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Diffstat (limited to 'extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/TALC-Challenge.uml')
-rw-r--r--extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/TALC-Challenge.uml1343
1 files changed, 667 insertions, 676 deletions
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/TALC-Challenge.uml b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/TALC-Challenge.uml
index 424a2274732..f55ee5182ec 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/TALC-Challenge.uml
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/TALC-Challenge.uml
@@ -1,676 +1,667 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="2.1" xmlns:xmi="http://schema.omg.org/spec/XMI/2.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:Blocks="http://www.eclipse.org/papyrus/0.7.0/SysML/Blocks" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/4.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/0.7.0/SysML/Blocks http://www.eclipse.org/papyrus/0.7.0/SysML#//blocks">
- <uml:Model xmi:id="_rkVJQYLqEeGhOZua-qjf0Q" name="RMax">
- <ownedComment xmi:id="_mqN3wJYGEeGBIvHCynMK-w">
- <body> RmaxSoftwareArchiteccture a implementer sous Orocos</body>
- </ownedComment>
- <ownedComment xmi:id="_H4EjwJYHEeGBIvHCynMK-w">
- <body>Les connecteurs d'AvionicConnection et de CameraConnection a implementer sous Ros</body>
- </ownedComment>
- <ownedComment xmi:id="_iGO5wJYHEeGBIvHCynMK-w">
- <body>RMaxHardwareArchitecture et BigComponents a implementer sous Morse avec RMax.translate(x=5.0, y=0.0, z=9.0)</body>
- </ownedComment>
- <ownedComment xmi:id="_cgHwYJYIEeGBIvHCynMK-w" annotatedElement="_x90uQJXrEeGoRIzT8TjyVg">
- <body>'video_camera'
-.properties(capturing = True)
-.properties(cam_width = 512)
-.properties(cam_height = 512)
-.properties(cam_focal = 35.0000)</body>
- </ownedComment>
- <ownedComment xmi:id="_BIA6UJYJEeGBIvHCynMK-w" annotatedElement="_jeGDYJXtEeGoRIzT8TjyVg">
- <body>'land-1/trees'
-.aim_camera([1.0470, 0, 0.7854])</body>
- </ownedComment>
- <ownedComment xmi:id="_KTi1wJYJEeGBIvHCynMK-w" annotatedElement="_twIT4JXtEeGoRIzT8TjyVg">
- <body>'rmax'
-.translate(x=5.0, y=0.0, z=9.0)</body>
- </ownedComment>
- <ownedComment xmi:id="_lSehYJYJEeGBIvHCynMK-w" annotatedElement="_O1Xr4JXtEeGoRIzT8TjyVg">
- <body>'destination'</body>
- </ownedComment>
- <ownedComment xmi:id="_yuYs4JYJEeGBIvHCynMK-w" annotatedElement="_XbN80JXsEeGoRIzT8TjyVg">
- <body>'gyroscope'</body>
- </ownedComment>
- <ownedComment xmi:id="_D--q8JYKEeGBIvHCynMK-w" annotatedElement="_paMD0JXsEeGoRIzT8TjyVg">
- <body>'gps'</body>
- </ownedComment>
- <packageImport xmi:id="_r7Y-YILqEeGhOZua-qjf0Q">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_wyS6gAH-EeC_ZLzLQhW-TQ"/>
- </packageImport>
- <packageImport xmi:id="_r7ZlcILqEeGhOZua-qjf0Q">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#__xA6YAHvEeCQQOKrhO_fIQ"/>
- </packageImport>
- <packageImport xmi:id="_r7aMgILqEeGhOZua-qjf0Q">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Df4_4AHwEeCQQOKrhO_fIQ"/>
- </packageImport>
- <packageImport xmi:id="_r7aMgYLqEeGhOZua-qjf0Q">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Go5_QAHwEeCQQOKrhO_fIQ"/>
- </packageImport>
- <packageImport xmi:id="_r7cBsILqEeGhOZua-qjf0Q">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_JSoakAHwEeCQQOKrhO_fIQ"/>
- </packageImport>
- <packageImport xmi:id="_r7cBsYLqEeGhOZua-qjf0Q">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MlyNYAHwEeCQQOKrhO_fIQ"/>
- </packageImport>
- <packageImport xmi:id="_r7cowILqEeGhOZua-qjf0Q">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_QJC2AKxYEeCJD46GtDsABA"/>
- </packageImport>
- <packagedElement xmi:type="uml:Class" xmi:id="_lemC4JXqEeGoRIzT8TjyVg" name="Orocos"/>
- <packagedElement xmi:type="uml:Class" xmi:id="_x90uQJXrEeGoRIzT8TjyVg" name="CameraMain_002">
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- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_ecFIwJXyEeGRTLVZf4NyYw" name="Info" aggregation="composite">
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- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_IIq_0JXsEeGoRIzT8TjyVg" name="Morse"/>
- <packagedElement xmi:type="uml:Class" xmi:id="_XbN80JXsEeGoRIzT8TjyVg" name="Gyroscope_001">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_83BoQJXyEeGRTLVZf4NyYw" name="Angles" aggregation="composite">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_paMD0JXsEeGoRIzT8TjyVg" name="GPS_001">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_Us1m0JXzEeGRTLVZf4NyYw" name="Position" aggregation="composite">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_8pLoQJXsEeGoRIzT8TjyVg" name="ros"/>
- <packagedElement xmi:type="uml:Class" xmi:id="_O1Xr4JXtEeGoRIzT8TjyVg" name="Motion_Controller">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_mgICQJXzEeGRTLVZf4NyYw" name="TargetPosition" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_1_-5oAH5EeC_ZLzLQhW-TQ"/>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_jeGDYJXtEeGoRIzT8TjyVg" name="env"/>
- <packagedElement xmi:type="uml:Class" xmi:id="_twIT4JXtEeGoRIzT8TjyVg" name="RMax"/>
- <packagedElement xmi:type="uml:Class" xmi:id="_1XHogJXvEeGRTLVZf4NyYw" name="pseudo TALC Avionic � obc">
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- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_Gr2GYJX1EeGRTLVZf4NyYw" name="IMU" aggregation="composite">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_Tr1K4JX1EeGRTLVZf4NyYw" name="TargetPosition" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_1_-5oAH5EeC_ZLzLQhW-TQ"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_wtEVsMzNEeGI54-bhzzuoA" name="state" type="_rXY5YMzsEeG7ZsVilcPRgQ" aggregation="composite"/>
- <ownedAttribute xmi:id="_5am4IMzOEeGI54-bhzzuoA" name="Property1" type="_lemC4JXqEeGoRIzT8TjyVg"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_n0gXkMzjEeGI54-bhzzuoA" name="RmaxControlPro" type="_BLo4wM0BEeG7ZsVilcPRgQ" aggregation="composite"/>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_8L5vAJXvEeGRTLVZf4NyYw" name="pseudo TALC Video � camera">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_zw_JcJX1EeGRTLVZf4NyYw" name="Image" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_8x7lgJX1EeGRTLVZf4NyYw" name="Info" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_nO1XUMzmEeGI54-bhzzuoA" name="image" type="_IbSCMMz0EeG7ZsVilcPRgQ" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_tLPEUMzmEeGI54-bhzzuoA" name="thumb" type="_J1YosMz0EeG7ZsVilcPRgQ" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_GTPYoMzpEeGI54-bhzzuoA" name="CameraControlPro" type="_zZtWEPK0EeGiOqE2lAIjQw" aggregation="composite"/>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_Ga9kAJXwEeGRTLVZf4NyYw" name="RMaxControlSystem">
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- <ownedOperation xmi:id="_u44ecKNQEeGOdPdoEUDJtQ" name="TestReachedTrue">
- <ownedParameter xmi:id="_ShwbYKNREeGOdPdoEUDJtQ" name="ReachedTrue" direction="out">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
- </ownedParameter>
- <ownedParameter xmi:id="_gnGlcKNREeGOdPdoEUDJtQ" name="PortValue"/>
- </ownedOperation>
- <ownedOperation xmi:id="_I4XDsKQLEeGAwP2ngawvCw" name="TestFoundTrue">
- <ownedParameter xmi:id="_iDoZUKQLEeGAwP2ngawvCw" name="PortValue"/>
- <ownedParameter xmi:id="_pnEVkKQLEeGAwP2ngawvCw" name="FoundTrue" direction="out">
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- <ownedOperation xmi:id="_FH1M0KQVEeGOjYafct30dQ" name="AnalyseImageAndSetNextTargetPoint">
- <ownedParameter xmi:id="_N-baEKQVEeGOjYafct30dQ" name="NextTargetPoint" direction="out"/>
- <ownedParameter xmi:id="_zPs4MKQVEeGOjYafct30dQ" name="Analyse" direction="out"/>
- </ownedOperation>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_El2GYJX5EeGDIpt77mrkXQ" name="AvionicSystem">
- <ownedAttribute xmi:id="_rtG1wJX5EeGDIpt77mrkXQ" name="Property1" type="_XbN80JXsEeGoRIzT8TjyVg"/>
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- <Blocks:NestedConnectorEnd xmi:id="_HHAZEM0DEeG7ZsVilcPRgQ" base_ConnectorEnd="_4SUJo8zqEeGI54-bhzzuoA"/>
- <Blocks:NestedConnectorEnd xmi:id="_iDCaoPKzEeGiOqE2lAIjQw" base_ConnectorEnd="_4SUJoMzqEeGI54-bhzzuoA"/>
- <Blocks:NestedConnectorEnd xmi:id="_BbaLsPK0EeGiOqE2lAIjQw" base_ConnectorEnd="_4SUJo8zqEeGI54-bhzzuoA"/>
- <Blocks:NestedConnectorEnd xmi:id="_DX2DMPK0EeGiOqE2lAIjQw" base_ConnectorEnd="_4SUJoMzqEeGI54-bhzzuoA"/>
- <RobotML:ServicePort xmi:id="_3CGuMPK2EeGiOqE2lAIjQw" base_Port="_3Bm-8PK2EeGiOqE2lAIjQw" kind="required"/>
-</xmi:XMI>
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
+ <uml:Model xmi:id="_rkVJQYLqEeGhOZua-qjf0Q" name="RMax">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_mqN3wJYGEeGBIvHCynMK-w">
+ <body> RmaxSoftwareArchiteccture a implementer sous Orocos</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_H4EjwJYHEeGBIvHCynMK-w">
+ <body>Les connecteurs d'AvionicConnection et de CameraConnection a implementer sous Ros</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_iGO5wJYHEeGBIvHCynMK-w">
+ <body>RMaxHardwareArchitecture et BigComponents a implementer sous Morse avec RMax.translate(x=5.0, y=0.0, z=9.0)</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_cgHwYJYIEeGBIvHCynMK-w" annotatedElement="_x90uQJXrEeGoRIzT8TjyVg">
+ <body>'video_camera'
+.properties(capturing = True)
+.properties(cam_width = 512)
+.properties(cam_height = 512)
+.properties(cam_focal = 35.0000)</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_BIA6UJYJEeGBIvHCynMK-w" annotatedElement="_jeGDYJXtEeGoRIzT8TjyVg">
+ <body>'land-1/trees'
+.aim_camera([1.0470, 0, 0.7854])</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_KTi1wJYJEeGBIvHCynMK-w" annotatedElement="_twIT4JXtEeGoRIzT8TjyVg">
+ <body>'rmax'
+.translate(x=5.0, y=0.0, z=9.0)</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_lSehYJYJEeGBIvHCynMK-w" annotatedElement="_O1Xr4JXtEeGoRIzT8TjyVg">
+ <body>'destination'</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_yuYs4JYJEeGBIvHCynMK-w" annotatedElement="_XbN80JXsEeGoRIzT8TjyVg">
+ <body>'gyroscope'</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_D--q8JYKEeGBIvHCynMK-w" annotatedElement="_paMD0JXsEeGoRIzT8TjyVg">
+ <body>'gps'</body>
+ </ownedComment>
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+ <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_wyS6gAH-EeC_ZLzLQhW-TQ"/>
+ </packageImport>
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_r7ZlcILqEeGhOZua-qjf0Q">
+ <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#__xA6YAHvEeCQQOKrhO_fIQ"/>
+ </packageImport>
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_r7aMgILqEeGhOZua-qjf0Q">
+ <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Df4_4AHwEeCQQOKrhO_fIQ"/>
+ </packageImport>
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_r7aMgYLqEeGhOZua-qjf0Q">
+ <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Go5_QAHwEeCQQOKrhO_fIQ"/>
+ </packageImport>
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_r7cBsILqEeGhOZua-qjf0Q">
+ <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_JSoakAHwEeCQQOKrhO_fIQ"/>
+ </packageImport>
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_r7cBsYLqEeGhOZua-qjf0Q">
+ <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MlyNYAHwEeCQQOKrhO_fIQ"/>
+ </packageImport>
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_r7cowILqEeGhOZua-qjf0Q">
+ <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_QJC2AKxYEeCJD46GtDsABA"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Class" xmi:id="_lemC4JXqEeGoRIzT8TjyVg" name="Orocos"/>
+ <packagedElement xmi:type="uml:Class" xmi:id="_x90uQJXrEeGoRIzT8TjyVg" name="CameraMain_002">
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+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_ecFIwJXyEeGRTLVZf4NyYw" name="Info" aggregation="composite">
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+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_IIq_0JXsEeGoRIzT8TjyVg" name="Morse"/>
+ <packagedElement xmi:type="uml:Class" xmi:id="_XbN80JXsEeGoRIzT8TjyVg" name="Gyroscope_001">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_83BoQJXyEeGRTLVZf4NyYw" name="Angles" aggregation="composite">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_paMD0JXsEeGoRIzT8TjyVg" name="GPS_001">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_Us1m0JXzEeGRTLVZf4NyYw" name="Position" aggregation="composite">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_8pLoQJXsEeGoRIzT8TjyVg" name="ros"/>
+ <packagedElement xmi:type="uml:Class" xmi:id="_O1Xr4JXtEeGoRIzT8TjyVg" name="Motion_Controller">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_mgICQJXzEeGRTLVZf4NyYw" name="TargetPosition" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_1_-5oAH5EeC_ZLzLQhW-TQ"/>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_jeGDYJXtEeGoRIzT8TjyVg" name="env"/>
+ <packagedElement xmi:type="uml:Class" xmi:id="_twIT4JXtEeGoRIzT8TjyVg" name="RMax"/>
+ <packagedElement xmi:type="uml:Class" xmi:id="_1XHogJXvEeGRTLVZf4NyYw" name="pseudo TALC Avionic � obc">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_8C_RUJX0EeGRTLVZf4NyYw" name="GPS" aggregation="composite">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_Gr2GYJX1EeGRTLVZf4NyYw" name="IMU" aggregation="composite">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_Tr1K4JX1EeGRTLVZf4NyYw" name="TargetPosition" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_1_-5oAH5EeC_ZLzLQhW-TQ"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_wtEVsMzNEeGI54-bhzzuoA" name="state" type="_rXY5YMzsEeG7ZsVilcPRgQ" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_5am4IMzOEeGI54-bhzzuoA" name="Property1" type="_lemC4JXqEeGoRIzT8TjyVg"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_n0gXkMzjEeGI54-bhzzuoA" name="RmaxControlPro" type="_BLo4wM0BEeG7ZsVilcPRgQ" aggregation="composite"/>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_8L5vAJXvEeGRTLVZf4NyYw" name="pseudo TALC Video � camera">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_zw_JcJX1EeGRTLVZf4NyYw" name="Image" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_8x7lgJX1EeGRTLVZf4NyYw" name="Info" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_nO1XUMzmEeGI54-bhzzuoA" name="image" type="_IbSCMMz0EeG7ZsVilcPRgQ" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_tLPEUMzmEeGI54-bhzzuoA" name="thumb" type="_J1YosMz0EeG7ZsVilcPRgQ" aggregation="composite"/>
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+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_Ga9kAJXwEeGRTLVZf4NyYw" name="RMaxControlSystem">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_8B_1AJYDEeGTwaQpvIKq0Q" name="state" type="_rXY5YMzsEeG7ZsVilcPRgQ" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_KxmdAJYEEeGTwaQpvIKq0Q" name="image" type="_IbSCMMz0EeG7ZsVilcPRgQ" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_MEPRcMzqEeGI54-bhzzuoA" name="RmaxControlReq" type="_BLo4wM0BEeG7ZsVilcPRgQ" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_3Bm-8PK2EeGiOqE2lAIjQw" name="CameraControlReq" type="_zZtWEPK0EeGiOqE2lAIjQw" aggregation="composite"/>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_u44ecKNQEeGOdPdoEUDJtQ" name="TestReachedTrue">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_ShwbYKNREeGOdPdoEUDJtQ" name="ReachedTrue" direction="out">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+ </ownedParameter>
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_gnGlcKNREeGOdPdoEUDJtQ" name="PortValue"/>
+ </ownedOperation>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_I4XDsKQLEeGAwP2ngawvCw" name="TestFoundTrue">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_iDoZUKQLEeGAwP2ngawvCw" name="PortValue"/>
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_pnEVkKQLEeGAwP2ngawvCw" name="FoundTrue" direction="out">
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+ </ownedOperation>
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+ </ownedParameter>
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_9em10KQNEeGAwP2ngawvCw" name="PortValue"/>
+ </ownedOperation>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_FH1M0KQVEeGOjYafct30dQ" name="AnalyseImageAndSetNextTargetPoint">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_N-baEKQVEeGOjYafct30dQ" name="NextTargetPoint" direction="out"/>
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_zPs4MKQVEeGOjYafct30dQ" name="Analyse" direction="out"/>
+ </ownedOperation>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_El2GYJX5EeGDIpt77mrkXQ" name="AvionicSystem">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_rtG1wJX5EeGDIpt77mrkXQ" name="Property1" type="_XbN80JXsEeGoRIzT8TjyVg"/>
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+ <RobotML:RoboticSystem xmi:id="_GbPQ0JXwEeGRTLVZf4NyYw" base_Class="_Ga9kAJXwEeGRTLVZf4NyYw"/>
+ <RobotML:DataFlowPort xmi:id="_0byMMJXwEeGRTLVZf4NyYw" base_Port="_0anukJXwEeGRTLVZf4NyYw" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_ecfYcJXyEeGRTLVZf4NyYw" base_Port="_ecFIwJXyEeGRTLVZf4NyYw" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_83ZbsJXyEeGRTLVZf4NyYw" base_Port="_83BoQJXyEeGRTLVZf4NyYw" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_UtPPcJXzEeGRTLVZf4NyYw" base_Port="_Us1m0JXzEeGRTLVZf4NyYw" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_mggcwJXzEeGRTLVZf4NyYw" base_Port="_mgICQJXzEeGRTLVZf4NyYw"/>
+ <RobotML:DataFlowPort xmi:id="_8DXr0JX0EeGRTLVZf4NyYw" base_Port="_8C_RUJX0EeGRTLVZf4NyYw"/>
+ <RobotML:DataFlowPort xmi:id="_GsQWEJX1EeGRTLVZf4NyYw" base_Port="_Gr2GYJX1EeGRTLVZf4NyYw"/>
+ <RobotML:DataFlowPort xmi:id="_TsPakJX1EeGRTLVZf4NyYw" base_Port="_Tr1K4JX1EeGRTLVZf4NyYw" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_zxWV0JX1EeGRTLVZf4NyYw" base_Port="_zw_JcJX1EeGRTLVZf4NyYw"/>
+ <RobotML:DataFlowPort xmi:id="_8yVOIJX1EeGRTLVZf4NyYw" base_Port="_8x7lgJX1EeGRTLVZf4NyYw"/>
+ <RobotML:RoboticSystem xmi:id="_Emsa8JX5EeGDIpt77mrkXQ" base_Class="_El2GYJX5EeGDIpt77mrkXQ"/>
+ <RobotML:RoboticSystem xmi:id="__NnrMJX9EeGWlcQfiONF8Q" base_Class="__MjUMJX9EeGWlcQfiONF8Q"/>
+ <RobotML:RoboticSystem xmi:id="_4veGkJX-EeGWlcQfiONF8Q" base_Class="_4vGTIJX-EeGWlcQfiONF8Q"/>
+ <RobotML:RoboticSystem xmi:id="_MWb-wJYCEeGTwaQpvIKq0Q" base_Class="_MNvVwJYCEeGTwaQpvIKq0Q"/>
+ <RobotML:DataFlowPort xmi:id="_8CTXAJYDEeGTwaQpvIKq0Q" base_Port="_8B_1AJYDEeGTwaQpvIKq0Q"/>
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+ <RobotML:Transition xmi:id="_DoOtQKNPEeGOdPdoEUDJtQ"/>
+ <RobotML:Transition xmi:id="_JDTO0KNPEeGOdPdoEUDJtQ"/>
+ <RobotML:Transition xmi:id="_NvIr0KNPEeGOdPdoEUDJtQ"/>
+ <RobotML:OnPort xmi:id="_qtb8QKNREeGOdPdoEUDJtQ" port="_Kx70MJYEEeGTwaQpvIKq0Q" base_Parameter="_gnGlcKNREeGOdPdoEUDJtQ"/>
+ <RobotML:Transition xmi:id="_L3iFcKNZEeGOdPdoEUDJtQ"/>
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+ <RobotML:Algorithm xmi:id="_Ks_qEKQLEeGAwP2ngawvCw" base_Operation="_I4XDsKQLEeGAwP2ngawvCw"/>
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+ <RobotML:Algorithm xmi:id="_CWOFAKQOEeGAwP2ngawvCw" base_Operation="_ll-z0KQNEeGAwP2ngawvCw"/>
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+ <RobotML:OnPort xmi:id="_1ampgKQVEeGOjYafct30dQ" base_Parameter="_zPs4MKQVEeGOjYafct30dQ"/>
+ <RobotML:Algorithm xmi:id="_Pvq4wKQWEeGOjYafct30dQ" base_Operation="_FH1M0KQVEeGOjYafct30dQ"/>
+ <RobotML:DataFlowPort xmi:id="_wtJ1QMzNEeGI54-bhzzuoA" base_Port="_wtEVsMzNEeGI54-bhzzuoA" direction="out"/>
+ <RobotML:ServicePort xmi:id="_n0yrcMzjEeGI54-bhzzuoA" base_Port="_n0gXkMzjEeGI54-bhzzuoA"/>
+ <RobotML:DataFlowPort xmi:id="_nPHrMMzmEeGI54-bhzzuoA" base_Port="_nO1XUMzmEeGI54-bhzzuoA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_tLhYMMzmEeGI54-bhzzuoA" base_Port="_tLPEUMzmEeGI54-bhzzuoA" direction="out"/>
+ <RobotML:ServicePort xmi:id="_GTiTkMzpEeGI54-bhzzuoA" base_Port="_GTPYoMzpEeGI54-bhzzuoA"/>
+ <RobotML:ServicePort xmi:id="_MEizcMzqEeGI54-bhzzuoA" base_Port="_MEPRcMzqEeGI54-bhzzuoA" kind="required"/>
+ <RobotML:ServicePort xmi:id="_3CGuMPK2EeGiOqE2lAIjQw" base_Port="_3Bm-8PK2EeGiOqE2lAIjQw" kind="required"/>
+</xmi:XMI>

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