cobot1.xml

<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE nta PUBLIC '-//Uppaal Team//DTD Flat System 1.1//EN' 'http://www.it.uu.se/research/group/darts/uppaal/flat-1_2.dtd'>
<nta>
	<declaration>// Place global declarations here.
int retry_count = 0;
int init_retry_count = 0;
chan pressed;
chan pickup_fail, pickup_success, move_fail, move_success;</declaration>
	<template>
		<name>press</name>
		<location id="id0" x="-3153" y="-3026">
		</location>
		<location id="id1" x="-3017" y="-2983">
		</location>
		<init ref="id0"/>
		<transition>
			<source ref="id0"/>
			<target ref="id1"/>
			<label kind="synchronisation" x="-3119" y="-3034">pressed!</label>
		</transition>
	</template>
	<template>
		<name>move</name>
		<location id="id2" x="-612" y="-68">
		</location>
		<init ref="id2"/>
		<transition>
			<source ref="id2"/>
			<target ref="id2"/>
			<label kind="synchronisation" x="-646" y="51">move_fail!</label>
			<nail x="-663" y="42"/>
			<nail x="-535" y="59"/>
		</transition>
		<transition>
			<source ref="id2"/>
			<target ref="id2"/>
			<label kind="synchronisation" x="-653" y="-237">move_success!</label>
			<nail x="-671" y="-229"/>
			<nail x="-501" y="-212"/>
		</transition>
	</template>
	<template>
		<name>pickup</name>
		<location id="id3" x="0" y="0">
		</location>
		<init ref="id3"/>
		<transition>
			<source ref="id3"/>
			<target ref="id3"/>
			<label kind="synchronisation" x="-34" y="102">pickup_fail!</label>
			<nail x="-76" y="93"/>
			<nail x="110" y="76"/>
		</transition>
		<transition>
			<source ref="id3"/>
			<target ref="id3"/>
			<label kind="synchronisation" x="-109" y="-93">pickup_success!</label>
			<nail x="-127" y="-153"/>
			<nail x="136" y="-102"/>
		</transition>
	</template>
	<template>
		<name x="5" y="5">Cobot</name>
		<declaration>// Place local declarations here.</declaration>
		<location id="id4" x="-102" y="42">
			<name x="-112" y="8">waiting</name>
		</location>
		<location id="id5" x="204" y="68">
			<name x="170" y="85">pick_bottle</name>
		</location>
		<location id="id6" x="595" y="42">
			<name x="544" y="59">move_to_glass</name>
		</location>
		<location id="id7" x="1020" y="59">
			<name x="926" y="68">start_pour</name>
		</location>
		<location id="id8" x="442" y="-119">
			<name x="399" y="-153">shut_down</name>
		</location>
		<location id="id9" x="918" y="289">
			<name x="867" y="314">stop_pour</name>
		</location>
		<location id="id10" x="442" y="289">
			<name x="399" y="314">place_bottle</name>
		</location>
		<init ref="id4"/>
		<transition>
			<source ref="id9"/>
			<target ref="id10"/>
			<label kind="synchronisation" x="595" y="263">move_success?</label>
		</transition>
		<transition>
			<source ref="id9"/>
			<target ref="id8"/>
			<label kind="guard" x="1181" y="0">retry_count == 1</label>
			<label kind="synchronisation" x="1232" y="-25">pickup_fail?</label>
			<nail x="1436" y="-93"/>
		</transition>
		<transition>
			<source ref="id9"/>
			<target ref="id9"/>
			<label kind="guard" x="1071" y="323">retry_count &gt; 1</label>
			<label kind="synchronisation" x="1079" y="306">move_fail?</label>
			<label kind="assignment" x="1062" y="340">retry_count--</label>
			<nail x="1096" y="246"/>
			<nail x="1037" y="382"/>
		</transition>
		<transition>
			<source ref="id7"/>
			<target ref="id9"/>
			<label kind="synchronisation" x="884" y="102">move_success?</label>
			<label kind="assignment" x="765" y="119">retry_count = init_retry_count</label>
		</transition>
		<transition>
			<source ref="id7"/>
			<target ref="id7"/>
			<label kind="synchronisation" x="969" y="-42">move_fail?</label>
			<nail x="918" y="-25"/>
			<nail x="1139" y="-25"/>
		</transition>
		<transition>
			<source ref="id6"/>
			<target ref="id7"/>
			<label kind="synchronisation" x="714" y="25">move_success?</label>
		</transition>
		<transition>
			<source ref="id6"/>
			<target ref="id6"/>
			<label kind="synchronisation" x="544" y="-51">move_fail?</label>
			<nail x="518" y="-8"/>
			<nail x="637" y="-25"/>
		</transition>
		<transition>
			<source ref="id5"/>
			<target ref="id8"/>
			<label kind="guard" x="280" y="-102">retry_count == 1</label>
			<label kind="synchronisation" x="306" y="-119">pickup_fail?</label>
		</transition>
		<transition>
			<source ref="id5"/>
			<target ref="id6"/>
			<label kind="synchronisation" x="365" y="25">pickup_success?</label>
		</transition>
		<transition>
			<source ref="id5"/>
			<target ref="id5"/>
			<label kind="guard" x="110" y="-102">retry_count &gt; 1</label>
			<label kind="synchronisation" x="110" y="-85">pickup_fail?</label>
			<label kind="assignment" x="110" y="-68">retry_count--</label>
			<nail x="127" y="-25"/>
			<nail x="289" y="-42"/>
		</transition>
		<transition>
			<source ref="id4"/>
			<target ref="id5"/>
			<label kind="select" x="-85" y="68">i : int[1,5]</label>
			<label kind="synchronisation" x="-85" y="102">pressed?</label>
			<label kind="assignment" x="-85" y="119">init_retry_count = i, retry_count = init_retry_count</label>
		</transition>
	</template>
	<system>// Place template instantiations here.
// List one or more processes to be composed into a system.
system Cobot, press, move, pickup;
    </system>
	<queries>
		<query>
			<formula></formula>
			<comment></comment>
		</query>
	</queries>
</nta>