PlexilPlans/default-plan.ple at master · ECI-Robotics/PlexilPlans · GitHub

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Date Lookup time;
Command pprint (...);
Integer Lookup StartRequested;
Integer Lookup AbortRequested;

Command TurnFrontWheels(Integer);
Command TurnRearWheels(Integer);
Command MoveForward(Integer);
Command MoveBackward(Integer);
Command Stop();

CountIteration:
{

    Integer stepsCount=0;
    Boolean continue = true;
    Boolean tickCont = true;
    Boolean abortedPlan=false;
    Boolean succeedPlan=false;
    Duration delay = Duration ("PT1S");
    Duration tolerance = Duration ("PT0.1S");

    Concurrence{
        AbortedPlanHandler:{
            Start Lookup(AbortRequested)==1;
            pprint ("Plan abortion requested.");
            Stop();
            abortedPlan=true;
        }

        PlanSuccessHandler:{
            Start MainPlan.state==FINISHED && MainPlan.outcome==SUCCESS;
            Stop();
            pprint ("Plan success!.");
            succeedPlan=true;
        }

        MainPlan:
        {
            Concurrence{

                planSequence:
                {

                    Sequence{

                        StepOne:{
                            pprint ("Blinking for 20 seconds.");
                            TurnFrontWheels(30);
                            WaitABit:{
                                Wait (delay*20),tolerance;
                            }
                        }
                        StepTwo:{
                            pprint ("Stopping for 10 seconds.");
                            MoveForward(20);
                            WaitABit:{
                                Wait (delay*10),tolerance;
                            }
                        }
                        StepThree:{
                            pprint ("Blinking again for 30 seconds.");
                            TurnFrontWheels(30);
                            WaitABit:{
                                Wait (delay*30),tolerance;
                            }
                        }
                        StepFour:{
                            pprint ("Turning off for last time.");
                            MoveForward(20);
                        }

                        LastStep:{
                            pprint ("Stop.");
                            Stop();
                        }


                    }
                }
            }
        }


    }
}