src/robofsm/demo.dot

   1 digraph statecharts {
   2   ratio = 1.5;
   3   subgraph asynchronous_state_machine {
   4     init [peripheries=2]
   5   }
   6   subgraph demo {
   7     init [peripheries=2]
   8     competing [label=<competing>]
   9     competing -> survey [style = dashed]
  10     subgraph cluster_competing {
  11       label = "competing"
  12       survey [peripheries=2]
  13       approach_target [label=<approach_target>]
  14       approach_target -> recognize_init [style = dashed]
  15       subgraph cluster_approach_target {
  16         label = "approach_target"
  17         recognize_init [peripheries=2]
  18         get_target_back [label=<get_target_back>]
  19         get_target_load [label=<get_target_load>]
  20         get_target_touch [label=<get_target_touch>]
  21         get_target_turn [label=<get_target_turn>]
  22         recognize [label=<recognize>]
  23         recognize_init [label=<recognize_init>]
  24       }
  25       go_home [label=<go_home>]
  26       move_around [label=<move_around>]
  27       survey [label=<survey>]
  28     }
  29     init [label=<init>]
  30     wait_for_start [label=<wait_for_start>]
  31   }
  32   init -> wait_for_start [label = "evEntry"]
  33   wait_for_start -> competing [label = "evStart"]
  34   survey -> move_around [label = "evTimer"]
  35   survey -> move_around [label = "evMotionError"]
  36   survey -> approach_target [label = "evTargetDetected"]
  37   approach_target -> go_home [label = "evReturn"]
  38   approach_target -> move_around [label = "evReturn"]
  39   approach_target -> approach_target [label = "evMotionError"]
  40   approach_target -> move_around [label = "evMotionError"]
  41   move_around -> survey [label = "evMotionDone"]
  42   move_around -> survey [label = "evMotionError"]
  43   go_home -> go_home [label = "evTimer"]
  44   recognize_init -> recognize [label = "evRunSubFSM"]
  45   recognize -> get_target_turn [label = "evCameraDone"]
  46   get_target_turn -> get_target_load [label = "evMotionDone"]
  47   get_target_turn -> get_target_touch [label = "evMotionDone"]
  48   get_target_touch -> get_target_turn [label = "evMotionDone"]
  49   get_target_load -> get_target_back [label = "evTimer"]
  50 }