package de.rwth.armin.modeling.autopilot; view Autopilot { component Autopilot{ ports in ? currentVelocity, in ? compass, in ? currentPosX, in ? currentPosY, in ? trajectory_length, in ? trajectory_x, in ? trajectory_y, out ? Engine, out ? Brakes, out ? Steering; component Compass2CurrentDirection{ ports in ? ?, out ? ?, out ? ?; } instance Compass2CurrentDirection comp; component BehaviorGeneration{ ports in ? ?, in ? ?, in ? ?, in ? ?, in ? ?, in ? ?, in ? ?, out ? ?; } instance BehaviorGeneration behavior; component CalculateMotionCommands{ ports in ? ?, in ? ?, in ? ?, in ? ?, in ? ?, out ? ?; } instance CalculateMotionCommands calcMotion; component TrimPath{ ports in ? ?, in ? ?, in ? ?, in ? ?, in ? ?, out ? ?; } instance TrimPath trim; component MotionPlanning{ ports in ? ?, in ? ?, out ? ?; } instance MotionPlanning motion; component CalculateEngineAndBrakes{ ports in ? ?, in ? ?, out ? ?; } instance CalculateEngineAndBrakes calcEngine; component KeepDirection{ ports in ? ?, out ? ?; } instance KeepDirection keep; component SteeringAngleCorrection{ ports in ? ?, out ? ?; } instance SteeringAngleCorrection steer; component EnsureBounds{ ports in ? ?, out ? ?; } instance EnsureBounds ensure; connect currentVelocity -> motion; connect compass -> comp; connect currentPosX -> behavior; connect currentPosY -> behavior; connect trajectory_length -> behavior; connect trajectory_x -> behavior; connect trajectory_y -> behavior; connect comp -> behavior; connect comp -> behavior; connect behavior -> calcMotion; connect behavior -> calcMotion; connect behavior -> calcMotion; connect behavior -> calcMotion; connect behavior -> trim; connect behavior -> trim; connect behavior -> trim; connect behavior -> trim; connect behavior -> trim; connect trim -> calcMotion; connect calcMotion -> behavior; connect behavior -> motion; connect motion -> calcEngine; connect motion -> calcEngine; connect calcEngine -> keep; connect keep -> steer; connect steer -> ensure; connect ensure -> motion; connect motion -> Engine; connect motion -> Brakes; connect motion -> Steering; } }