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rover-demo-plan-autorun.plx
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rover-demo-plan-autorun.plx
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<?xml version="1.0" encoding="UTF-8"?>
<PlexilPlan xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xmlns:tr="extended-plexil-translator"
FileName="rover-demo-plan-autorun.ple">
<GlobalDeclarations LineNo="2" ColNo="5">
<StateDeclaration LineNo="2" ColNo="5">
<Name>time</Name>
<Return>
<Name>_return_0</Name>
<Type>Date</Type>
</Return>
</StateDeclaration>
<CommandDeclaration LineNo="3" ColNo="0">
<Name>pprint</Name>
</CommandDeclaration>
<StateDeclaration LineNo="4" ColNo="8">
<Name>StartRequested</Name>
<Return>
<Name>_return_0</Name>
<Type>Integer</Type>
</Return>
</StateDeclaration>
<StateDeclaration LineNo="5" ColNo="8">
<Name>AbortRequested</Name>
<Return>
<Name>_return_0</Name>
<Type>Integer</Type>
</Return>
</StateDeclaration>
<CommandDeclaration LineNo="7" ColNo="0">
<Name>TurnFrontWheels</Name>
<Parameter>
<Type>Integer</Type>
</Parameter>
</CommandDeclaration>
<CommandDeclaration LineNo="8" ColNo="0">
<Name>TurnRearWheels</Name>
<Parameter>
<Type>Integer</Type>
</Parameter>
</CommandDeclaration>
<CommandDeclaration LineNo="9" ColNo="0">
<Name>MoveForward</Name>
<Parameter>
<Type>Integer</Type>
</Parameter>
</CommandDeclaration>
<CommandDeclaration LineNo="10" ColNo="0">
<Name>MoveBackward</Name>
<Parameter>
<Type>Integer</Type>
</Parameter>
</CommandDeclaration>
<CommandDeclaration LineNo="11" ColNo="0">
<Name>Stop</Name>
</CommandDeclaration>
</GlobalDeclarations>
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<NodeId>CountIteration</NodeId>
<VariableDeclarations>
<DeclareVariable LineNo="15" ColNo="4">
<Name>stepsCount</Name>
<Type>Integer</Type>
<InitialValue>
<IntegerValue>0</IntegerValue>
</InitialValue>
</DeclareVariable>
<DeclareVariable LineNo="16" ColNo="4">
<Name>continue</Name>
<Type>Boolean</Type>
<InitialValue>
<BooleanValue>true</BooleanValue>
</InitialValue>
</DeclareVariable>
<DeclareVariable LineNo="17" ColNo="4">
<Name>tickCont</Name>
<Type>Boolean</Type>
<InitialValue>
<BooleanValue>true</BooleanValue>
</InitialValue>
</DeclareVariable>
<DeclareVariable LineNo="18" ColNo="4">
<Name>abortedPlan</Name>
<Type>Boolean</Type>
<InitialValue>
<BooleanValue>false</BooleanValue>
</InitialValue>
</DeclareVariable>
<DeclareVariable LineNo="19" ColNo="4">
<Name>succeedPlan</Name>
<Type>Boolean</Type>
<InitialValue>
<BooleanValue>false</BooleanValue>
</InitialValue>
</DeclareVariable>
<DeclareVariable LineNo="20" ColNo="4">
<Name>delay</Name>
<Type>Real</Type>
<InitialValue>
<RealValue>0.5</RealValue>
</InitialValue>
</DeclareVariable>
<DeclareVariable LineNo="21" ColNo="4">
<Name>tolerance</Name>
<Type>Real</Type>
<InitialValue>
<RealValue>0.1</RealValue>
</InitialValue>
</DeclareVariable>
</VariableDeclarations>
<EndCondition>
<OR>
<BooleanVariable>abortedPlan</BooleanVariable>
<BooleanVariable>succeedPlan</BooleanVariable>
</OR>
</EndCondition>
<InvariantCondition>
<NOT>
<AND>
<EQInternal>
<NodeOutcomeVariable>
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</EQInternal>
<EQInternal>
<NodeStateVariable>
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</InvariantCondition>
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<NodeId>AbortedPlanHandler</NodeId>
<StartCondition>
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<LookupOnChange>
<Name>
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</Name>
</LookupOnChange>
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</EQNumeric>
</StartCondition>
<InvariantCondition>
<NOT>
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<EQInternal>
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<AND>
<EQInternal>
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<NodeBody>
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<NodeId>COMMAND__1</NodeId>
<NodeBody>
<Command>
<Name>
<StringValue>pprint</StringValue>
</Name>
<Arguments LineNo="30" ColNo="20">
<StringValue>Plan abortion requested.</StringValue>
</Arguments>
</Command>
</NodeBody>
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<NodeId>COMMAND__2</NodeId>
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</Name>
</Command>
</NodeBody>
</Node>
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</EQInternal>
</StartCondition>
<NodeBody>
<Assignment>
<BooleanVariable>abortedPlan</BooleanVariable>
<BooleanRHS>
<BooleanValue>true</BooleanValue>
</BooleanRHS>
</Assignment>
</NodeBody>
</Node>
</NodeList>
</NodeBody>
</Node>
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<NodeId>PlanSuccessHandler</NodeId>
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<AND>
<EQInternal>
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<NodeId>MainPlan</NodeId>
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</EQInternal>
<EQInternal>
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<NodeId>MainPlan</NodeId>
</NodeOutcomeVariable>
<NodeOutcomeValue>SUCCESS</NodeOutcomeValue>
</EQInternal>
</AND>
</StartCondition>
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<AND>
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</AND>
</OR>
</NOT>
</InvariantCondition>
<NodeBody>
<NodeList>
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<NodeId>COMMAND__4</NodeId>
<NodeBody>
<Command>
<Name>
<StringValue>Stop</StringValue>
</Name>
</Command>
</NodeBody>
</Node>
<Node NodeType="Command" LineNo="37" ColNo="12">
<NodeId>COMMAND__5</NodeId>
<StartCondition>
<EQInternal>
<NodeStateVariable>
<NodeRef dir="sibling">COMMAND__4</NodeRef>
</NodeStateVariable>
<NodeStateValue>FINISHED</NodeStateValue>
</EQInternal>
</StartCondition>
<NodeBody>
<Command>
<Name>
<StringValue>pprint</StringValue>
</Name>
<Arguments LineNo="38" ColNo="20">
<StringValue>Plan success!.</StringValue>
</Arguments>
</Command>
</NodeBody>
</Node>
<Node NodeType="Assignment" LineNo="39" ColNo="12">
<NodeId>ASSIGNMENT__6</NodeId>
<StartCondition>
<EQInternal>
<NodeStateVariable>
<NodeRef dir="sibling">COMMAND__5</NodeRef>
</NodeStateVariable>
<NodeStateValue>FINISHED</NodeStateValue>
</EQInternal>
</StartCondition>
<NodeBody>
<Assignment>
<BooleanVariable>succeedPlan</BooleanVariable>
<BooleanRHS>
<BooleanValue>true</BooleanValue>
</BooleanRHS>
</Assignment>
</NodeBody>
</Node>
</NodeList>
</NodeBody>
</Node>
<Node NodeType="NodeList" epx="Sequence" LineNo="44" ColNo="12">
<NodeId>MainPlan</NodeId>
<InvariantCondition>
<NOT>
<AND>
<EQInternal>
<NodeOutcomeVariable>
<NodeRef dir="child">Concurrence__7</NodeRef>
</NodeOutcomeVariable>
<NodeOutcomeValue>FAILURE</NodeOutcomeValue>
</EQInternal>
<EQInternal>
<NodeStateVariable>
<NodeRef dir="child">Concurrence__7</NodeRef>
</NodeStateVariable>
<NodeStateValue>FINISHED</NodeStateValue>
</EQInternal>
</AND>
</NOT>
</InvariantCondition>
<NodeBody>
<NodeList>
<Node NodeType="NodeList" epx="Concurrence" LineNo="44" ColNo="12">
<NodeId>Concurrence__7</NodeId>
<NodeBody>
<NodeList>
<Node NodeType="Command" LineNo="47" ColNo="20">
<NodeId>obstacleCheck</NodeId>
<StartCondition>
<EQInternal>
<NodeStateVariable>
<NodeId>planSequence</NodeId>
</NodeStateVariable>
<NodeStateValue>FINISHED</NodeStateValue>
</EQInternal>
</StartCondition>
<NodeBody>
<Command>
<Name>
<StringValue>pprint</StringValue>
</Name>
<Arguments LineNo="48" ColNo="28">
<StringValue>Plan executed succesfully.</StringValue>
</Arguments>
</Command>
</NodeBody>
</Node>
<Node NodeType="NodeList" epx="Sequence" LineNo="54" ColNo="20">
<NodeId>planSequence</NodeId>
<InvariantCondition>
<NOT>
<AND>
<EQInternal>
<NodeOutcomeVariable>
<NodeRef dir="child">Sequence__9</NodeRef>
</NodeOutcomeVariable>
<NodeOutcomeValue>FAILURE</NodeOutcomeValue>
</EQInternal>
<EQInternal>
<NodeStateVariable>
<NodeRef dir="child">Sequence__9</NodeRef>
</NodeStateVariable>
<NodeStateValue>FINISHED</NodeStateValue>
</EQInternal>
</AND>
</NOT>
</InvariantCondition>
<NodeBody>
<NodeList>
<Node NodeType="NodeList" epx="Sequence" LineNo="54" ColNo="20">
<NodeId>Sequence__9</NodeId>
<InvariantCondition>
<NOT>
<OR>
<AND>
<EQInternal>
<NodeOutcomeVariable>
<NodeRef dir="child">StepOne</NodeRef>
</NodeOutcomeVariable>
<NodeOutcomeValue>FAILURE</NodeOutcomeValue>
</EQInternal>
<EQInternal>
<NodeStateVariable>
<NodeRef dir="child">StepOne</NodeRef>
</NodeStateVariable>
<NodeStateValue>FINISHED</NodeStateValue>
</EQInternal>
</AND>
<AND>
<EQInternal>
<NodeOutcomeVariable>
<NodeRef dir="child">StepTwo</NodeRef>
</NodeOutcomeVariable>
<NodeOutcomeValue>FAILURE</NodeOutcomeValue>
</EQInternal>
<EQInternal>
<NodeStateVariable>
<NodeRef dir="child">StepTwo</NodeRef>
</NodeStateVariable>
<NodeStateValue>FINISHED</NodeStateValue>
</EQInternal>
</AND>
<AND>
<EQInternal>
<NodeOutcomeVariable>
<NodeRef dir="child">StepThree</NodeRef>
</NodeOutcomeVariable>
<NodeOutcomeValue>FAILURE</NodeOutcomeValue>
</EQInternal>
<EQInternal>
<NodeStateVariable>
<NodeRef dir="child">StepThree</NodeRef>
</NodeStateVariable>
<NodeStateValue>FINISHED</NodeStateValue>
</EQInternal>
</AND>
<AND>
<EQInternal>
<NodeOutcomeVariable>
<NodeRef dir="child">StepFour</NodeRef>
</NodeOutcomeVariable>
<NodeOutcomeValue>FAILURE</NodeOutcomeValue>
</EQInternal>
<EQInternal>
<NodeStateVariable>
<NodeRef dir="child">StepFour</NodeRef>
</NodeStateVariable>
<NodeStateValue>FINISHED</NodeStateValue>
</EQInternal>
</AND>
</OR>
</NOT>
</InvariantCondition>
<NodeBody>
<NodeList>
<Node NodeType="NodeList" epx="Sequence" LineNo="57" ColNo="28">
<NodeId>StepOne</NodeId>
<InvariantCondition>
<NOT>
<OR>
<AND>
<EQInternal>
<NodeOutcomeVariable>
<NodeRef dir="child">COMMAND__10</NodeRef>
</NodeOutcomeVariable>
<NodeOutcomeValue>FAILURE</NodeOutcomeValue>
</EQInternal>
<EQInternal>
<NodeStateVariable>
<NodeRef dir="child">COMMAND__10</NodeRef>
</NodeStateVariable>
<NodeStateValue>FINISHED</NodeStateValue>
</EQInternal>
</AND>
<AND>
<EQInternal>
<NodeOutcomeVariable>
<NodeRef dir="child">COMMAND__11</NodeRef>
</NodeOutcomeVariable>
<NodeOutcomeValue>FAILURE</NodeOutcomeValue>
</EQInternal>
<EQInternal>
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<NodeRef dir="child">COMMAND__11</NodeRef>
</NodeStateVariable>
<NodeStateValue>FINISHED</NodeStateValue>
</EQInternal>
</AND>
<AND>
<EQInternal>
<NodeOutcomeVariable>
<NodeRef dir="child">WaitABit</NodeRef>
</NodeOutcomeVariable>
<NodeOutcomeValue>FAILURE</NodeOutcomeValue>
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