-
Notifications
You must be signed in to change notification settings - Fork 1
/
Brity1.scxml
44 lines (44 loc) · 2.93 KB
/
Brity1.scxml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
<scxml initial="Calibrate" version="0.9" xmlns="http://www.w3.org/2005/07/scxml"><!-- node-size-and-position x=0 y=0 w=700 h=670 -->
<state id="Calibrate"><!-- node-size-and-position x=20 y=40 w=75 h=75 -->
<transition event="goFSM1" target="fsm1"></transition>
</state>
<state id="fsm1" initial="Walk"><!-- node-size-and-position x=150.5 y=70 w=130 h=388 -->
<state id="Walk"><!-- node-size-and-position x=27.5 y=168 w=75 h=75 -->
<transition event="goState2" target="AvoidObstacle"><!-- edge-path [AvoidObstacle] x=81 y=268 --></transition>
<transition event="goFSM3" target="fsm3"><!-- edge-path [fsm3] pointx=0 pointy=0 offsetx=39 offsety=0 --></transition>
</state>
<state id="DetectAgent"><!-- node-size-and-position x=27.5 y=43 w=75 h=75 -->
<transition event="goState1" target="Walk"></transition>
<transition event="goFSM2" target="fsm2"><!-- edge-path [fsm2] pointx=0 pointy=0 offsetx=-37 offsety=0 --></transition>
</state>
<state id="AvoidObstacle"><!-- node-size-and-position x=20 y=293 w=90 h=75 -->
<transition event="goState1" target="Walk"><!-- edge-path [Walk] x=61 y=268 --></transition>
</state>
</state>
<state id="fsm3" initial="FindDark"><!-- node-size-and-position x=440 y=380 w=115 h=263 -->
<state id="FindDark"><!-- node-size-and-position x=20 y=43 w=75 h=75 -->
<transition event="goState6" target="Sleep"><!-- edge-path [Sleep] x=62 y=143 --></transition>
</state>
<state id="Sleep"><!-- node-size-and-position x=20 y=168 w=75 h=75 -->
<transition event="goState5" target="FindDark"><!-- edge-path [FindDark] x=42 y=143 --></transition>
<transition event="goFSM1" target="fsm1"><!-- edge-path [fsm1] pointx=0 pointy=0 offsetx=-38 offsety=0 --></transition>
</state>
</state>
<state id="fsm2" initial="Interact"><!-- node-size-and-position x=340 y=70 w=325 h=263 -->
<state id="Interact"><!-- node-size-and-position x=125 y=43 w=75 h=75 -->
<transition event="goState4" target="Communicate"><!-- edge-path [Communicate] x=167 y=143 --></transition>
<transition event="goState5" target="Dance"><!-- edge-path [Dance] x=112.27 y=147.8 --></transition>
<transition event="goState6" target="Sing"><!-- edge-path [Sing] x=217.27 y=138.2 --></transition>
<transition event="goFSM1" target="fsm1"></transition>
</state>
<state id="Communicate"><!-- node-size-and-position x=125 y=168 w=75 h=75 -->
<transition event="goFSM1" target="Interact"><!-- edge-path [Interact] x=147 y=143 --></transition>
</state>
<state id="Dance"><!-- node-size-and-position x=20 y=168 w=75 h=75 -->
<transition event="goFSM1" target="Interact"><!-- edge-path [Interact] x=96.73 y=135.2 --></transition>
</state>
<state id="Sing"><!-- node-size-and-position x=230 y=168 w=75 h=75 -->
<transition event="goFSM1" target="Interact"><!-- edge-path [Interact] x=201.73 y=150.8 --></transition>
</state>
</state>
</scxml>