211741638166} - - Style - - shadow - - Draws - NO - - stroke - - HeadArrow - 0 - Legacy - - TailArrow - 0 - - + HeadArrow + 0 + Legacy + + TailArrow + 0 - - ID - 3524 + Class @@ -3578,7 +3579,7 @@ Bounds - {{213.50685868072509, 322.32337615203841}, {83, 15}} + {{213.50685868072509, 362.00841529083243}, {83, 15}} Class ShapedGraphic FitText @@ -3617,9 +3618,10 @@ Align 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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 inputStream} @@ -3636,7 +3638,7 @@ Bounds - {{198.42485868072509, 322.32337615203841}, {7.0864500000000001, 14.1729}} + {{198.42485868072509, 362.00841529083243}, {7.0864500000000001, 14.1729}} Class ShapedGraphic FontInfo @@ -3700,9 +3702,9 @@ 3523 Points - {205.51185868072508, 322.32337615203841} - {212.5978586807251, 329.4103761520384} - {205.51185868072508, 336.49737615203838} + {205.51185868072508, 362.00841529083243} + {212.5978586807251, 369.09541529083242} + {205.51185868072508, 376.18241529083241} Style @@ -3742,8 +3744,10 @@ 3518 Points - {94.475858680725111, 330.23637615203842} - {197.92486637531215, 329.44091604029586} + {456.37817835998533, 75.11849566650389} + {141.7322826385498, 77.636466377983226} + {141.7322826385498, 366.66951747131333} + {197.92525640407572, 368.93208398552122} Style @@ -3770,6 +3774,60 @@ 1 + + Bounds + {{370.54330444335938, 56.692369583129874}, {83, 15}} + Class + ShapedGraphic + FitText + YES + Flow + Resize + FontInfo + + Font + Monaco + Size + 11 + + ID + 3514 + 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 inputStream} + VerticalPad + 0.0 + + Wrap + NO + Class Group @@ -3777,13 +3835,61 @@ Bounds - {{81.211858680725086, 308.97637615203843}, {83, 15}} + {{463.46472835998532, 68.031495666503901}, {7.0864500000000001, 14.1729}} Class ShapedGraphic - FitText + FontInfo + + Font + Monaco + Size + 11 + + HFlip YES - Flow - Resize + ID + 3516 + 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 + + + + + Class + LineGraphic FontInfo Font @@ -3792,14 +3898,15 @@ 11 ID - 3514 + 3517 + Points + + {463.46417835998534, 68.031495666503901} + {456.37817835998533, 75.11849566650389} + {463.46417835998534, 82.205495666503879} + Style - fill - - Draws - NO - shadow Draws @@ -3807,131 +3914,24 @@ stroke - Draws - NO + HeadArrow + 0 + Legacy + + TailArrow + 0 - Text - - Align - 0 - Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 -{\fonttbl\f0\fnil\fcharset0 Monaco;} -{\colortbl;\red255\green255\blue255;} -\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\partightenfactor0 - -\f0\fs22 \cf0 inputStream} - VerticalPad - 0.0 - - Wrap - NO - - - Class - Group - Graphics - - - Bounds - {{80.302858680725109, 323.14937615203843}, {7.0864500000000001, 14.1729}} - Class - ShapedGraphic - FontInfo - - Font - Monaco - Size - 11 - - ID - 3516 - 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 - - - - - Class - LineGraphic - FontInfo - - Font - Monaco - Size - 11 - - ID - 3517 - Points - - {87.389858680725098, 323.14937615203843} - {94.475858680725111, 330.23637615203842} - {87.389858680725098, 337.32337615203841} - - Style - - shadow - - Draws - NO - - stroke - - HeadArrow - 0 - Legacy - - TailArrow - 0 - - - - - ID - 3515 + HFlip + YES ID - 3513 + 3515 Bounds - {{223.73689572143553, 481.88976097106928}, {105.08199999999999, 28.257899999999999}} + {{223.73689572143553, 521.57480010986319}, {105.08199999999999, 28.257899999999999}} Class ShapedGraphic FontInfo @@ -3946,9 +3946,10 @@ Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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\qc\partightenfactor0 \f0\fs22 \cf0 move} @@ -3963,7 +3964,7 @@ Bounds - {{424.66071041287523, 260.78732616577122}, {45.082000000000001, 28.3462}} + {{424.66071041287523, 300.47236530456524}, {45.082000000000001, 28.3462}} Class ShapedGraphic ID @@ -3990,9 +3991,10 @@ Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\rtf1\ansi\ansicpg1252\cocoartf1671 {\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} +{\*\expandedcolortbl;;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc\partightenfactor0 \f0\fs24 \cf0 A} @@ -4002,7 +4004,7 @@ Bounds - {{477.94546966552775, 257.58452616577125}, {96, 15}} + {{477.94546966552775, 297.26956530456528}, {96, 15}} Class ShapedGraphic FitText @@ -4041,9 +4043,10 @@ Align 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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 th_startRobot} @@ -4060,11 +4063,11 @@ 3510 Points - {442.00492619323762, 274.9604261657712} - {597.90955661010776, 274.9604261657712} - {583.73655661010775, 374.17322616577127} - {427.83092619323764, 374.17322616577127} - {442.00492619323762, 274.9604261657712} + {442.00492619323762, 314.64546530456522} + {597.90955661010776, 314.64546530456522} + {583.73655661010775, 413.85826530456529} + {427.83092619323764, 413.85826530456529} + {442.00492619323762, 314.64546530456522} Style @@ -4097,7 +4100,7 @@ Bounds - {{430.05956806207718, 133.22827179107671}, {45.082000000000001, 28.3462}} + {{430.05956806207718, 172.91331092987073}, {45.082000000000001, 28.3462}} Class ShapedGraphic ID @@ -4124,9 +4127,10 @@ Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\rtf1\ansi\ansicpg1252\cocoartf1671 {\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} +{\*\expandedcolortbl;;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc\partightenfactor0 \f0\fs24 \cf0 A} @@ -4136,7 +4140,7 @@ Bounds - {{483.81532834625239, 130.0254717910766}, {110, 15}} + {{483.81532834625239, 169.71051092987062}, {110, 15}} Class ShapedGraphic FitText @@ -4175,9 +4179,10 @@ Align 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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 th_openComRobot} @@ -4194,11 +4199,11 @@ 3506 Points - {447.87478487396231, 147.40137179107671} - {603.77941529083239, 147.40137179107671} - {595.27570659637433, 223.93700656890854} - {439.37007617950434, 223.93700656890854} - {447.87478487396231, 147.40137179107671} + {447.87478487396231, 187.08641092987074} + {603.77941529083239, 187.08641092987074} + {595.27570659637433, 263.62204570770257} + {439.37007617950434, 263.62204570770257} + {447.87478487396231, 187.08641092987074} Style @@ -4231,7 +4236,7 @@ Bounds - {{660.13686696805166, 79.37000438842766}, {45.082000000000001, 28.3462}} + {{660.13686696805166, 119.05504352722161}, {45.082000000000001, 28.3462}} Class ShapedGraphic ID @@ -4258,9 +4263,10 @@ Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\rtf1\ansi\ansicpg1252\cocoartf1671 {\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} +{\*\expandedcolortbl;;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc\partightenfactor0 \f0\fs24 \cf0 A} @@ -4270,7 +4276,7 @@ Bounds - {{713.42162622070418, 76.167204388427649}, {90, 15}} + {{713.42162622070418, 115.85224352722159}, {90, 15}} Class ShapedGraphic FitText @@ -4309,9 +4315,10 @@ Align 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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 th_sendToMon} @@ -4328,11 +4335,11 @@ 3502 Points - {677.48108274841411, 93.543104388427665} - {833.38571316528419, 93.543104388427665} - {819.21271316528419, 192.75590438842769} - {663.30708274841413, 192.75590438842769} - {677.48108274841411, 93.543104388427665} + {677.48108274841411, 133.22814352722162} + {833.38571316528419, 133.22814352722162} + {819.21271316528419, 232.44094352722163} + {663.30708274841413, 232.44094352722163} + {677.48108274841411, 133.22814352722162} Style @@ -4365,7 +4372,7 @@ Bounds - {{195.25497991360729, 252.28338920745847}, {45.082000000000001, 28.3462}} + {{195.25497991360729, 291.96842834625244}, {45.082000000000001, 28.3462}} Class ShapedGraphic ID @@ -4392,9 +4399,10 @@ Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\rtf1\ansi\ansicpg1252\cocoartf1671 {\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} +{\*\expandedcolortbl;;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc\partightenfactor0 \f0\fs24 \cf0 A} @@ -4404,7 +4412,7 @@ Bounds - {{248.53973916625978, 249.08058920745839}, {123, 15}} + {{248.53973916625978, 288.76562834625236}, {123, 15}} Class ShapedGraphic FitText @@ -4443,9 +4451,10 @@ Align 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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 th_receiveFromMon} @@ -4462,11 +4471,11 @@ 3498 Points - {212.5991956939697, 266.45648920745845} - {368.50382611083978, 266.45648920745845} - {354.33082611083978, 365.66928920745858} - {198.42519569396967, 365.66928920745858} - {212.5991956939697, 266.45648920745845} + {212.5991956939697, 306.14152834625241} + {368.50382611083978, 306.14152834625241} + {354.33082611083978, 405.35432834625254} + {198.42519569396967, 405.35432834625254} + {212.5991956939697, 306.14152834625241} Style @@ -4499,7 +4508,7 @@ Bounds - {{415.65792894985822, 445.40752183227534}, {45.082000000000001, 28.3462}} + {{415.65792894985822, 485.09256097106913}, {45.082000000000001, 28.3462}} Class ShapedGraphic ID @@ -4526,9 +4535,10 @@ Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\rtf1\ansi\ansicpg1252\cocoartf1671 {\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} +{\*\expandedcolortbl;;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc\partightenfactor0 \f0\fs24 \cf0 100ms} @@ -4538,7 +4548,7 @@ Bounds - {{469.64210008239741, 442.20472183227525}, {57, 15}} + {{469.64210008239741, 481.88976097106922}, {57, 15}} Class ShapedGraphic FitText @@ -4577,9 +4587,10 @@ Align 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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 th_move} @@ -4596,11 +4607,11 @@ 3494 Points - {433.70155661010733, 459.58062183227531} - {589.60618702697741, 459.58062183227531} - {581.10247833251935, 524.77767399902359} - {425.19684791564936, 524.77767399902359} - {433.70155661010733, 459.58062183227531} + {433.70155661010733, 499.26566097106911} + {589.60618702697741, 499.26566097106911} + {581.10247833251935, 564.46271313781722} + {425.19684791564936, 564.46271313781722} + {433.70155661010733, 499.26566097106911} Style @@ -4633,7 +4644,7 @@ Bounds - {{209.42831692685192, 85.407523930358792}, {45.082000000000001, 28.3462}} + {{209.42831692685192, 125.0925630691527}, {45.082000000000001, 28.3462}} Class ShapedGraphic ID @@ -4660,9 +4671,10 @@ Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\rtf1\ansi\ansicpg1252\cocoartf1671 {\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} +{\*\expandedcolortbl;;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc\partightenfactor0 \f0\fs24 \cf0 A} @@ -4672,7 +4684,7 @@ Bounds - {{262.71307617950441, 82.204723930358796}, {70, 15}} + {{262.71307617950441, 121.88976306915271}, {70, 15}} Class ShapedGraphic FitText @@ -4711,9 +4723,10 @@ Align 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1404\cocoasubrtf470 + {\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 th_server} @@ -4730,11 +4743,11 @@ 3354 Points - {226.77253270721434, 99.580623930358797} - {382.67716312408447, 99.580623930358797} - {368.50416312408447, 198.79342393035881} - {212.59853270721436, 198.79342393035881} - {226.77253270721434, 99.580623930358797} + {226.77253270721434, 139.26566306915271} + {382.67716312408447, 139.26566306915271} + {368.50416312408447, 238.47846306915272} + {212.59853270721436, 238.47846306915272} + {226.77253270721434, 139.26566306915271} Style @@ -4760,6 +4773,62 @@ ID 3351 + + Bounds + {{756.65027844238284, 340.24603486022949}, {105.08199999999999, 62.273647833252056}} + Class + ShapedGraphic + FontInfo + + Font + Monaco + Size + 11 + + ID + 3752 + Text + + 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\qc\partightenfactor0 + +\f0\fs22 \cf0 robot} + VerticalPad + 0.0 + + + + Bounds + {{464.88188705444372, 56.692913055419908}, {164.40944786071742, 68.031495666503901}} + Class + ShapedGraphic + FontInfo + + Font + Monaco + Size + 11 + + ID + 3751 + Text + + 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\qc\partightenfactor0 + +\f0\fs22 \cf0 monitor} + VerticalPad + 0.0 + + GridInfo @@ -4813,7 +4882,7 @@ MasterSheets ModificationDate - 2018-02-06 12:04:36 +0000 + 2019-02-11 08:03:06 +0000 Modifier pehladik NotesVisible @@ -4831,7 +4900,7 @@ NSBottomMargin float - 12 + 12.2457 NSHorizonalPagination @@ -4841,12 +4910,12 @@ NSLeftMargin float - 18 + 12.2457 NSPaperSize size - {595, 842} + {595.27554607391357, 841.8897705078125} NSPrintReverseOrientation @@ -4856,12 +4925,12 @@ NSRightMargin float - 18 + 12.2457 NSTopMargin float - 12 + 12.2457 PrintOnePage @@ -4869,7 +4938,7 @@ ReadOnly NO RowAlign - 1 + 2 RowSpacing 36 SheetTitle @@ -4891,9 +4960,9 @@ Expanded_Canvases Frame - {{-1114, 965}, {1600, 1004}} + {{0, 0}, {1280, 777}} ShowInfo - + Sidebar SidebarWidth @@ -4901,7 +4970,7 @@ TopSlabHeight 250 VisibleRegion - {{0, 0}, {1303, 894}} + {{0, 0}, {1280, 667}} Zoom 1 ZoomValues diff --git a/doc/sujets/tex/conception/figures_pdf/activity/th_openComRobot.png b/doc/sujets/tex/conception/figures_pdf/activity/th_openComRobot.png index cecf95e..9b435cf 100644 Binary files a/doc/sujets/tex/conception/figures_pdf/activity/th_openComRobot.png and b/doc/sujets/tex/conception/figures_pdf/activity/th_openComRobot.png differ diff --git a/doc/sujets/tex/conception/figures_pdf/activity/th_receiveFromMon.png b/doc/sujets/tex/conception/figures_pdf/activity/th_receiveFromMon.png index 8b4a8e9..fc4d0c1 100644 Binary files a/doc/sujets/tex/conception/figures_pdf/activity/th_receiveFromMon.png and b/doc/sujets/tex/conception/figures_pdf/activity/th_receiveFromMon.png differ diff --git a/doc/sujets/tex/conception/figures_pdf/activity/th_server.png b/doc/sujets/tex/conception/figures_pdf/activity/th_server.png index 872feb9..1bef16d 100644 Binary files a/doc/sujets/tex/conception/figures_pdf/activity/th_server.png and b/doc/sujets/tex/conception/figures_pdf/activity/th_server.png differ diff --git a/doc/sujets/tex/conception/figures_pdf/activity/th_startRobot.png b/doc/sujets/tex/conception/figures_pdf/activity/th_startRobot.png index dd62612..2c4b5ea 100644 Binary files a/doc/sujets/tex/conception/figures_pdf/activity/th_startRobot.png and b/doc/sujets/tex/conception/figures_pdf/activity/th_startRobot.png differ diff --git a/doc/sujets/tex/conception/figures_pdf/fonc/AADL.pdf b/doc/sujets/tex/conception/figures_pdf/fonc/AADL.pdf index d1ae0ac..510b7db 100644 Binary files a/doc/sujets/tex/conception/figures_pdf/fonc/AADL.pdf and b/doc/sujets/tex/conception/figures_pdf/fonc/AADL.pdf differ diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp index eacc86c..bf55a62 100644 --- a/software/raspberry/superviseur-robot/tasks.cpp +++ b/software/raspberry/superviseur-robot/tasks.cpp @@ -335,7 +335,7 @@ void Tasks::MoveTask(void *arg) { cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; // Synchronization barrier (waiting that all tasks are starting) rt_sem_p(&sem_barrier, TM_INFINITE); - rt_task_set_periodic(NULL, TM_NOW, 1000000000); + rt_task_set_periodic(NULL, TM_NOW, 100000000); while (1) { rt_task_wait_period(NULL);