rover/AMALTHEA model/rover082.amxmi

<?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/0.8.2" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
  <swModel>
    <runnables name="Display_Sensors" activations="500ms?type=PeriodicActivation" callback="false" service="false">
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="3173300"/>
      </runnableItems>
      <runnableItems xsi:type="am:LabelAccess" data="humidity?type=Label" access="read"/>
      <runnableItems xsi:type="am:LabelAccess" data="temperature?type=Label" access="read"/>
      <runnableItems xsi:type="am:LabelAccess" data="infrared_Frontleft?type=Label" access="read"/>
      <runnableItems xsi:type="am:LabelAccess" data="US_distance_front?type=Label" access="read"/>
      <runnableItems xsi:type="am:LabelAccess" data="bearing?type=Label" access="read"/>
    </runnables>
    <runnables name="InfraRed" activations="500ms?type=PeriodicActivation" callback="false" service="false">
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="244100"/>
      </runnableItems>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_ir?type=Semaphore" access="request"/>
      <runnableItems xsi:type="am:LabelAccess" data="infrared_Frontleft?type=Label" access="write"/>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_ir?type=Semaphore" access="release"/>
    </runnables>
    <runnables name="MotorDriver" activations="100ms?type=PeriodicActivation" callback="false" service="false">
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="122050"/>
      </runnableItems>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_kc?type=Semaphore" access="request"/>
      <runnableItems xsi:type="am:LabelAccess" data="keycommand_shared?type=Label" access="write"/>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_kc?type=Semaphore" access="release"/>
    </runnables>
    <runnables name="US_Grove_Front" activations="500ms?type=PeriodicActivation" callback="false" service="false">
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="5858400"/>
      </runnableItems>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_us?type=Semaphore" access="request"/>
      <runnableItems xsi:type="am:LabelAccess" data="US_distance_front?type=Label" access="write"/>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_us?type=Semaphore" access="release"/>
    </runnables>
    <runnables name="US_SR04_Front" activations="500ms?type=PeriodicActivation" callback="false" service="false">
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="4882000"/>
      </runnableItems>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_us?type=Semaphore" access="request"/>
      <runnableItems xsi:type="am:LabelAccess" data="US_distance_front?type=Label" access="write"/>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_us?type=Semaphore" access="release"/>
    </runnables>
    <runnables name="US_SR04_Back" activations="500ms?type=PeriodicActivation" callback="false" service="false">
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="4882000"/>
      </runnableItems>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_us?type=Semaphore" access="request"/>
      <runnableItems xsi:type="am:LabelAccess" data="US_distance_back?type=Label" access="write"/>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_us?type=Semaphore" access="release"/>
    </runnables>
    <runnables name="Record_Timing" activations="2s?type=PeriodicActivation" callback="false" service="false">
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="17087000"/>
      </runnableItems>
    </runnables>
    <runnables name="Webserver" activations="50ms?type=PeriodicActivation" callback="false" service="false">
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="488200"/>
      </runnableItems>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_kc?type=Semaphore" access="request"/>
      <runnableItems xsi:type="am:LabelAccess" data="keycommand_shared?type=Label" access="write"/>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_kc?type=Semaphore" access="release"/>
    </runnables>
    <runnables name="KeyCommand" activations="50ms?type=PeriodicActivation" callback="false" service="false">
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="488200"/>
      </runnableItems>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_kc?type=Semaphore" access="request"/>
      <runnableItems xsi:type="am:LabelAccess" data="keycommand_shared?type=Label" access="write"/>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_kc?type=Semaphore" access="release"/>
    </runnables>
    <runnables name="Compass" activations="500ms?type=PeriodicActivation" callback="false" service="false">
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="488200"/>
      </runnableItems>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_bear?type=Semaphore" access="request"/>
      <runnableItems xsi:type="am:LabelAccess" data="bearing?type=Label" access="write"/>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_bear?type=Semaphore" access="release"/>
    </runnables>
    <runnables name="Temperature" activations="500ms?type=PeriodicActivation" callback="false" service="false">
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="488200"/>
      </runnableItems>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_temp?type=Semaphore" access="request"/>
      <runnableItems xsi:type="am:LabelAccess" data="temperature?type=Label" access="write"/>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_temp?type=Semaphore" access="release"/>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_hum?type=Semaphore" access="request"/>
      <runnableItems xsi:type="am:LabelAccess" data="humidity?type=Label" access="write"/>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_hum?type=Semaphore" access="release"/>
    </runnables>
    <runnables name="ACC" activations="100ms?type=PeriodicActivation" callback="false" service="false" asilLevel="B">
      <runnableItems xsi:type="am:LabelAccess" data="US_distance_front?type=Label" access="read"/>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_kc?type=Semaphore" access="request"/>
      <runnableItems xsi:type="am:LabelAccess" data="keycommand_shared?type=Label" access="write"/>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_kc?type=Semaphore" access="release"/>
      <runnableItems xsi:type="am:LabelAccess" data="US_distance_back?type=Label" access="read"/>
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="0"/>
      </runnableItems>
    </runnables>
    <runnables name="US_Grove_Back" activations="500ms?type=PeriodicActivation" callback="false" service="false">
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="5858400"/>
      </runnableItems>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_us?type=Semaphore" access="request"/>
      <runnableItems xsi:type="am:LabelAccess" data="US_distance_back?type=Label" access="write"/>
      <runnableItems xsi:type="am:SemaphoreAccess" semaphore="sem_us?type=Semaphore" access="release"/>
    </runnables>
    <runnables name="RaspberryTest" activations="1s?type=PeriodicActivation" callback="false" service="false">
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="1000"/>
      </runnableItems>
    </runnables>
    <runnables name="Parking" activations="100ms?type=PeriodicActivation" callback="false" service="false">
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="1000"/>
      </runnableItems>
      <runnableItems xsi:type="am:LabelAccess" data="US_distance_back?type=Label" access="read"/>
      <runnableItems xsi:type="am:LabelAccess" data="US_distance_front?type=Label" access="read"/>
    </runnables>
    <runnables name="Record_Sensordata" activations="400ms?type=PeriodicActivation" callback="false" service="false">
      <runnableItems xsi:type="am:RunnableInstructions">
        <default xsi:type="am:InstructionsConstant" value="1000"/>
      </runnableItems>
      <runnableItems xsi:type="am:LabelAccess" data="bearing?type=Label" access="read"/>
      <runnableItems xsi:type="am:LabelAccess" data="humidity?type=Label" access="read"/>
      <runnableItems xsi:type="am:LabelAccess" data="infrared_Backleft?type=Label" access="read"/>
      <runnableItems xsi:type="am:LabelAccess" data="infrared_Backright?type=Label" access="read"/>
      <runnableItems xsi:type="am:LabelAccess" data="infrared_Frontleft?type=Label" access="read"/>
      <runnableItems xsi:type="am:LabelAccess" data="infrared_Frontright?type=Label" access="read"/>
      <runnableItems xsi:type="am:LabelAccess" data="temperature?type=Label" access="read"/>
      <runnableItems xsi:type="am:LabelAccess" data="US_distance_back?type=Label" access="read"/>
      <runnableItems xsi:type="am:LabelAccess" data="US_distance_front?type=Label" access="read"/>
    </runnables>
    <labels name="keycommand_shared" constant="false" bVolatile="false">
      <size value="1" unit="B"/>
    </labels>
    <labels name="infrared_Frontleft" constant="false" bVolatile="false">
      <size value="4" unit="B"/>
    </labels>
    <labels name="US_distance_front" constant="false" bVolatile="false">
      <size value="4" unit="B"/>
    </labels>
    <labels name="US_distance_back" constant="false" bVolatile="false">
      <size value="4" unit="B"/>
    </labels>
    <labels name="local_command" constant="false" bVolatile="false">
      <size value="1" unit="B"/>
    </labels>
    <labels name="humidity" constant="false" bVolatile="false">
      <size value="4" unit="B"/>
    </labels>
    <labels name="temperature" constant="false" bVolatile="false">
      <size value="4" unit="B"/>
    </labels>
    <labels name="bearing" constant="false" bVolatile="false">
      <size value="4" unit="B"/>
    </labels>
    <labels name="infrared_Frontright" constant="false" bVolatile="false">
      <size value="4" unit="B"/>
    </labels>
    <labels name="infrared_Backleft" constant="false" bVolatile="false">
      <size value="4" unit="B"/>
    </labels>
    <labels name="infrared_Backright" constant="false" bVolatile="false">
      <size value="4" unit="B"/>
    </labels>
    <labels name="speed" constant="false" bVolatile="false">
      <size value="4" unit="B"/>
    </labels>
    <labels name="steering" constant="false" bVolatile="false">
      <size value="4" unit="B"/>
    </labels>
    <activations xsi:type="am:PeriodicActivation" name="50ms">
      <min value="50" unit="ms"/>
      <max value="50" unit="ms"/>
    </activations>
    <activations xsi:type="am:PeriodicActivation" name="100ms">
      <min value="100" unit="ms"/>
      <max value="100" unit="ms"/>
    </activations>
    <activations xsi:type="am:PeriodicActivation" name="500ms">
      <min value="500" unit="ms"/>
      <max value="500" unit="ms"/>
    </activations>
    <activations xsi:type="am:PeriodicActivation" name="1s">
      <min value="1" unit="s"/>
      <max value="1" unit="s"/>
      <recurrence value="1" unit="s"/>
    </activations>
    <activations xsi:type="am:PeriodicActivation" name="400ms">
      <min value="400" unit="ms"/>
      <max value="400" unit="ms"/>
      <recurrence value="400" unit="ms"/>
    </activations>
    <activations xsi:type="am:PeriodicActivation" name="2s">
      <min value="2" unit="s"/>
      <max value="2" unit="s"/>
      <recurrence value="2" unit="s"/>
    </activations>
  </swModel>
  <hwModel>
    <coreTypes name="ARM Coretex-A53" bitWidth="64" instructionsPerCycle="1.0"/>
    <system>
      <ecus name="RPI3">
        <microcontrollers name="ARM Coretex-A53">
          <cores name="1" coreType="ARM+Coretex-A53?type=CoreType" lockstepGroup="0">
            <prescaler name="prescaler1" clockRatio="1.0" quartz="QM?type=Quartz"/>
          </cores>
          <cores name="2" coreType="ARM+Coretex-A53?type=CoreType" lockstepGroup="0">
            <prescaler name="prescaler2" clockRatio="1.0" quartz="QM?type=Quartz"/>
          </cores>
          <cores name="3" coreType="ARM+Coretex-A53?type=CoreType" lockstepGroup="0">
            <prescaler name="prescaler3" clockRatio="1.0" quartz="QM?type=Quartz"/>
          </cores>
          <cores name="4" coreType="ARM+Coretex-A53?type=CoreType" lockstepGroup="0">
            <prescaler name="prescaler4" clockRatio="1.0" quartz="QM?type=Quartz"/>
          </cores>
        </microcontrollers>
      </ecus>
      <quartzes name="QM">
        <frequency unit="MHz" value="1200.0"/>
      </quartzes>
    </system>
  </hwModel>
  <osModel>
    <semaphores name="sem_ir" initialValue="0" maxValue="0" priorityCeilingProtocol="false"/>
    <semaphores name="sem_us" initialValue="0" maxValue="0" priorityCeilingProtocol="false"/>
    <semaphores name="sem_temp" initialValue="0" maxValue="0" priorityCeilingProtocol="false"/>
    <semaphores name="sem_hum" initialValue="0" maxValue="0" priorityCeilingProtocol="false"/>
    <semaphores name="sem_kc" initialValue="0" maxValue="0" priorityCeilingProtocol="false"/>
    <semaphores name="sem_bear" initialValue="0" maxValue="0" priorityCeilingProtocol="false"/>
  </osModel>
</am:Amalthea>