339 lines
32 KiB
XML
339 lines
32 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:sgraph="http://www.yakindu.org/sct/sgraph/2.0.0">
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<sgraph:Statechart xmi:id="_jCYoMD-lEfCA8aDVRFe8Eg" specification="@EventDriven
@SuperSteps(no)

import: "./src/data_types.h"

interface:
	in event sensor: int32_t

	in event buttonPressed
	in event buttonReleased
	
	out event setMotorR: int32_t
	out event setMotorL: int32_t

	operation pid(sensor: int32_t, pid_vars: pid_vars_t): int32_t

internal:
	var speed: int32_t
	var pid_vars: pid_vars_t" name="Statechart" domainID="com.yakindu.domain.c">
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<regions xmi:id="_jCcSkz-lEfCA8aDVRFe8Eg" name="main region">
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<vertices xsi:type="sgraph:State" xmi:id="_IsdxcD-yEfCA8aDVRFe8Eg" name="on" incomingTransitions="_ff2psD-yEfCA8aDVRFe8Eg">
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<regions xmi:id="_IseYgD-yEfCA8aDVRFe8Eg" name="r1">
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<vertices xsi:type="sgraph:State" xmi:id="_jCcSlj-lEfCA8aDVRFe8Eg" specification="entry /
speed = pid(sensor.value, pid_vars);
raise setMotorL: speed;
raise setMotorR: speed" name="responding" incomingTransitions="_jCcSlT-lEfCA8aDVRFe8Eg _numMwD-yEfCA8aDVRFe8Eg">
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<outgoingTransitions xmi:id="_j3djID-yEfCA8aDVRFe8Eg" specification="sensor" target="_jVEAsD-yEfCA8aDVRFe8Eg"/>
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</vertices>
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<vertices xsi:type="sgraph:State" xmi:id="_jCc5qD-lEfCA8aDVRFe8Eg" specification="entry /
raise setMotorL: 1;
raise setMotorR: -1" name="sensor_error" incomingTransitions="_lLxqsD-yEfCA8aDVRFe8Eg">
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<outgoingTransitions xmi:id="_OVcWsD-zEfCA8aDVRFe8Eg" specification="sensor" target="_jVEAsD-yEfCA8aDVRFe8Eg"/>
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</vertices>
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<vertices xsi:type="sgraph:Entry" xmi:id="_jCcSlD-lEfCA8aDVRFe8Eg">
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<outgoingTransitions xmi:id="_jCcSlT-lEfCA8aDVRFe8Eg" target="_jCcSlj-lEfCA8aDVRFe8Eg"/>
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</vertices>
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<vertices xsi:type="sgraph:Choice" xmi:id="_jVEAsD-yEfCA8aDVRFe8Eg" incomingTransitions="_j3djID-yEfCA8aDVRFe8Eg _OVcWsD-zEfCA8aDVRFe8Eg">
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<outgoingTransitions xmi:id="_lLxqsD-yEfCA8aDVRFe8Eg" specification="[sensor.value < 0]" target="_jCc5qD-lEfCA8aDVRFe8Eg"/>
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<outgoingTransitions xmi:id="_numMwD-yEfCA8aDVRFe8Eg" specification="else" target="_jCcSlj-lEfCA8aDVRFe8Eg"/>
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</vertices>
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</regions>
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<regions xmi:id="_n4LKGD-zEfCA8aDVRFe8Eg" name="r2">
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<vertices xsi:type="sgraph:State" xmi:id="_n4MYWT-zEfCA8aDVRFe8Eg" name="not_pressed" incomingTransitions="_n4MYNT-zEfCA8aDVRFe8Eg _n4MYND-zEfCA8aDVRFe8Eg">
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<outgoingTransitions xmi:id="_n4M_SD-zEfCA8aDVRFe8Eg" specification="buttonPressed" target="_n4LxLD-zEfCA8aDVRFe8Eg"/>
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</vertices>
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<vertices xsi:type="sgraph:State" xmi:id="_n4LxLD-zEfCA8aDVRFe8Eg" name="pressed" incomingTransitions="_n4M_SD-zEfCA8aDVRFe8Eg">
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<outgoingTransitions xmi:id="_n4LxNz-zEfCA8aDVRFe8Eg" specification="after 2s" target="_Kp4gYD-yEfCA8aDVRFe8Eg"/>
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<outgoingTransitions xmi:id="_n4MYNT-zEfCA8aDVRFe8Eg" specification="buttonReleased" target="_n4MYWT-zEfCA8aDVRFe8Eg"/>
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</vertices>
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<vertices xsi:type="sgraph:Entry" xmi:id="_n4LKIz-zEfCA8aDVRFe8Eg">
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<outgoingTransitions xmi:id="_n4MYND-zEfCA8aDVRFe8Eg" specification="" target="_n4MYWT-zEfCA8aDVRFe8Eg"/>
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</vertices>
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</regions>
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</vertices>
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<vertices xsi:type="sgraph:State" xmi:id="_Kp4gYD-yEfCA8aDVRFe8Eg" name="off" incomingTransitions="_n4LxNz-zEfCA8aDVRFe8Eg _YGkvAD-yEfCA8aDVRFe8Eg">
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<outgoingTransitions xmi:id="_ff2psD-yEfCA8aDVRFe8Eg" specification="buttonPressed" target="_IsdxcD-yEfCA8aDVRFe8Eg"/>
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</vertices>
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<vertices xsi:type="sgraph:Entry" xmi:id="_XxLt0D-yEfCA8aDVRFe8Eg">
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<outgoingTransitions xmi:id="_YGkvAD-yEfCA8aDVRFe8Eg" specification="" target="_Kp4gYD-yEfCA8aDVRFe8Eg"/>
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</vertices>
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</regions>
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</sgraph:Statechart>
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<notation:Diagram xmi:id="_jCeHwD-lEfCA8aDVRFe8Eg" type="org.yakindu.sct.ui.editor.editor.StatechartDiagramEditor" element="_jCYoMD-lEfCA8aDVRFe8Eg" measurementUnit="Pixel">
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<children xmi:id="_jCeHwT-lEfCA8aDVRFe8Eg" type="Region" element="_jCcSkz-lEfCA8aDVRFe8Eg">
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<children xsi:type="notation:DecorationNode" xmi:id="_jCeHwj-lEfCA8aDVRFe8Eg" type="RegionName">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeHwz-lEfCA8aDVRFe8Eg"/>
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<layoutConstraint xsi:type="notation:Location" xmi:id="_jCeHxD-lEfCA8aDVRFe8Eg"/>
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</children>
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<children xsi:type="notation:Shape" xmi:id="_jCeHxT-lEfCA8aDVRFe8Eg" type="RegionCompartment" fontName="Verdana" lineColor="4210752">
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<children xmi:id="_IsgNsD-yEfCA8aDVRFe8Eg" type="State" element="_IsdxcD-yEfCA8aDVRFe8Eg">
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<children xsi:type="notation:DecorationNode" xmi:id="_Isg0wD-yEfCA8aDVRFe8Eg" type="StateName">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_Isg0wT-yEfCA8aDVRFe8Eg"/>
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<layoutConstraint xsi:type="notation:Location" xmi:id="_Ishb0D-yEfCA8aDVRFe8Eg"/>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_Ishb0T-yEfCA8aDVRFe8Eg" type="StateTextCompartment">
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<children xsi:type="notation:Shape" xmi:id="_Ishb0j-yEfCA8aDVRFe8Eg" type="StateTextCompartmentExpression" fontName="Verdana" lineColor="4210752">
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_Ishb0z-yEfCA8aDVRFe8Eg"/>
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</children>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_IsiC4D-yEfCA8aDVRFe8Eg" type="StateFigureCompartment">
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<children xmi:id="_IskfID-yEfCA8aDVRFe8Eg" type="Region" element="_IseYgD-yEfCA8aDVRFe8Eg">
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<children xsi:type="notation:DecorationNode" xmi:id="_IskfIz-yEfCA8aDVRFe8Eg" type="RegionName">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_IskfJD-yEfCA8aDVRFe8Eg"/>
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<layoutConstraint xsi:type="notation:Location" xmi:id="_IskfJT-yEfCA8aDVRFe8Eg"/>
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</children>
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<children xsi:type="notation:Shape" xmi:id="_IskfJj-yEfCA8aDVRFe8Eg" type="RegionCompartment" fontName="Verdana" lineColor="4210752">
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<children xmi:id="_jCeH0D-lEfCA8aDVRFe8Eg" type="State" element="_jCcSlj-lEfCA8aDVRFe8Eg">
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<children xsi:type="notation:DecorationNode" xmi:id="_jCeH0T-lEfCA8aDVRFe8Eg" type="StateName">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeH0j-lEfCA8aDVRFe8Eg"/>
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<layoutConstraint xsi:type="notation:Location" xmi:id="_jCeH0z-lEfCA8aDVRFe8Eg"/>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_jCeH1D-lEfCA8aDVRFe8Eg" type="StateTextCompartment">
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<children xsi:type="notation:Shape" xmi:id="_jCeH1T-lEfCA8aDVRFe8Eg" type="StateTextCompartmentExpression" fontName="Verdana" lineColor="4210752">
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jCeH1j-lEfCA8aDVRFe8Eg"/>
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</children>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_jCeH1z-lEfCA8aDVRFe8Eg" type="StateFigureCompartment"/>
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<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeH2D-lEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="15720400" lineColor="12632256"/>
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<styles xsi:type="notation:FontStyle" xmi:id="_jCeH2T-lEfCA8aDVRFe8Eg"/>
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<styles xsi:type="notation:BooleanValueStyle" xmi:id="_jCeH2j-lEfCA8aDVRFe8Eg" name="isHorizontal" booleanValue="true"/>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jCeH2z-lEfCA8aDVRFe8Eg" x="24" y="108" width="244" height="108"/>
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</children>
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<children xmi:id="_jCeH3D-lEfCA8aDVRFe8Eg" type="State" element="_jCc5qD-lEfCA8aDVRFe8Eg">
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<children xsi:type="notation:DecorationNode" xmi:id="_jCeH3T-lEfCA8aDVRFe8Eg" type="StateName">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeH3j-lEfCA8aDVRFe8Eg"/>
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<layoutConstraint xsi:type="notation:Location" xmi:id="_jCeH3z-lEfCA8aDVRFe8Eg"/>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_jCeH4D-lEfCA8aDVRFe8Eg" type="StateTextCompartment">
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<children xsi:type="notation:Shape" xmi:id="_jCeH4T-lEfCA8aDVRFe8Eg" type="StateTextCompartmentExpression" fontName="Verdana" lineColor="4210752">
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jCeH4j-lEfCA8aDVRFe8Eg"/>
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</children>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_jCeH4z-lEfCA8aDVRFe8Eg" type="StateFigureCompartment"/>
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<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeH5D-lEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="15720400" lineColor="12632256"/>
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<styles xsi:type="notation:FontStyle" xmi:id="_jCeH5T-lEfCA8aDVRFe8Eg"/>
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<styles xsi:type="notation:BooleanValueStyle" xmi:id="_jCeH5j-lEfCA8aDVRFe8Eg" name="isHorizontal" booleanValue="true"/>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jCeH5z-lEfCA8aDVRFe8Eg" x="473" y="95" width="151" height="121"/>
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</children>
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<children xmi:id="_jCeHxj-lEfCA8aDVRFe8Eg" type="Entry" element="_jCcSlD-lEfCA8aDVRFe8Eg">
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<children xmi:id="_jCeHxz-lEfCA8aDVRFe8Eg" type="BorderItemLabelContainer">
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<children xsi:type="notation:DecorationNode" xmi:id="_jCeHyD-lEfCA8aDVRFe8Eg" type="BorderItemLabel">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeHyT-lEfCA8aDVRFe8Eg"/>
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<layoutConstraint xsi:type="notation:Location" xmi:id="_jCeHyj-lEfCA8aDVRFe8Eg"/>
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</children>
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<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeHyz-lEfCA8aDVRFe8Eg" fontName="Verdana" lineColor="4210752"/>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jCeHzD-lEfCA8aDVRFe8Eg"/>
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</children>
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<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeHzT-lEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="0" lineColor="16777215"/>
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<styles xsi:type="notation:NamedStyle" xmi:id="_jCeHzj-lEfCA8aDVRFe8Eg" name="allowColors"/>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jCeHzz-lEfCA8aDVRFe8Eg" x="114" y="55" width="15" height="15"/>
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</children>
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<children xsi:type="notation:Shape" xmi:id="_jVEnwD-yEfCA8aDVRFe8Eg" type="Choice" element="_jVEAsD-yEfCA8aDVRFe8Eg" fontName="Verdana" lineColor="4210752">
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jVEnwT-yEfCA8aDVRFe8Eg" x="325" y="126" width="33" height="35"/>
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</children>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_IskfJz-yEfCA8aDVRFe8Eg"/>
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</children>
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<styles xsi:type="notation:ShapeStyle" xmi:id="_IskfIT-yEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="16448250" lineColor="12632256"/>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_IskfIj-yEfCA8aDVRFe8Eg"/>
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</children>
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<children xmi:id="_n4LKED-zEfCA8aDVRFe8Eg" type="Region" element="_n4LKGD-zEfCA8aDVRFe8Eg">
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<children xsi:type="notation:DecorationNode" xmi:id="_n4LKFT-zEfCA8aDVRFe8Eg" type="RegionName">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_n4LKFz-zEfCA8aDVRFe8Eg"/>
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<layoutConstraint xsi:type="notation:Location" xmi:id="_n4LKFj-zEfCA8aDVRFe8Eg"/>
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</children>
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<children xsi:type="notation:Shape" xmi:id="_n4LKEz-zEfCA8aDVRFe8Eg" type="RegionCompartment" fontName="Verdana" lineColor="4210752">
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<children xmi:id="_n4MYPD-zEfCA8aDVRFe8Eg" type="State" element="_n4MYWT-zEfCA8aDVRFe8Eg">
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<children xsi:type="notation:DecorationNode" xmi:id="_n4MYPT-zEfCA8aDVRFe8Eg" type="StateName">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_n4MYPj-zEfCA8aDVRFe8Eg"/>
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<layoutConstraint xsi:type="notation:Location" xmi:id="_n4MYPz-zEfCA8aDVRFe8Eg"/>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_n4MYQD-zEfCA8aDVRFe8Eg" type="StateTextCompartment">
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<children xsi:type="notation:Shape" xmi:id="_n4MYQT-zEfCA8aDVRFe8Eg" type="StateTextCompartmentExpression" fontName="Verdana" lineColor="4210752">
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_n4MYQj-zEfCA8aDVRFe8Eg"/>
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</children>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_n4MYQz-zEfCA8aDVRFe8Eg" type="StateFigureCompartment"/>
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<styles xsi:type="notation:ShapeStyle" xmi:id="_n4MYRD-zEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="15720400" lineColor="12632256"/>
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<styles xsi:type="notation:FontStyle" xmi:id="_n4MYRT-zEfCA8aDVRFe8Eg"/>
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<styles xsi:type="notation:BooleanValueStyle" xmi:id="_n4MYRj-zEfCA8aDVRFe8Eg" name="isHorizontal" booleanValue="true"/>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_n4MYRz-zEfCA8aDVRFe8Eg" x="35" y="51"/>
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</children>
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<children xmi:id="_n4LxID-zEfCA8aDVRFe8Eg" type="State" element="_n4LxLD-zEfCA8aDVRFe8Eg">
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<children xsi:type="notation:DecorationNode" xmi:id="_n4LxIT-zEfCA8aDVRFe8Eg" type="StateName">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_n4LxIj-zEfCA8aDVRFe8Eg"/>
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<layoutConstraint xsi:type="notation:Location" xmi:id="_n4LxIz-zEfCA8aDVRFe8Eg"/>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_n4LxJD-zEfCA8aDVRFe8Eg" type="StateTextCompartment">
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<children xsi:type="notation:Shape" xmi:id="_n4LxJT-zEfCA8aDVRFe8Eg" type="StateTextCompartmentExpression" fontName="Verdana" lineColor="4210752">
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_n4LxJj-zEfCA8aDVRFe8Eg"/>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_n4LxJz-zEfCA8aDVRFe8Eg" type="StateFigureCompartment"/>
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<styles xsi:type="notation:ShapeStyle" xmi:id="_n4LxKD-zEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="15720400" lineColor="12632256"/>
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<styles xsi:type="notation:FontStyle" xmi:id="_n4LxKT-zEfCA8aDVRFe8Eg"/>
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<styles xsi:type="notation:BooleanValueStyle" xmi:id="_n4LxKj-zEfCA8aDVRFe8Eg" name="isHorizontal" booleanValue="true"/>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_n4LxKz-zEfCA8aDVRFe8Eg" x="47" y="206"/>
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</children>
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<children xmi:id="_n4LKGT-zEfCA8aDVRFe8Eg" type="Entry" element="_n4LKIz-zEfCA8aDVRFe8Eg">
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<children xmi:id="_n4LKHT-zEfCA8aDVRFe8Eg" type="BorderItemLabelContainer">
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<children xsi:type="notation:DecorationNode" xmi:id="_n4LKID-zEfCA8aDVRFe8Eg" type="BorderItemLabel">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_n4LKIj-zEfCA8aDVRFe8Eg"/>
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<layoutConstraint xsi:type="notation:Location" xmi:id="_n4LKIT-zEfCA8aDVRFe8Eg"/>
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</children>
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<styles xsi:type="notation:ShapeStyle" xmi:id="_n4LKHz-zEfCA8aDVRFe8Eg" fontName="Verdana" lineColor="4210752"/>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_n4LKHj-zEfCA8aDVRFe8Eg"/>
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<styles xsi:type="notation:NamedStyle" xmi:id="_n4LKGz-zEfCA8aDVRFe8Eg" name="allowColors"/>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_n4LKGj-zEfCA8aDVRFe8Eg" x="73" y="22"/>
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</children>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_n4LKFD-zEfCA8aDVRFe8Eg"/>
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</children>
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<styles xsi:type="notation:ShapeStyle" xmi:id="_n4LKEj-zEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="16448250" lineColor="12632256"/>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_n4LKET-zEfCA8aDVRFe8Eg"/>
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</children>
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</children>
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<styles xsi:type="notation:ShapeStyle" xmi:id="_IsgNsT-yEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="15720400" lineColor="12632256"/>
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<styles xsi:type="notation:FontStyle" xmi:id="_IsgNsj-yEfCA8aDVRFe8Eg"/>
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<styles xsi:type="notation:BooleanValueStyle" xmi:id="_IsiC4T-yEfCA8aDVRFe8Eg" name="isHorizontal" booleanValue="true"/>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_IsgNsz-yEfCA8aDVRFe8Eg" x="31" y="76" width="981" height="438"/>
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</children>
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<children xmi:id="_Kp5ugD-yEfCA8aDVRFe8Eg" type="State" element="_Kp4gYD-yEfCA8aDVRFe8Eg">
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<children xsi:type="notation:DecorationNode" xmi:id="_Kp68oD-yEfCA8aDVRFe8Eg" type="StateName">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_Kp68oT-yEfCA8aDVRFe8Eg"/>
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<layoutConstraint xsi:type="notation:Location" xmi:id="_Kp68oj-yEfCA8aDVRFe8Eg"/>
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</children>
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