| <?xml version="1.0" encoding="UTF-8"?> |
| <am:Amalthea xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:am="http://app4mc.eclipse.org/amalthea/0.9.8" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"> |
| <commonElements> |
| <tags xmi:id="LiDar?type=Tag" name="LiDar"> |
| <customProperties key="executor_type"> |
| <value xsi:type="am:StringObject" value="single_thread"/> |
| </customProperties> |
| </tags> |
| <tags xmi:id="Fahrtplaner?type=Tag" name="Fahrtplaner"> |
| <customProperties key="executor_type"> |
| <value xsi:type="am:StringObject" value="single_thread"/> |
| </customProperties> |
| </tags> |
| <tags xmi:id="Motorentreiber?type=Tag" name="Motorentreiber"> |
| <customProperties key="executor_type"> |
| <value xsi:type="am:StringObject" value="single_thread"/> |
| </customProperties> |
| </tags> |
| </commonElements> |
| <swModel> |
| <tasks xmi:id="lidar_pub_task?type=Task" name="lidar_pub_task" tags="LiDar?type=Tag" stimuli="lidar_pub_stimulus?type=PeriodicStimulus" multipleTaskActivationLimit="0"> |
| <activityGraph> |
| <items xsi:type="am:RunnableCall" runnable="lidar_publish_callback?type=Runnable"/> |
| </activityGraph> |
| </tasks> |
| <tasks xmi:id="lidar_sub_task?type=Task" name="lidar_sub_task" tags="Fahrtplaner?type=Tag" stimuli="lidar_pub_stimulus?type=PeriodicStimulus" multipleTaskActivationLimit="0"> |
| <activityGraph> |
| <items xsi:type="am:RunnableCall" runnable="lidar_sub_callback?type=Runnable"/> |
| </activityGraph> |
| </tasks> |
| <tasks xmi:id="velocity_pub_task?type=Task" name="velocity_pub_task" tags="Fahrtplaner?type=Tag" stimuli="velocity_pub_stimulus?type=PeriodicStimulus" multipleTaskActivationLimit="0"> |
| <activityGraph> |
| <items xsi:type="am:RunnableCall" runnable="velocity_publish_callback?type=Runnable"/> |
| </activityGraph> |
| </tasks> |
| <tasks xmi:id="velocity_sub_task?type=Task" name="velocity_sub_task" tags="Motorentreiber?type=Tag" stimuli="velocity_pub_stimulus?type=PeriodicStimulus" multipleTaskActivationLimit="0"> |
| <activityGraph> |
| <items xsi:type="am:RunnableCall" runnable="velocity_subscribe_callback?type=Runnable"/> |
| </activityGraph> |
| </tasks> |
| <tasks xmi:id="odom_publish_task?type=Task" name="odom_publish_task" tags="Motorentreiber?type=Tag" stimuli="odom_pub_stimulus?type=PeriodicStimulus" multipleTaskActivationLimit="0"> |
| <activityGraph> |
| <items xsi:type="am:RunnableCall" runnable="motortreiber_on_update?type=Runnable"/> |
| </activityGraph> |
| </tasks> |
| <tasks xmi:id="odom_sub_task?type=Task" name="odom_sub_task" tags="Fahrtplaner?type=Tag" stimuli="odom_pub_stimulus?type=PeriodicStimulus" multipleTaskActivationLimit="0"> |
| <activityGraph> |
| <items xsi:type="am:RunnableCall" runnable="fahrtplaner_odom_callback?type=Runnable"/> |
| </activityGraph> |
| </tasks> |
| <runnables xmi:id="lidar_publish_callback?type=Runnable" name="lidar_publish_callback" callback="false" service="false"> |
| <customProperties key="measure_performance"> |
| <value xsi:type="am:BooleanObject" value="true"/> |
| </customProperties> |
| <activityGraph> |
| <items xsi:type="am:Ticks"> |
| <default xsi:type="am:DiscreteValueConstant" value="50000"/> |
| </items> |
| <items xsi:type="am:LabelAccess" data="lidar_publish_label?type=Label" access="read"/> |
| </activityGraph> |
| </runnables> |
| <runnables xmi:id="lidar_sub_callback?type=Runnable" name="lidar_sub_callback" callback="false" service="false"> |
| <customProperties key="measure_performance"> |
| <value xsi:type="am:BooleanObject" value="true"/> |
| </customProperties> |
| <activityGraph> |
| <items xsi:type="am:Ticks"> |
| <default xsi:type="am:DiscreteValueConstant" value="600"/> |
| </items> |
| <items xsi:type="am:LabelAccess" data="lidar_sub_label?type=Label" access="read"/> |
| </activityGraph> |
| </runnables> |
| <runnables xmi:id="velocity_publish_callback?type=Runnable" name="velocity_publish_callback" callback="false" service="false"> |
| <customProperties key="measure_performance"> |
| <value xsi:type="am:BooleanObject" value="true"/> |
| </customProperties> |
| <activityGraph> |
| <items xsi:type="am:LabelAccess" data="velocity_pub_label?type=Label" access="read"/> |
| </activityGraph> |
| </runnables> |
| <runnables xmi:id="velocity_subscribe_callback?type=Runnable" name="velocity_subscribe_callback" callback="false" service="false"> |
| <customProperties key="measure_performance"> |
| <value xsi:type="am:BooleanObject" value="true"/> |
| </customProperties> |
| <activityGraph> |
| <items xsi:type="am:Ticks"> |
| <default xsi:type="am:DiscreteValueConstant" value="3300"/> |
| </items> |
| <items xsi:type="am:LabelAccess" data="velocity_sub_label?type=Label" access="read"/> |
| </activityGraph> |
| </runnables> |
| <runnables xmi:id="fahrtplaner_odom_callback?type=Runnable" name="fahrtplaner_odom_callback" callback="false" service="false"> |
| <customProperties key="measure_performance"> |
| <value xsi:type="am:BooleanObject" value="true"/> |
| </customProperties> |
| <activityGraph> |
| <items xsi:type="am:Ticks"> |
| <default xsi:type="am:DiscreteValueConstant" value="10000"/> |
| </items> |
| <items xsi:type="am:LabelAccess" data="odom_label?type=Label" access="read"/> |
| </activityGraph> |
| </runnables> |
| <runnables xmi:id="motortreiber_on_update?type=Runnable" name="motortreiber_on_update" callback="false" service="false"> |
| <customProperties key="measure_performance"> |
| <value xsi:type="am:BooleanObject" value="true"/> |
| </customProperties> |
| <activityGraph> |
| <items xsi:type="am:Ticks"> |
| <default xsi:type="am:DiscreteValueConstant" value="72000"/> |
| </items> |
| <items xsi:type="am:LabelAccess" data="drive_on_update?type=Label" access="read"/> |
| </activityGraph> |
| </runnables> |
| <labels xmi:id="lidar_sub_label?type=Label" name="lidar_sub_label" constant="false" bVolatile="false"> |
| <size value="5" unit="B"/> |
| </labels> |
| <labels xmi:id="odom_label?type=Label" name="odom_label" constant="false" bVolatile="false"> |
| <size value="130" unit="B"/> |
| </labels> |
| <labels xmi:id="lidar_publish_label?type=Label" name="lidar_publish_label" constant="false" bVolatile="false"> |
| <size value="185" unit="B"/> |
| </labels> |
| <labels xmi:id="velocity_sub_label?type=Label" name="velocity_sub_label" constant="false" bVolatile="false"> |
| <size value="20" unit="B"/> |
| </labels> |
| <labels xmi:id="drive_on_update?type=Label" name="drive_on_update" constant="false" bVolatile="false"> |
| <size value="800" unit="B"/> |
| </labels> |
| <labels xmi:id="velocity_pub_label?type=Label" name="velocity_pub_label" constant="false" bVolatile="false"> |
| <size value="2" unit="B"/> |
| </labels> |
| <channels xmi:id="scan?type=Channel" name="scan" defaultElements="0" maxElements="0"> |
| <size value="100" unit="B"/> |
| </channels> |
| <channels xmi:id="velocity?type=Channel" name="velocity" defaultElements="0" maxElements="0"> |
| <size value="100" unit="B"/> |
| </channels> |
| <channels xmi:id="odom?type=Channel" name="odom" defaultElements="0" maxElements="0"> |
| <size value="100" unit="B"/> |
| </channels> |
| </swModel> |
| <stimuliModel> |
| <stimuli xsi:type="am:PeriodicStimulus" xmi:id="lidar_pub_stimulus?type=PeriodicStimulus" name="lidar_pub_stimulus"> |
| <recurrence value="16" unit="ms"/> |
| </stimuli> |
| <stimuli xsi:type="am:PeriodicStimulus" xmi:id="velocity_pub_stimulus?type=PeriodicStimulus" name="velocity_pub_stimulus"> |
| <recurrence value="10" unit="ms"/> |
| </stimuli> |
| <stimuli xsi:type="am:EventStimulus" xmi:id="scan?type=EventStimulus" name="scan" triggeringEvents="scan?type=ChannelEvent"/> |
| <stimuli xsi:type="am:EventStimulus" xmi:id="velocity?type=EventStimulus" name="velocity" triggeringEvents="velocity?type=ChannelEvent"/> |
| <stimuli xsi:type="am:PeriodicStimulus" xmi:id="odom_pub_stimulus?type=PeriodicStimulus" name="odom_pub_stimulus"> |
| <recurrence value="1" unit="ms"/> |
| </stimuli> |
| <stimuli xsi:type="am:EventStimulus" xmi:id="odom?type=EventStimulus" name="odom" triggeringEvents="odom?type=ChannelEvent"/> |
| </stimuliModel> |
| <eventModel> |
| <events xsi:type="am:ChannelEvent" xmi:id="scan?type=ChannelEvent" name="scan" entity="scan?type=Channel"/> |
| <events xsi:type="am:ChannelEvent" xmi:id="velocity?type=ChannelEvent" name="velocity" entity="velocity?type=Channel"/> |
| <events xsi:type="am:ChannelEvent" xmi:id="odom?type=ChannelEvent" name="odom" entity="odom?type=Channel"/> |
| </eventModel> |
| </am:Amalthea> |