ship.gv

digraph world {
    //graph [layout = fdp ];

    // systems
    node[ shape = circle ]
    Sps1
    Sps2
    Sps3
    PoseMan
    Velman
    Clock
    PowerMan
    OptiSpeedoMan
    LocalVelMan
    WaypointMan
    LidarMan
    AimMan
    CompassSys

    // config
    node[ shape = triangle]
    Sps1Mode
    Sps2Mode
    Sps3Mode
    Sps4Mode

    // hardware
    node[ shape = hexagon ]
    Sps1Rec1SignalStrength // the signal strength
    
    
    // displays
    node[ shape = circle ]
    CompassDisp

    // state
    node [shape = box];
    Time
    X Y Z
    Sp1X Sp1Y Sp1Z
    Sp2X Sp2Y Sp2Z
    Sp3X Sp3Y Sp3Z
    { WX WY WZ }
    { ClosestPointDX ClosestPointDY ClosestPointDZ }

    node [color = red];
    
    Clock -> Time

    {X Y Z Time} -> Velman
    OptiSpeedoX -> Velman
    
    Velman -> {VelX VelY VelZ}
    // -> PoseMan
    {VelX VelY VelZ} -> Autopiolt
    // Steps
    Sps1Mode -> Sps1 -> {Sp1X Sp1Y Sp1Z} -> PoseMan
    Sps2Mode -> Sps2 -> {Sp2X Sp2Y Sp2Z} -> PoseMan
    Sps3Mode -> Sps3 -> {Sp3X Sp3Y Sp3Z} -> PoseMan

    PoseMan -> {X, Y, Z, RotW, RotX, RotY, RotZ} -> { Compass, Autopiolt }
    { X, Y, Z } -> WaypointMan -> { WX WY WZ } -> Autopiolt

    Autopiolt -> {TargetVelX TargetVelY TargetVelZ} -> Transformer -> {TargetLocalVelX TargetLocacalVelY TargetLocalVelZ}
    {RotW, RotX, RotY, RotZ} -> Transformer

    OptiSpeedoMan -> { OptiSpeedoX OptiSpeedoY OptiSpeedoZ } -> LocalVelMan
    LocalVelMan -> { LocalVelX LocalVelY LocalVelZ }
    
    BatteryCharge -> PowerMan
    {VelX VelY VelZ} -> Speed
    {VelX VelY VelZ} -> LocalVelMan
    
    BreakingDistance
    LidarMan -> { ClosestPointDX ClosestPointDY ClosestPointDZ }
}