ExploreSignalSequence.drawio 15 KB

123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187
  1. <mxfile host="Electron" agent="Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/27.0.2 Chrome/134.0.6998.205 Electron/35.3.0 Safari/537.36" version="27.0.2">
  2. <diagram name="Page-1" id="2YBvvXClWsGukQMizWep">
  3. <mxGraphModel dx="983" dy="586" grid="0" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="0" pageScale="1" pageWidth="850" pageHeight="1100" math="0" shadow="0">
  4. <root>
  5. <mxCell id="0" />
  6. <mxCell id="1" parent="0" />
  7. <mxCell id="e5NiG_MMmR1OCnNfblHh-27" value="TankBody" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=0;dropTarget=0;collapsible=0;recursiveResize=0;outlineConnect=0;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="1" vertex="1">
  8. <mxGeometry x="780" y="40" width="100" height="360" as="geometry" />
  9. </mxCell>
  10. <mxCell id="e5NiG_MMmR1OCnNfblHh-28" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;outlineConnect=0;targetShapes=umlLifeline;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="e5NiG_MMmR1OCnNfblHh-27" vertex="1">
  11. <mxGeometry x="45" y="270" width="10" height="50" as="geometry" />
  12. </mxCell>
  13. <mxCell id="aM9ryv3xv72pqoxQDRHE-1" value="PilotStrategy" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=0;dropTarget=0;collapsible=0;recursiveResize=0;outlineConnect=0;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="1" vertex="1">
  14. <mxGeometry x="20" y="40" width="100" height="360" as="geometry" />
  15. </mxCell>
  16. <mxCell id="aM9ryv3xv72pqoxQDRHE-2" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;outlineConnect=0;targetShapes=umlLifeline;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="aM9ryv3xv72pqoxQDRHE-1" vertex="1">
  17. <mxGeometry x="45" y="70" width="10" height="40" as="geometry" />
  18. </mxCell>
  19. <mxCell id="aM9ryv3xv72pqoxQDRHE-5" value="ExplorePlanner" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=0;dropTarget=0;collapsible=0;recursiveResize=0;outlineConnect=0;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="1" vertex="1">
  20. <mxGeometry x="140" y="40" width="100" height="360" as="geometry" />
  21. </mxCell>
  22. <mxCell id="aM9ryv3xv72pqoxQDRHE-6" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;outlineConnect=0;targetShapes=umlLifeline;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="aM9ryv3xv72pqoxQDRHE-5" vertex="1">
  23. <mxGeometry x="45" y="80" width="10" height="100" as="geometry" />
  24. </mxCell>
  25. <mxCell id="e5NiG_MMmR1OCnNfblHh-3" value="ObstacleMap" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=0;dropTarget=0;collapsible=0;recursiveResize=0;outlineConnect=0;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="1" vertex="1">
  26. <mxGeometry x="340" y="40" width="100" height="360" as="geometry" />
  27. </mxCell>
  28. <mxCell id="e5NiG_MMmR1OCnNfblHh-4" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;outlineConnect=0;targetShapes=umlLifeline;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="e5NiG_MMmR1OCnNfblHh-3" vertex="1">
  29. <mxGeometry x="45" y="100" width="10" height="140" as="geometry" />
  30. </mxCell>
  31. <mxCell id="e5NiG_MMmR1OCnNfblHh-5" value="Pathfinder" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=0;dropTarget=0;collapsible=0;recursiveResize=0;outlineConnect=0;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="1" vertex="1">
  32. <mxGeometry x="490" y="40" width="100" height="360" as="geometry" />
  33. </mxCell>
  34. <mxCell id="e5NiG_MMmR1OCnNfblHh-6" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;outlineConnect=0;targetShapes=umlLifeline;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="e5NiG_MMmR1OCnNfblHh-5" vertex="1">
  35. <mxGeometry x="45" y="160" width="10" height="180" as="geometry" />
  36. </mxCell>
  37. <mxCell id="e5NiG_MMmR1OCnNfblHh-7" value="Tank" style="shape=umlLifeline;perimeter=lifelinePerimeter;whiteSpace=wrap;html=1;container=0;dropTarget=0;collapsible=0;recursiveResize=0;outlineConnect=0;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="1" vertex="1">
  38. <mxGeometry x="640" y="40" width="100" height="360" as="geometry" />
  39. </mxCell>
  40. <mxCell id="e5NiG_MMmR1OCnNfblHh-8" value="" style="html=1;points=[];perimeter=orthogonalPerimeter;outlineConnect=0;targetShapes=umlLifeline;portConstraint=eastwest;newEdgeStyle={&quot;edgeStyle&quot;:&quot;elbowEdgeStyle&quot;,&quot;elbow&quot;:&quot;vertical&quot;,&quot;curved&quot;:0,&quot;rounded&quot;:0};" parent="e5NiG_MMmR1OCnNfblHh-7" vertex="1">
  41. <mxGeometry x="45" y="250" width="10" height="90" as="geometry" />
  42. </mxCell>
  43. <mxCell id="e5NiG_MMmR1OCnNfblHh-9" value="" style="endArrow=classic;html=1;rounded=0;" parent="1" source="aM9ryv3xv72pqoxQDRHE-2" target="aM9ryv3xv72pqoxQDRHE-5" edge="1">
  44. <mxGeometry width="50" height="50" relative="1" as="geometry">
  45. <mxPoint x="130" y="280" as="sourcePoint" />
  46. <mxPoint x="180" y="230" as="targetPoint" />
  47. <Array as="points">
  48. <mxPoint x="180" y="130" />
  49. </Array>
  50. </mxGeometry>
  51. </mxCell>
  52. <mxCell id="e5NiG_MMmR1OCnNfblHh-10" value="explore" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="e5NiG_MMmR1OCnNfblHh-9" vertex="1" connectable="0">
  53. <mxGeometry x="-0.3226" y="1" relative="1" as="geometry">
  54. <mxPoint x="15" y="-9" as="offset" />
  55. </mxGeometry>
  56. </mxCell>
  57. <mxCell id="e5NiG_MMmR1OCnNfblHh-11" value="" style="endArrow=classic;html=1;rounded=0;" parent="1" source="aM9ryv3xv72pqoxQDRHE-6" target="e5NiG_MMmR1OCnNfblHh-3" edge="1">
  58. <mxGeometry width="50" height="50" relative="1" as="geometry">
  59. <mxPoint x="130" y="280" as="sourcePoint" />
  60. <mxPoint x="180" y="230" as="targetPoint" />
  61. <Array as="points">
  62. <mxPoint x="340" y="150" />
  63. </Array>
  64. </mxGeometry>
  65. </mxCell>
  66. <mxCell id="e5NiG_MMmR1OCnNfblHh-12" value="request_exploration_target(pos)" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="e5NiG_MMmR1OCnNfblHh-11" vertex="1" connectable="0">
  67. <mxGeometry x="-0.176" relative="1" as="geometry">
  68. <mxPoint x="16" y="-10" as="offset" />
  69. </mxGeometry>
  70. </mxCell>
  71. <mxCell id="e5NiG_MMmR1OCnNfblHh-13" value="" style="endArrow=classic;html=1;rounded=0;" parent="1" source="e5NiG_MMmR1OCnNfblHh-4" target="aM9ryv3xv72pqoxQDRHE-5" edge="1">
  72. <mxGeometry width="50" height="50" relative="1" as="geometry">
  73. <mxPoint x="350" y="230" as="sourcePoint" />
  74. <mxPoint x="180" y="230" as="targetPoint" />
  75. <Array as="points">
  76. <mxPoint x="320" y="180" />
  77. </Array>
  78. </mxGeometry>
  79. </mxCell>
  80. <mxCell id="e5NiG_MMmR1OCnNfblHh-14" value="send_exploration_target(target)" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="e5NiG_MMmR1OCnNfblHh-13" vertex="1" connectable="0">
  81. <mxGeometry x="0.1319" relative="1" as="geometry">
  82. <mxPoint x="16" y="-10" as="offset" />
  83. </mxGeometry>
  84. </mxCell>
  85. <mxCell id="e5NiG_MMmR1OCnNfblHh-15" value="" style="endArrow=classic;html=1;rounded=0;" parent="1" source="aM9ryv3xv72pqoxQDRHE-6" target="e5NiG_MMmR1OCnNfblHh-5" edge="1">
  86. <mxGeometry width="50" height="50" relative="1" as="geometry">
  87. <mxPoint x="380" y="280" as="sourcePoint" />
  88. <mxPoint x="430" y="230" as="targetPoint" />
  89. <Array as="points">
  90. <mxPoint x="410" y="210" />
  91. </Array>
  92. </mxGeometry>
  93. </mxCell>
  94. <mxCell id="e5NiG_MMmR1OCnNfblHh-16" value="new_destination(pos)" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="e5NiG_MMmR1OCnNfblHh-15" vertex="1" connectable="0">
  95. <mxGeometry x="-0.2554" y="-1" relative="1" as="geometry">
  96. <mxPoint x="-33" y="-11" as="offset" />
  97. </mxGeometry>
  98. </mxCell>
  99. <mxCell id="e5NiG_MMmR1OCnNfblHh-17" value="" style="endArrow=classic;html=1;rounded=0;" parent="1" source="e5NiG_MMmR1OCnNfblHh-6" target="e5NiG_MMmR1OCnNfblHh-3" edge="1">
  100. <mxGeometry width="50" height="50" relative="1" as="geometry">
  101. <mxPoint x="380" y="280" as="sourcePoint" />
  102. <mxPoint x="430" y="230" as="targetPoint" />
  103. <Array as="points">
  104. <mxPoint x="520" y="240" />
  105. </Array>
  106. </mxGeometry>
  107. </mxCell>
  108. <mxCell id="e5NiG_MMmR1OCnNfblHh-19" value="request_path(start, goal)" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="e5NiG_MMmR1OCnNfblHh-17" vertex="1" connectable="0">
  109. <mxGeometry x="-0.1709" relative="1" as="geometry">
  110. <mxPoint x="-9" y="-10" as="offset" />
  111. </mxGeometry>
  112. </mxCell>
  113. <mxCell id="e5NiG_MMmR1OCnNfblHh-18" value="" style="endArrow=classic;html=1;rounded=0;" parent="1" source="e5NiG_MMmR1OCnNfblHh-4" target="e5NiG_MMmR1OCnNfblHh-5" edge="1">
  114. <mxGeometry width="50" height="50" relative="1" as="geometry">
  115. <mxPoint x="380" y="280" as="sourcePoint" />
  116. <mxPoint x="430" y="230" as="targetPoint" />
  117. <Array as="points">
  118. <mxPoint x="520" y="270" />
  119. </Array>
  120. </mxGeometry>
  121. </mxCell>
  122. <mxCell id="e5NiG_MMmR1OCnNfblHh-20" value="send_path(path)" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="e5NiG_MMmR1OCnNfblHh-18" vertex="1" connectable="0">
  123. <mxGeometry x="-0.2358" y="-1" relative="1" as="geometry">
  124. <mxPoint x="12" y="-11" as="offset" />
  125. </mxGeometry>
  126. </mxCell>
  127. <mxCell id="e5NiG_MMmR1OCnNfblHh-21" value="" style="endArrow=classic;html=1;rounded=0;" parent="1" source="e5NiG_MMmR1OCnNfblHh-6" target="e5NiG_MMmR1OCnNfblHh-7" edge="1">
  128. <mxGeometry width="50" height="50" relative="1" as="geometry">
  129. <mxPoint x="520" y="410" as="sourcePoint" />
  130. <mxPoint x="570" y="360" as="targetPoint" />
  131. <Array as="points">
  132. <mxPoint x="690" y="300" />
  133. </Array>
  134. </mxGeometry>
  135. </mxCell>
  136. <mxCell id="e5NiG_MMmR1OCnNfblHh-25" value="new_waypoint(waypoint)" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="e5NiG_MMmR1OCnNfblHh-21" vertex="1" connectable="0">
  137. <mxGeometry x="-0.0199" y="-1" relative="1" as="geometry">
  138. <mxPoint x="-1" y="-11" as="offset" />
  139. </mxGeometry>
  140. </mxCell>
  141. <mxCell id="e5NiG_MMmR1OCnNfblHh-26" value="" style="endArrow=classic;html=1;rounded=0;" parent="1" source="e5NiG_MMmR1OCnNfblHh-8" target="e5NiG_MMmR1OCnNfblHh-27" edge="1">
  142. <mxGeometry width="50" height="50" relative="1" as="geometry">
  143. <mxPoint x="775" y="449.43" as="sourcePoint" />
  144. <mxPoint x="609.9285714285716" y="449.43" as="targetPoint" />
  145. <Array as="points">
  146. <mxPoint x="780" y="320" />
  147. </Array>
  148. </mxGeometry>
  149. </mxCell>
  150. <mxCell id="e5NiG_MMmR1OCnNfblHh-31" value="travel_target(waypoint)" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="e5NiG_MMmR1OCnNfblHh-26" vertex="1" connectable="0">
  151. <mxGeometry x="-0.3862" relative="1" as="geometry">
  152. <mxPoint x="24" y="-10" as="offset" />
  153. </mxGeometry>
  154. </mxCell>
  155. <mxCell id="e5NiG_MMmR1OCnNfblHh-32" value="" style="endArrow=classic;html=1;rounded=0;" parent="1" source="e5NiG_MMmR1OCnNfblHh-28" target="e5NiG_MMmR1OCnNfblHh-7" edge="1">
  156. <mxGeometry width="50" height="50" relative="1" as="geometry">
  157. <mxPoint x="880" y="390" as="sourcePoint" />
  158. <mxPoint x="930" y="340" as="targetPoint" />
  159. <Array as="points">
  160. <mxPoint x="780" y="350" />
  161. </Array>
  162. </mxGeometry>
  163. </mxCell>
  164. <mxCell id="e5NiG_MMmR1OCnNfblHh-33" value="rotated" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="e5NiG_MMmR1OCnNfblHh-32" vertex="1" connectable="0">
  165. <mxGeometry x="0.1595" y="-3" relative="1" as="geometry">
  166. <mxPoint x="14" y="-7" as="offset" />
  167. </mxGeometry>
  168. </mxCell>
  169. <mxCell id="e5NiG_MMmR1OCnNfblHh-34" value="" style="endArrow=classic;html=1;rounded=0;" parent="1" source="e5NiG_MMmR1OCnNfblHh-8" target="e5NiG_MMmR1OCnNfblHh-5" edge="1">
  170. <mxGeometry width="50" height="50" relative="1" as="geometry">
  171. <mxPoint x="880" y="390" as="sourcePoint" />
  172. <mxPoint x="930" y="340" as="targetPoint" />
  173. <Array as="points">
  174. <mxPoint x="630" y="370" />
  175. </Array>
  176. </mxGeometry>
  177. </mxCell>
  178. <mxCell id="e5NiG_MMmR1OCnNfblHh-35" value="way_point_reached" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="e5NiG_MMmR1OCnNfblHh-34" vertex="1" connectable="0">
  179. <mxGeometry x="-0.0077" y="2" relative="1" as="geometry">
  180. <mxPoint x="7" y="-12" as="offset" />
  181. </mxGeometry>
  182. </mxCell>
  183. </root>
  184. </mxGraphModel>
  185. </diagram>
  186. </mxfile>