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| <fragment xmi:type="uml:BehaviorExecutionSpecification" xmi:id="_2PA2YMEWEeS7iPHaI1Hn9A" name="BehaviorExecSpec" finish="_2PA2YcEWEeS7iPHaI1Hn9A" start="_7YvwUMEWEeS7iPHaI1Hn9A"/> |
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| <fragment xmi:type="uml:ExecutionOccurrenceSpecification" xmi:id="_7YvwUMEWEeS7iPHaI1Hn9A" name="BehaviorExecSpecStart" execution="_2PA2YMEWEeS7iPHaI1Hn9A"/> |
| <fragment xmi:type="uml:ExecutionOccurrenceSpecification" xmi:id="_QFk50MEZEeS7iPHaI1Hn9A" name="BehaviorExecSpecStart" execution="_QFnWEMEZEeS7iPHaI1Hn9A"/> |
| <fragment xmi:type="uml:CombinedFragment" xmi:id="_bYQhQMEUEeS7iPHaI1Hn9A" name="CombinedFragment" covered="_H1tHoMEUEeS7iPHaI1Hn9A _JT3HsMEUEeS7iPHaI1Hn9A _KJd6AMEUEeS7iPHaI1Hn9A" interactionOperator="alt"> |
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| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_tFQpMOU1EeWS_tHmLojHKw" name="goForward_MessageRecv" covered="_JT3HsMEUEeS7iPHaI1Hn9A" message="_tFPbEOU1EeWS_tHmLojHKw"/> |
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| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_vfCkAeU1EeWS_tHmLojHKw" name="goForward_Message0Send" covered="_H1tHoMEUEeS7iPHaI1Hn9A" message="_vfCkAOU1EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:ExecutionOccurrenceSpecification" xmi:id="_vfX7MOU1EeWS_tHmLojHKw" name="ActionExecSpec1Finish" execution="_vfXUIeU1EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_vfDLEOU1EeWS_tHmLojHKw" name="goForward_Message0Recv" message="_vfCkAOU1EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_zROcMOU1EeWS_tHmLojHKw" name="goForward_Message1Recv" covered="_KJd6AMEUEeS7iPHaI1Hn9A" message="_zRNOEOU1EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_tFQCIOU1EeWS_tHmLojHKw" name="goForward_MessageSend0" covered="_H1tHoMEUEeS7iPHaI1Hn9A" message="_tFPbEOU1EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:ExecutionOccurrenceSpecification" xmi:id="_EruNAMEWEeS7iPHaI1Hn9A" name="ActionExecSpec0Finish" covered="_KJd6AMEUEeS7iPHaI1Hn9A" execution="_Ertl8MEWEeS7iPHaI1Hn9A"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_laDRAOU1EeWS_tHmLojHKw" name="goForward_MessageSend" covered="_H1tHoMEUEeS7iPHaI1Hn9A"/> |
| <fragment xmi:type="uml:ActionExecutionSpecification" xmi:id="_vfXUIeU1EeWS_tHmLojHKw" name="ActionExecSpec1" finish="_vfX7MOU1EeWS_tHmLojHKw" start="_vfDLEOU1EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_zRN1IOU1EeWS_tHmLojHKw" name="goForward_Message1Send" covered="_H1tHoMEUEeS7iPHaI1Hn9A" message="_zRNOEOU1EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:ExecutionOccurrenceSpecification" xmi:id="_vffP8eU1EeWS_tHmLojHKw" name="ActionExecSpec0Start" covered="_KJd6AMEUEeS7iPHaI1Hn9A" execution="_Ertl8MEWEeS7iPHaI1Hn9A"/> |
| <guard xmi:type="uml:InteractionConstraint" xmi:id="_bYSWcMEUEeS7iPHaI1Hn9A"> |
| <specification xmi:type="uml:OpaqueExpression" xmi:id="_9MdbkMEUEeS7iPHaI1Hn9A" name="Direction=Forward"> |
| <language>Natural language</language> |
| <body>Direction is equal to Forward</body> |
| </specification> |
| <maxint xmi:type="uml:LiteralInteger" xmi:id="_bYS9gcEUEeS7iPHaI1Hn9A" value="1"/> |
| <minint xmi:type="uml:LiteralInteger" xmi:id="_bYS9gMEUEeS7iPHaI1Hn9A"/> |
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| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_CD5mUeU2EeWS_tHmLojHKw" name="goBackward_MessageRecv0" covered="_KJd6AMEUEeS7iPHaI1Hn9A" message="_CD4_QOU2EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_-JVOMOU1EeWS_tHmLojHKw" name="goBackward_MessageSend" covered="_H1tHoMEUEeS7iPHaI1Hn9A" message="_-JUnIOU1EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_-JVOMeU1EeWS_tHmLojHKw" name="goBackward_MessageRecv" covered="_JT3HsMEUEeS7iPHaI1Hn9A" message="_-JUnIOU1EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_CD5mUOU2EeWS_tHmLojHKw" name="goBackward_MessageSend0" covered="_H1tHoMEUEeS7iPHaI1Hn9A" message="_CD4_QOU2EeWS_tHmLojHKw"/> |
| <guard xmi:type="uml:InteractionConstraint" xmi:id="_rmg4kMEUEeS7iPHaI1Hn9A"> |
| <specification xmi:type="uml:OpaqueExpression" xmi:id="_fyKEQMEVEeS7iPHaI1Hn9A" name="Direction is equal to Backward"> |
| <language>Natural language</language> |
| <body>Direction is equal to Backward </body> |
| </specification> |
| <maxint xmi:type="uml:LiteralInteger" xmi:id="_rmhfocEUEeS7iPHaI1Hn9A" value="1"/> |
| <minint xmi:type="uml:LiteralInteger" xmi:id="_rmhfoMEUEeS7iPHaI1Hn9A"/> |
| </guard> |
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| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_IsKTwOU2EeWS_tHmLojHKw" name="goForward_Message1Recv" covered="_KJd6AMEUEeS7iPHaI1Hn9A" message="_IsJssOU2EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_GNIskOU2EeWS_tHmLojHKw" name="goBackward_MessageSend" covered="_H1tHoMEUEeS7iPHaI1Hn9A" message="_GNIFgOU2EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_GNIskeU2EeWS_tHmLojHKw" name="goBackward_MessageRecv" covered="_JT3HsMEUEeS7iPHaI1Hn9A" message="_GNIFgOU2EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_IsJsseU2EeWS_tHmLojHKw" name="goForward_Message1Send" covered="_H1tHoMEUEeS7iPHaI1Hn9A" message="_IsJssOU2EeWS_tHmLojHKw"/> |
| <guard xmi:type="uml:InteractionConstraint" xmi:id="_uLA1oMEUEeS7iPHaI1Hn9A" name="Direction is equal to TurnLeft"> |
| <specification xmi:type="uml:OpaqueExpression" xmi:id="_kDy4kMEVEeS7iPHaI1Hn9A" name="Direction is equal to TurnLeft"> |
| <language>Natural language</language> |
| <body>Direction is equal to TurnLeft</body> |
| </specification> |
| <maxint xmi:type="uml:LiteralInteger" xmi:id="_uLA1o8EUEeS7iPHaI1Hn9A" value="1"/> |
| <minint xmi:type="uml:LiteralInteger" xmi:id="_uLA1osEUEeS7iPHaI1Hn9A"/> |
| </guard> |
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| <operand xmi:type="uml:InteractionOperand" xmi:id="_uk8_oMEUEeS7iPHaI1Hn9A" name="InteractionOperand2" covered="_H1tHoMEUEeS7iPHaI1Hn9A _JT3HsMEUEeS7iPHaI1Hn9A _KJd6AMEUEeS7iPHaI1Hn9A"> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_PoAEgeU2EeWS_tHmLojHKw" name="goBackward_MessageRecv" covered="_KJd6AMEUEeS7iPHaI1Hn9A" message="_Pn_dcOU2EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_LeJ6QOU2EeWS_tHmLojHKw" name="goForward_Message1Send" covered="_H1tHoMEUEeS7iPHaI1Hn9A" message="_LeJTMOU2EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_LeJ6QeU2EeWS_tHmLojHKw" name="goForward_Message1Recv" covered="_JT3HsMEUEeS7iPHaI1Hn9A" message="_LeJTMOU2EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_PoAEgOU2EeWS_tHmLojHKw" name="goBackward_MessageSend" covered="_H1tHoMEUEeS7iPHaI1Hn9A" message="_Pn_dcOU2EeWS_tHmLojHKw"/> |
| <guard xmi:type="uml:InteractionConstraint" xmi:id="_uk-00MEUEeS7iPHaI1Hn9A" name="Direction is equal to TurnRight"> |
| <specification xmi:type="uml:OpaqueExpression" xmi:id="_nRIXQMEVEeS7iPHaI1Hn9A" name="Direction is equal to TurnLeft"> |
| <language>Natural language</language> |
| <body>Direction is equal to TurnRight</body> |
| </specification> |
| <maxint xmi:type="uml:LiteralInteger" xmi:id="_uk_b4MEUEeS7iPHaI1Hn9A" value="1"/> |
| <minint xmi:type="uml:LiteralInteger" xmi:id="_uk-00sEUEeS7iPHaI1Hn9A"/> |
| </guard> |
| </operand> |
| <operand xmi:type="uml:InteractionOperand" xmi:id="_1WtqgMEYEeS7iPHaI1Hn9A" name="InteractionOperand3" covered="_H1tHoMEUEeS7iPHaI1Hn9A _JT3HsMEUEeS7iPHaI1Hn9A _KJd6AMEUEeS7iPHaI1Hn9A"> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_dM1igOU2EeWS_tHmLojHKw" name="Stop_MessageRecv0" covered="_KJd6AMEUEeS7iPHaI1Hn9A" message="_dM0UYOU2EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_ardx8OU2EeWS_tHmLojHKw" name="Stop_MessageSend" covered="_H1tHoMEUEeS7iPHaI1Hn9A" message="_ardK4OU2EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_ardx8eU2EeWS_tHmLojHKw" name="Stop_MessageRecv" covered="_JT3HsMEUEeS7iPHaI1Hn9A" message="_ardK4OU2EeWS_tHmLojHKw"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_dM07cOU2EeWS_tHmLojHKw" name="Stop_MessageSend0" covered="_H1tHoMEUEeS7iPHaI1Hn9A" message="_dM0UYOU2EeWS_tHmLojHKw"/> |
| <guard xmi:type="uml:InteractionConstraint" xmi:id="_1WvfsMEYEeS7iPHaI1Hn9A" name="Stop"> |
| <specification xmi:type="uml:OpaqueExpression" xmi:id="_MmhZAMEZEeS7iPHaI1Hn9A" name="Direction is equal to Stop"> |
| <language>Natural language</language> |
| <body>Direction is equal to Stop</body> |
| </specification> |
| <maxint xmi:type="uml:LiteralInteger" xmi:id="_1WwGwcEYEeS7iPHaI1Hn9A" value="1"/> |
| <minint xmi:type="uml:LiteralInteger" xmi:id="_1WwGwMEYEeS7iPHaI1Hn9A"/> |
| </guard> |
| </operand> |
| </fragment> |
| <fragment xmi:type="uml:ExecutionOccurrenceSpecification" xmi:id="_nClTAMEXEeS7iPHaI1Hn9A" name="BehaviorExecSpec0Finish" execution="_nCkr8MEXEeS7iPHaI1Hn9A"/> |
| <fragment xmi:type="uml:ExecutionOccurrenceSpecification" xmi:id="_Bpt0kMEWEeS7iPHaI1Hn9A" name="BehaviorExecSpec0Start" execution="_BpuboMEWEeS7iPHaI1Hn9A"/> |
| <fragment xmi:type="uml:ExecutionOccurrenceSpecification" xmi:id="_mh8EEMEXEeS7iPHaI1Hn9A" name="BehaviorExecSpecStart" execution="_mh95QMEXEeS7iPHaI1Hn9A"/> |
| <fragment xmi:type="uml:BehaviorExecutionSpecification" xmi:id="_APerMMEWEeS7iPHaI1Hn9A" name="BehaviorExecSpec" finish="_APfSQMEWEeS7iPHaI1Hn9A" start="_APeEIMEWEeS7iPHaI1Hn9A"/> |
| <fragment xmi:type="uml:ExecutionOccurrenceSpecification" xmi:id="_25fWwcEWEeS7iPHaI1Hn9A" name="BehaviorExecSpec0Finish" execution="_25fWwMEWEeS7iPHaI1Hn9A"/> |
| <fragment xmi:type="uml:ExecutionOccurrenceSpecification" xmi:id="_nCjd0MEXEeS7iPHaI1Hn9A" name="BehaviorExecSpec0Start" execution="_nCkr8MEXEeS7iPHaI1Hn9A"/> |
| <fragment xmi:type="uml:ExecutionOccurrenceSpecification" xmi:id="_25eIoMEWEeS7iPHaI1Hn9A" name="BehaviorExecSpec0Start" execution="_25fWwMEWEeS7iPHaI1Hn9A"/> |
| <fragment xmi:type="uml:ExecutionOccurrenceSpecification" xmi:id="_APfSQMEWEeS7iPHaI1Hn9A" name="BehaviorExecSpecFinish" execution="_APerMMEWEeS7iPHaI1Hn9A"/> |
| <fragment xmi:type="uml:BehaviorExecutionSpecification" xmi:id="_gyJFIMEWEeS7iPHaI1Hn9A" name="BehaviorExecSpec" finish="_gyJsMMEWEeS7iPHaI1Hn9A" start="_gyH3AMEWEeS7iPHaI1Hn9A"/> |
| <fragment xmi:type="uml:BehaviorExecutionSpecification" xmi:id="_hmJ8AMEWEeS7iPHaI1Hn9A" name="BehaviorExecSpec0" finish="_hmKjEMEWEeS7iPHaI1Hn9A" start="_hmJU8MEWEeS7iPHaI1Hn9A"/> |
| <message xmi:type="uml:Message" xmi:id="_NdBgAMEVEeS7iPHaI1Hn9A" name="Message" messageSort="asynchCall" receiveEvent="_NdDVMMEVEeS7iPHaI1Hn9A" sendEvent="_NdCuIMEVEeS7iPHaI1Hn9A"> |
| <argument xmi:type="uml:OpaqueExpression" xmi:id="_Z-NvsMEVEeS7iPHaI1Hn9A" name="Direction" type="_isMFEMEYEeS7iPHaI1Hn9A" behavior="_A6ea4MEUEeS7iPHaI1Hn9A"> |
| <ownedComment xmi:type="uml:Comment" xmi:id="_Z-NvscEVEeS7iPHaI1Hn9A"> |
| <body></body> |
| </ownedComment> |
| <language>Natural language</language> |
| <body>One of "Forward", "BackWard", "TurnLeft", or "TurnRight".</body> |
| </argument> |
| </message> |
| <message xmi:type="uml:Message" xmi:id="_tFPbEOU1EeWS_tHmLojHKw" name="goForward_Message_Left" receiveEvent="_tFQpMOU1EeWS_tHmLojHKw" sendEvent="_tFQCIOU1EeWS_tHmLojHKw" signature="_UAH10MGzEeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_vfCkAOU1EeWS_tHmLojHKw" name="goForward_Message0" receiveEvent="_vfDLEOU1EeWS_tHmLojHKw" sendEvent="_vfCkAeU1EeWS_tHmLojHKw" signature="_UAH10MGzEeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_zRNOEOU1EeWS_tHmLojHKw" name="goForward_Message_Right" receiveEvent="_zROcMOU1EeWS_tHmLojHKw" sendEvent="_zRN1IOU1EeWS_tHmLojHKw" signature="_UAH10MGzEeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_-JUnIOU1EeWS_tHmLojHKw" name="goBackward_Message_Left" receiveEvent="_-JVOMeU1EeWS_tHmLojHKw" sendEvent="_-JVOMOU1EeWS_tHmLojHKw" signature="_bSkvwMGzEeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_CD4_QOU2EeWS_tHmLojHKw" name="goBackward_Message_Right" receiveEvent="_CD5mUeU2EeWS_tHmLojHKw" sendEvent="_CD5mUOU2EeWS_tHmLojHKw" signature="_bSkvwMGzEeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_GNIFgOU2EeWS_tHmLojHKw" name="goBackward_Message_Left" receiveEvent="_GNIskeU2EeWS_tHmLojHKw" sendEvent="_GNIskOU2EeWS_tHmLojHKw" signature="_bSkvwMGzEeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_IsJssOU2EeWS_tHmLojHKw" name="goForward_Message_Right" receiveEvent="_IsKTwOU2EeWS_tHmLojHKw" sendEvent="_IsJsseU2EeWS_tHmLojHKw" signature="_UAH10MGzEeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_LeJTMOU2EeWS_tHmLojHKw" name="goForward_Message_Left" receiveEvent="_LeJ6QeU2EeWS_tHmLojHKw" sendEvent="_LeJ6QOU2EeWS_tHmLojHKw" signature="_UAH10MGzEeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_Pn_dcOU2EeWS_tHmLojHKw" name="goBackward_Message_Right" receiveEvent="_PoAEgeU2EeWS_tHmLojHKw" sendEvent="_PoAEgOU2EeWS_tHmLojHKw" signature="_bSkvwMGzEeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_ardK4OU2EeWS_tHmLojHKw" name="Stop_Message_Left" receiveEvent="_ardx8eU2EeWS_tHmLojHKw" sendEvent="_ardx8OU2EeWS_tHmLojHKw" signature="_Wnu2wOU2EeWS_tHmLojHKw"/> |
| <message xmi:type="uml:Message" xmi:id="_dM0UYOU2EeWS_tHmLojHKw" name="Stop_Message_Right" receiveEvent="_dM1igOU2EeWS_tHmLojHKw" sendEvent="_dM07cOU2EeWS_tHmLojHKw" signature="_Wnu2wOU2EeWS_tHmLojHKw"/> |
| </packagedElement> |
| </packagedElement> |
| <packagedElement xmi:type="uml:Package" xmi:id="__bD_4MG-EeS2O6W0PYIBMQ" name="Exploration"> |
| <packagedElement xmi:type="uml:Interaction" xmi:id="_oUlecMG8EeS2O6W0PYIBMQ" name="Exploration"> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_u17EgMG8EeS2O6W0PYIBMQ" name="rover" type="_afogEL63EeSPw_TaxuTBOg"/> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_0_-zAMG8EeS2O6W0PYIBMQ" name="explorationControl" type="_Tri94MG8EeS2O6W0PYIBMQ"/> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_1kVdQMG8EeS2O6W0PYIBMQ" name="mapper" type="_jZi0IL7EEeSzDtJdF1uRlw"/> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_6CZkAMG8EeS2O6W0PYIBMQ" name="driveControl" type="_tDuwkL67EeSzDtJdF1uRlw"/> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_AvWHsMG-EeS2O6W0PYIBMQ" name="All" type="_SCJAQL7AEeSzDtJdF1uRlw"/> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_bbgBQMG-EeS2O6W0PYIBMQ" name="leftTrack" type="_Ik7tsL66EeSzDtJdF1uRlw"/> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_cUwkgMG-EeS2O6W0PYIBMQ" name="rightTrack" type="_Ik7tsL66EeSzDtJdF1uRlw"/> |
| <lifeline xmi:type="uml:Lifeline" xmi:id="_t8vZwMG8EeS2O6W0PYIBMQ" name="rover" represents="_u17EgMG8EeS2O6W0PYIBMQ" coveredBy="_BiClYMG9EeS2O6W0PYIBMQ _rmFO8MG9EeS2O6W0PYIBMQ"/> |
| <lifeline xmi:type="uml:Lifeline" xmi:id="_0_-L8MG8EeS2O6W0PYIBMQ" name="explorationControl" represents="_0_-zAMG8EeS2O6W0PYIBMQ" coveredBy="_BiDMcMG9EeS2O6W0PYIBMQ _jQqcIMG9EeS2O6W0PYIBMQ _rmEn4MG9EeS2O6W0PYIBMQ _veec0MG9EeS2O6W0PYIBMQ _z22LQMG9EeS2O6W0PYIBMQ"/> |
| <lifeline xmi:type="uml:Lifeline" xmi:id="_1kU2MMG8EeS2O6W0PYIBMQ" name="mapper" represents="_1kVdQMG8EeS2O6W0PYIBMQ" coveredBy="_jQqcIcG9EeS2O6W0PYIBMQ"/> |
| <lifeline xmi:type="uml:Lifeline" xmi:id="_6CY88MG8EeS2O6W0PYIBMQ" name="driveControl" represents="_6CZkAMG8EeS2O6W0PYIBMQ" coveredBy="_vefD4MG9EeS2O6W0PYIBMQ _iXb4oMG-EeS2O6W0PYIBMQ _l-h7IMG-EeS2O6W0PYIBMQ"/> |
| <lifeline xmi:type="uml:Lifeline" xmi:id="_AvVgoMG-EeS2O6W0PYIBMQ" name="distanceSensors" represents="_AvWHsMG-EeS2O6W0PYIBMQ" coveredBy="_z21kMMG9EeS2O6W0PYIBMQ"/> |
| <lifeline xmi:type="uml:Lifeline" xmi:id="_bbfaMMG-EeS2O6W0PYIBMQ" name="leftTrack" represents="_bbgBQMG-EeS2O6W0PYIBMQ" coveredBy="_iXb4ocG-EeS2O6W0PYIBMQ"/> |
| <lifeline xmi:type="uml:Lifeline" xmi:id="_cUv9cMG-EeS2O6W0PYIBMQ" name="rightTrack" represents="_cUwkgMG-EeS2O6W0PYIBMQ" coveredBy="_l-iiMMG-EeS2O6W0PYIBMQ"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_BiClYMG9EeS2O6W0PYIBMQ" name="Message0Send0" covered="_t8vZwMG8EeS2O6W0PYIBMQ" message="_BhS-gMG9EeS2O6W0PYIBMQ"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_BiDMcMG9EeS2O6W0PYIBMQ" name="Message0Recv0" covered="_0_-L8MG8EeS2O6W0PYIBMQ" message="_BhS-gMG9EeS2O6W0PYIBMQ"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_jQqcIMG9EeS2O6W0PYIBMQ" name="Message0Send1" covered="_0_-L8MG8EeS2O6W0PYIBMQ" message="_jQUd4MG9EeS2O6W0PYIBMQ"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_jQqcIcG9EeS2O6W0PYIBMQ" name="Message0Recv1" covered="_1kU2MMG8EeS2O6W0PYIBMQ" message="_jQUd4MG9EeS2O6W0PYIBMQ"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_rmEn4MG9EeS2O6W0PYIBMQ" name="Message0Send2" covered="_0_-L8MG8EeS2O6W0PYIBMQ" message="_rlv3wMG9EeS2O6W0PYIBMQ"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_rmFO8MG9EeS2O6W0PYIBMQ" name="Message0Recv2" covered="_t8vZwMG8EeS2O6W0PYIBMQ" message="_rlv3wMG9EeS2O6W0PYIBMQ"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_veec0MG9EeS2O6W0PYIBMQ" name="Message0Send3" covered="_0_-L8MG8EeS2O6W0PYIBMQ" message="_veN-IMG9EeS2O6W0PYIBMQ"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_vefD4MG9EeS2O6W0PYIBMQ" name="Message0Recv3" covered="_6CY88MG8EeS2O6W0PYIBMQ" message="_veN-IMG9EeS2O6W0PYIBMQ"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_z21kMMG9EeS2O6W0PYIBMQ" name="Message0Send4" covered="_AvVgoMG-EeS2O6W0PYIBMQ" message="_z2lskMG9EeS2O6W0PYIBMQ"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_z22LQMG9EeS2O6W0PYIBMQ" name="Message0Recv4" covered="_0_-L8MG8EeS2O6W0PYIBMQ" message="_z2lskMG9EeS2O6W0PYIBMQ"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_iXb4oMG-EeS2O6W0PYIBMQ" name="Message0Send5" covered="_6CY88MG8EeS2O6W0PYIBMQ" message="_iXEFMMG-EeS2O6W0PYIBMQ"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_iXb4ocG-EeS2O6W0PYIBMQ" name="Message0Recv5" covered="_bbfaMMG-EeS2O6W0PYIBMQ" message="_iXEFMMG-EeS2O6W0PYIBMQ"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_l-h7IMG-EeS2O6W0PYIBMQ" name="Message0Send6" covered="_6CY88MG8EeS2O6W0PYIBMQ" message="_l-SDgMG-EeS2O6W0PYIBMQ"/> |
| <fragment xmi:type="uml:MessageOccurrenceSpecification" xmi:id="_l-iiMMG-EeS2O6W0PYIBMQ" name="Message0Recv6" covered="_cUv9cMG-EeS2O6W0PYIBMQ" message="_l-SDgMG-EeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_BhS-gMG9EeS2O6W0PYIBMQ" name="1: Start" receiveEvent="_BiDMcMG9EeS2O6W0PYIBMQ" sendEvent="_BiClYMG9EeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_jQUd4MG9EeS2O6W0PYIBMQ" name="4: position&wallDistance" receiveEvent="_jQqcIcG9EeS2O6W0PYIBMQ" sendEvent="_jQqcIMG9EeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_rlv3wMG9EeS2O6W0PYIBMQ" name="Done" receiveEvent="_rmFO8MG9EeS2O6W0PYIBMQ" sendEvent="_rmEn4MG9EeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_veN-IMG9EeS2O6W0PYIBMQ" name="2: Control" receiveEvent="_vefD4MG9EeS2O6W0PYIBMQ" sendEvent="_veec0MG9EeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_z2lskMG9EeS2O6W0PYIBMQ" name="3: Distances" receiveEvent="_z22LQMG9EeS2O6W0PYIBMQ" sendEvent="_z21kMMG9EeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_iXEFMMG-EeS2O6W0PYIBMQ" name="2.1: Control" receiveEvent="_iXb4ocG-EeS2O6W0PYIBMQ" sendEvent="_iXb4oMG-EeS2O6W0PYIBMQ"/> |
| <message xmi:type="uml:Message" xmi:id="_l-SDgMG-EeS2O6W0PYIBMQ" name="2.2: Control" receiveEvent="_l-iiMMG-EeS2O6W0PYIBMQ" sendEvent="_l-h7IMG-EeS2O6W0PYIBMQ"/> |
| </packagedElement> |
| </packagedElement> |
| </packagedElement> |
| <packagedElement xmi:type="uml:Package" xmi:id="_gNAEAMFTEeSEtNQ61yTMIQ" name="Tests"> |
| <packagedElement xmi:type="uml:Class" xmi:id="_tTFJcMFTEeSEtNQ61yTMIQ" name="EnvironmentSimulator" classifierBehavior="_gKBMAMFUEeSEtNQ61yTMIQ" isActive="true"> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_mFblEMFVEeSJzfZnTUUeLA" name="curRow" visibility="protected"> |
| <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_7wRIABydEduyofBvg4RL2w"/> |
| </ownedAttribute> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_ndfkMMFVEeSJzfZnTUUeLA" name="curColumn" visibility="protected"> |
| <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_7wRIABydEduyofBvg4RL2w"/> |
| </ownedAttribute> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_FuumsMFZEeSJzfZnTUUeLA" name="MAXROWS" visibility="protected"> |
| <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_7wRIABydEduyofBvg4RL2w"/> |
| </ownedAttribute> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_O-h-IMFZEeSJzfZnTUUeLA" name="MAXCOLUMNS" visibility="protected"> |
| <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_7wRIABydEduyofBvg4RL2w"/> |
| </ownedAttribute> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_cIrZUMFbEeSJzfZnTUUeLA" name="soundings" visibility="protected" type="_WxfSMMFbEeSJzfZnTUUeLA"/> |
| <ownedBehavior xmi:type="uml:StateMachine" xmi:id="_gKBMAMFUEeSEtNQ61yTMIQ" name="Room" isReentrant="false"> |
| <region xmi:type="uml:Region" xmi:id="_hozeMMFUEeSEtNQ61yTMIQ" name="Region1"> |
| <transition xmi:type="uml:Transition" xmi:id="_RS-CwMFVEeSJzfZnTUUeLA" name="initializing" source="_sgKCQMFUEeSEtNQ61yTMIQ" target="_NGn-IMFVEeSJzfZnTUUeLA"> |
| <effect xmi:type="uml:OpaqueBehavior" xmi:id="_duWzIMFaEeSJzfZnTUUeLA" name="InitializingRoom"> |
| <language>C++</language> |
| <body>/* Set starting positioin */ |
| curRow = rand() %9+1; |
| curColumn = rand() %9+1;</body> |
| </effect> |
| </transition> |
| <subvertex xmi:type="uml:Pseudostate" xmi:id="_sgKCQMFUEeSEtNQ61yTMIQ" name="Initial1"/> |
| <subvertex xmi:type="uml:State" xmi:id="_NGn-IMFVEeSJzfZnTUUeLA" name="State1"/> |
| </region> |
| </ownedBehavior> |
| <ownedOperation xmi:type="uml:Operation" xmi:id="_cXwpEMFZEeSJzfZnTUUeLA" name="go"> |
| <ownedParameter xmi:type="uml:Parameter" xmi:id="_eryhMMFZEeSJzfZnTUUeLA" name="heading" type="_x7fQQMFZEeSJzfZnTUUeLA"/> |
| </ownedOperation> |
| </packagedElement> |
| <packagedElement xmi:type="uml:DataType" xmi:id="_WxfSMMFbEeSJzfZnTUUeLA" name="Soundings"> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="__CxzcMFVEeSJzfZnTUUeLA" name="northDist"> |
| <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_7wRIABydEduyofBvg4RL2w"/> |
| </ownedAttribute> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_BIlCUMFWEeSJzfZnTUUeLA" name="eastDist"> |
| <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_7wRIABydEduyofBvg4RL2w"/> |
| </ownedAttribute> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_CaqVQMFWEeSJzfZnTUUeLA" name="southDist"> |
| <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_7wRIABydEduyofBvg4RL2w"/> |
| </ownedAttribute> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_DfwVEMFWEeSJzfZnTUUeLA" name="westDist"> |
| <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_7wRIABydEduyofBvg4RL2w"/> |
| </ownedAttribute> |
| </packagedElement> |
| <packagedElement xmi:type="uml:Class" xmi:id="_M_ySIMFcEeSJzfZnTUUeLA" name="RectangleRoom" classifierBehavior="_m6AOECp7EeWZ8o1aYDMa2g" isActive="true"> |
| <generalization xmi:type="uml:Generalization" xmi:id="_sYsOsMFcEeSJzfZnTUUeLA" general="_tTFJcMFTEeSEtNQ61yTMIQ"/> |
| <ownedBehavior xmi:type="uml:StateMachine" xmi:id="_m6AOECp7EeWZ8o1aYDMa2g" name="Room" redefinedClassifier="_gKBMAMFUEeSEtNQ61yTMIQ" isReentrant="false" extendedStateMachine="_gKBMAMFUEeSEtNQ61yTMIQ"> |
| <region xmi:type="uml:Region" xmi:id="_m6G7wCp7EeWZ8o1aYDMa2g" name="Region1" extendedRegion="_hozeMMFUEeSEtNQ61yTMIQ"> |
| <transition xmi:type="uml:Transition" xmi:id="_m6KmICp7EeWZ8o1aYDMa2g" name="initializing" redefinedTransition="_RS-CwMFVEeSJzfZnTUUeLA" source="_m6G7wyp7EeWZ8o1aYDMa2g" target="_m6Iw8Cp7EeWZ8o1aYDMa2g"> |
| <effect xmi:type="uml:OpaqueBehavior" xmi:id="_m6KmISp7EeWZ8o1aYDMa2g" name="InitializingRoom"> |
| <language>C++</language> |
| <body>/* Set starting positioin */ |
| curRow = rand() %9+1; |
| curColumn = rand() %9+1;</body> |
| </effect> |
| </transition> |
| <subvertex xmi:type="uml:Pseudostate" xmi:id="_m6G7wyp7EeWZ8o1aYDMa2g" name="Initial1"/> |
| <subvertex xmi:type="uml:State" xmi:id="_m6Iw8Cp7EeWZ8o1aYDMa2g" name="State1" redefinedState="_NGn-IMFVEeSJzfZnTUUeLA"/> |
| </region> |
| </ownedBehavior> |
| <ownedOperation xmi:type="uml:Operation" xmi:id="_BVM6UMFcEeSJzfZnTUUeLA" name="calcSoundings"/> |
| </packagedElement> |
| </packagedElement> |
| <packagedElement xmi:type="uml:Package" xmi:id="_szHdEMGtEeS2O6W0PYIBMQ" name="Implementation"> |
| <packagedElement xmi:type="uml:Package" xmi:id="_xDSBQL65EeSzDtJdF1uRlw" name="Parts"> |
| <packagedElement xmi:type="uml:Package" xmi:id="_NQc9cL7BEeSzDtJdF1uRlw" name="Sensors"> |
| <packagedElement xmi:type="uml:Class" xmi:id="_SCJAQL7AEeSzDtJdF1uRlw" name="DistanceSensor" isActive="true"> |
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| <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_ynNgosHDEeS7PNta5yrNPw" value="1"/> |
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| <end xmi:type="uml:ConnectorEnd" xmi:id="_ynOHsMHDEeS7PNta5yrNPw" partWithPort="_3AO2sMHAEeS2O6W0PYIBMQ" role="_rz29gMHDEeS7PNta5yrNPw"> |
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| <ownedConnector xmi:type="uml:Connector" xmi:id="_4TMkUMHJEeS7PNta5yrNPw" name="Connector2"> |
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| <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_7wRIABydEduyofBvg4RL2w"/> |
| </ownedAttribute> |
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| <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_7wRIABydEduyofBvg4RL2w"/> |
| </ownedAttribute> |
| <ownedAttribute xmi:type="uml:Property" xmi:id="_cpGHEMIREeSUj77t5CsCLA" name="soundings" visibility="protected" aggregation="composite"> |
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| <packagedElement xmi:type="uml:Package" xmi:id="_-of9sMHCEeS7PNta5yrNPw" name="RoverCtrl"> |
| <packagedElement xmi:type="uml:Collaboration" xmi:id="_BCMY8MHDEeS7PNta5yrNPw" name="RoverCtrl"/> |
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| <packagedElement xmi:type="uml:Interface" xmi:id="_BCVi4MHDEeS7PNta5yrNPw" name="RoverCtrl~"/> |
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| <packagedElement xmi:type="uml:Interface" xmi:id="_BCabYMHDEeS7PNta5yrNPw" name="RoverCtrlSym"/> |
| <packagedElement xmi:type="uml:Realization" xmi:id="_BCes0MHDEeS7PNta5yrNPw" name="ProtocolRealizesSymInterface" client="_BCMY8MHDEeS7PNta5yrNPw" supplier="_BCabYMHDEeS7PNta5yrNPw"/> |
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| <packagedElement xmi:type="uml:Collaboration" xmi:id="_43GqAMHGEeS7PNta5yrNPw" name="DriveCtrl"/> |
| <packagedElement xmi:type="uml:Interface" xmi:id="_43JGQcHGEeS7PNta5yrNPw" name="DriveCtrl"> |
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| <ownedComment xmi:type="uml:Comment" xmi:id="_wACVIMHmEeS7PNta5yrNPw"> |
| <body>Distance in cm.</body> |
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| <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_7W3wkBydEduyofBvg4RL2w"/> |
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| <ownedComment xmi:type="uml:Comment" xmi:id="_r7PqAMHmEeS7PNta5yrNPw"> |
| <body>Distsnce in cm.</body> |
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| <ownedParameter xmi:type="uml:Parameter" xmi:id="_hQiWcMHIEeS7PNta5yrNPw" name="degrees"> |
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| <ownedOperation xmi:type="uml:Operation" xmi:id="_3M4WUMHmEeS7PNta5yrNPw" name="Backward"/> |
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| <packagedElement xmi:type="uml:Interface" xmi:id="_43MJkcHGEeS7PNta5yrNPw" name="DriveCtrl~"> |
| <ownedOperation xmi:type="uml:Operation" xmi:id="_yU-H0MHIEeS7PNta5yrNPw" name="MoveDone"/> |
| <ownedOperation xmi:type="uml:Operation" xmi:id="_2D87AMHIEeS7PNta5yrNPw" name="MoveFail"> |
| <ownedParameter xmi:type="uml:Parameter" xmi:id="_OX18sMHJEeS7PNta5yrNPw" name="FailStatus" type="_8EaooMHIEeS7PNta5yrNPw"/> |
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| <packagedElement xmi:type="uml:Interface" xmi:id="_43Pz8MHGEeS7PNta5yrNPw" name="DriveCtrlSym"/> |
| <packagedElement xmi:type="uml:Realization" xmi:id="_43SQMMHGEeS7PNta5yrNPw" name="ProtocolRealizesSymInterface" client="_43GqAMHGEeS7PNta5yrNPw" supplier="_43Pz8MHGEeS7PNta5yrNPw"/> |
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| <packagedElement xmi:type="uml:CallEvent" xmi:id="_AQT2wMHIEeS7PNta5yrNPw" name="Forward_float" operation="_AQPlUMHIEeS7PNta5yrNPw"/> |
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| <packagedElement xmi:type="uml:Package" xmi:id="_EqYG8MHLEeS7PNta5yrNPw" name="TrackCtrl"> |
| <packagedElement xmi:type="uml:Collaboration" xmi:id="_IR184MHLEeS7PNta5yrNPw" name="TrackCtrl"/> |
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| <packagedElement xmi:type="uml:Interface" xmi:id="_IR61YMHLEeS7PNta5yrNPw" name="TrackCtrl~"/> |
| <packagedElement xmi:type="uml:Usage" xmi:id="_IR9RoMHLEeS7PNta5yrNPw" name="ProtocolUsesOutgoingInterface" client="_IR184MHLEeS7PNta5yrNPw" supplier="_IR61YMHLEeS7PNta5yrNPw"/> |
| <packagedElement xmi:type="uml:Interface" xmi:id="_IR9RocHLEeS7PNta5yrNPw" name="TrackCtrlSym"/> |
| <packagedElement xmi:type="uml:Realization" xmi:id="_IR_t4MHLEeS7PNta5yrNPw" name="ProtocolRealizesSymInterface" client="_IR184MHLEeS7PNta5yrNPw" supplier="_IR9RocHLEeS7PNta5yrNPw"/> |
| <packagedElement xmi:type="uml:Usage" xmi:id="_ISAU8MHLEeS7PNta5yrNPw" name="ProtocolUsesSymInterface" client="_IR184MHLEeS7PNta5yrNPw" supplier="_IR9RocHLEeS7PNta5yrNPw"/> |
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| <packagedElement xmi:type="uml:CallEvent" xmi:id="_ePGo8MHMEeS7PNta5yrNPw" name="Backward" operation="_ePCXgMHMEeS7PNta5yrNPw"/> |
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| <packagedElement xmi:type="uml:Package" xmi:id="_dpeJgMISEeSUj77t5CsCLA" name="DistanceSensor"> |
| <packagedElement xmi:type="uml:Collaboration" xmi:id="_iuTVUMISEeSUj77t5CsCLA" name="DistanceSensor"/> |
| <packagedElement xmi:type="uml:Interface" xmi:id="_iuWYoMISEeSUj77t5CsCLA" name="DistanceSensor"> |
| <ownedOperation xmi:type="uml:Operation" xmi:id="_pwXp4MISEeSUj77t5CsCLA" name="Poll"/> |
| <ownedOperation xmi:type="uml:Operation" xmi:id="_r4InoMISEeSUj77t5CsCLA" name="SetPosition"> |
| <ownedParameter xmi:type="uml:Parameter" xmi:id="_yUzwIMISEeSUj77t5CsCLA" name="posX"> |
| <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_7wRIABydEduyofBvg4RL2w"/> |
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| <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_7wRIABydEduyofBvg4RL2w"/> |
| </ownedParameter> |
| </ownedOperation> |
| <ownedOperation xmi:type="uml:Operation" xmi:id="_3IDx0MIUEeSUj77t5CsCLA" name="SetHeading"> |
| <ownedParameter xmi:type="uml:Parameter" xmi:id="_5UqzUMIUEeSUj77t5CsCLA" name="heading" type="_x7fQQMFZEeSJzfZnTUUeLA"/> |
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| <packagedElement xmi:type="uml:Interface" xmi:id="_iuaqEMISEeSUj77t5CsCLA" name="DistanceSensor~"> |
| <ownedOperation xmi:type="uml:Operation" xmi:id="_Ax0MQMITEeSUj77t5CsCLA" name="Distance"> |
| <ownedParameter xmi:type="uml:Parameter" xmi:id="_CcygUMITEeSUj77t5CsCLA" name="distance"> |
| <type xmi:type="uml:PrimitiveType" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_7W3wkBydEduyofBvg4RL2w"/> |
| </ownedParameter> |
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| <packagedElement xmi:type="uml:Interface" xmi:id="_iueUcMISEeSUj77t5CsCLA" name="DistanceSensorSym"/> |
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| <packagedElement xmi:type="uml:CallEvent" xmi:id="_pwdwgMISEeSUj77t5CsCLA" name="Poll" operation="_pwXp4MISEeSUj77t5CsCLA"/> |
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