doc/FSM-demo.txt

   1 digraph G \r
   2 {\r
   3         // MAIN FSM\r
   4         subgraph cluster0 {\r
   5                 node [style=filled,color=white];\r
   6                 style=filled;\r
   7                 \r
   8 \r
   9                 Main_Start -> Main_Plan_Go[style=dotted];\r
  10                 Main_Plan_Go ->Main_wait[style=dotted,label=" Start "];\r
  11                 Main_wait -> Main_Plan_Go[style=dotted,label=" Done "];\r
  12                 Main_wait -> Main_GoFoBot[style=dotted,label=" Bottle "];\r
  13                 Main_GoFoBot -> Main_Follow_Bot [style=dotted,label="  "];\r
  14                 Main_Follow_Bot -> Main_Plan_Go[style=dotted,label=" LostORdone     "];\r
  15                 Main_Follow_Bot -> Main_Grab[style=dotted,label=" CloseTOgrab "];\r
  16                 Main_Grab -> Main_Follow_Bot [style=dotted,label=" Fail "];\r
  17                 Main_Grab -> Main_Plan_Go [style=dotted,label=" Done "];\r
  18 \r
  19                 label = "MainFSM";\r
  20         }\r
  21 \r
  22         Main_Start -> Pickup_start[label=" Start "];\r
  23         Main_Start -> Move_start[label=" Start "];\r
  24         Main_Plan_Go -> Move_wait[label=" Plan&GO"];\r
  25         Main_GoFoBot -> Move_drive  [label=" Kill Route "];\r
  26         Main_Follow_Bot -> Move_wait [label=" Direct Navigating    "];\r
  27         Main_Grab -> Pickup_wait [label=" Try Pickup "];\r
  28 \r
  29         // DET FSM\r
  30         subgraph cluster1 {\r
  31                 node [style=filled,color=white];\r
  32                 style=filled;\r
  33                 \r
  34                 Det_start -> Det_Scan [style=dotted];\r
  35                 label = "DetFSM";\r
  36         }\r
  37 \r
  38         Det_start -> Main_Start [label=" Start "];\r
  39         Det_Scan -> Main_wait   [label=" Bottle "];\r
  40         \r
  41 \r
  42 \r
  43         // Pickup FSM\r
  44         subgraph cluster2 {\r
  45                 node [style=filled,color=white];\r
  46                 style=filled;\r
  47                 \r
  48                 Pickup_start -> Pickup_unfold [label="  ", style=dotted];\r
  49                 Pickup_unfold -> Pickup_wait [label="  ", style=dotted ];\r
  50                 Pickup_wait -> Pickup_Picking [label=" Try ", style=dotted ];\r
  51                 Pickup_Picking -> Pickup_WaitForSuccess[label="  ", style=dotted ];             \r
  52                 Pickup_WaitForSuccess -> Pickup_wait [label=" DoneORfail  ", style=dotted ];\r
  53                 label = "PickupFSM";\r
  54         }\r
  55 \r
  56         Pickup_WaitForSuccess -> Main_Grab [label=" DoneORfail "]\r
  57 \r
  58         // Move FSM\r
  59         subgraph cluster3 {\r
  60                 node [style=filled,color=white];\r
  61                 style=filled;\r
  62                 \r
  63                 Move_start -> Move_init [style=dotted];\r
  64                 Move_init -> Move_wait [style=dotted];\r
  65                 Move_wait -> Move_drive [style=dotted, label=" Begin "];\r
  66                 Move_drive -> Move_wait [style=dotted, label=" Done "];\r
  67                 label = "MoveFSM";\r
  68         }\r
  69         \r
  70         Move_drive -> Main_wait [label="Way done"];\r
  71         Move_drive -> Main_GoFoBot [label="Way done"];\r
  72 \r
  73 \r
  74 \r
  75         subgraph cluster10 {\r
  76                 node [style=filled,color=white];\r
  77                 style=filled;\r
  78                 \r
  79 \r
  80                 A -> B [style=dotted];\r
  81                 C -> D [style=dotted,label=" podminka "];\r
  82                 E -> F [label=" Signal "];\r
  83 \r
  84                 label = "HELP";\r
  85         }\r
  86 \r
  87 }\r