--- /dev/null
+digraph statecharts {
+ ratio = 1.5;
+ subgraph asynchronous_state_machine {
+ init [peripheries=2]
+ }
+ subgraph demo {
+ init [peripheries=2]
+ competing [label=<competing>]
+ competing -> survey [style = dashed]
+ subgraph cluster_competing {
+ label = "competing"
+ survey [peripheries=2]
+ approach_target [label=<approach_target>]
+ approach_target -> recognize_init [style = dashed]
+ subgraph cluster_approach_target {
+ label = "approach_target"
+ recognize_init [peripheries=2]
+ get_target_back [label=<get_target_back>]
+ get_target_load [label=<get_target_load>]
+ get_target_touch [label=<get_target_touch>]
+ get_target_turn [label=<get_target_turn>]
+ recognize [label=<recognize>]
+ recognize_init [label=<recognize_init>]
+ }
+ go_home [label=<go_home>]
+ move_around [label=<move_around>]
+ survey [label=<survey>]
+ }
+ init [label=<init>]
+ wait_for_start [label=<wait_for_start>]
+ }
+ init -> wait_for_start [label = "evEntry"]
+ wait_for_start -> competing [label = "evStart"]
+ survey -> move_around [label = "evTimer"]
+ survey -> move_around [label = "evMotionError"]
+ survey -> approach_target [label = "evTargetDetected"]
+ approach_target -> go_home [label = "evReturn"]
+ approach_target -> move_around [label = "evReturn"]
+ approach_target -> approach_target [label = "evMotionError"]
+ approach_target -> move_around [label = "evMotionError"]
+ move_around -> survey [label = "evMotionDone"]
+ move_around -> survey [label = "evMotionError"]
+ go_home -> go_home [label = "evTimer"]
+ recognize_init -> recognize [label = "evRunSubFSM"]
+ recognize -> get_target_turn [label = "evCameraDone"]
+ get_target_turn -> get_target_load [label = "evMotionDone"]
+ get_target_turn -> get_target_touch [label = "evMotionDone"]
+ get_target_touch -> get_target_turn [label = "evMotionDone"]
+ get_target_load -> get_target_back [label = "evTimer"]
+}
--- /dev/null
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--- /dev/null
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projects / eurobot / public.git / commitdiff