PlexilPlans/CommandsExample2.plx at master · ECI-Robotics/PlexilPlans · GitHub

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<?xml version="1.0" encoding="UTF-8"?>
<PlexilPlan xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
            xmlns:tr="extended-plexil-translator"
            FileName="/Users/hcadavid/ECI/2015-2/Robotics-Plexil/source-adapter/robotics-interfacing/eci-robotics-plans/CommandsExample2.ple">
   <GlobalDeclarations LineNo="2" ColNo="0">
      <CommandDeclaration LineNo="2" ColNo="0">
         <Name>PlantSeed</Name>
      </CommandDeclaration>
      <CommandDeclaration LineNo="3" ColNo="0">
         <Name>TurnFrontWheels</Name>
         <Parameter>
            <Type>Integer</Type>
         </Parameter>
      </CommandDeclaration>
      <CommandDeclaration LineNo="4" ColNo="0">
         <Name>TurnRearWheels</Name>
         <Parameter>
            <Type>Integer</Type>
         </Parameter>
      </CommandDeclaration>
      <CommandDeclaration LineNo="5" ColNo="0">
         <Name>MoveForward</Name>
         <Parameter>
            <Type>Integer</Type>
         </Parameter>
      </CommandDeclaration>
      <CommandDeclaration LineNo="6" ColNo="0">
         <Name>MoveBackward</Name>
         <Parameter>
            <Type>Integer</Type>
         </Parameter>
      </CommandDeclaration>
      <CommandDeclaration LineNo="7" ColNo="0">
         <Name>StopEngine</Name>
      </CommandDeclaration>
   </GlobalDeclarations>
   <Node NodeType="NodeList" epx="Sequence" LineNo="10" ColNo="8">
      <NodeId>CommandsTest</NodeId>
      <InvariantCondition>
         <NOT>
            <AND>
               <EQInternal>
                  <NodeOutcomeVariable>
                     <NodeRef dir="child">MB</NodeRef>
                  </NodeOutcomeVariable>
                  <NodeOutcomeValue>FAILURE</NodeOutcomeValue>
               </EQInternal>
               <EQInternal>
                  <NodeStateVariable>
                     <NodeRef dir="child">MB</NodeRef>
                  </NodeStateVariable>
                  <NodeStateValue>FINISHED</NodeStateValue>
               </EQInternal>
            </AND>
         </NOT>
      </InvariantCondition>
      <NodeBody>
         <NodeList>
            <Node NodeType="Command" LineNo="10" ColNo="12">
               <NodeId>MB</NodeId>
               <NodeBody>
                  <Command>
                     <Name>
                        <StringValue>StopEngine</StringValue>
                     </Name>
                  </Command>
               </NodeBody>
            </Node>
         </NodeList>
      </NodeBody>
   </Node>
</PlexilPlan>