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slides/main.pdf
slides/main.pdf
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slides/main.typ
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slides/main.typ
···
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)
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#let architecture = (
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caption,
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pauses: false,
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group-inset: 12pt,
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group-color: luma(80),
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show-legend: true,
···
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text(fill: group-color, label),
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)),
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)
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let maybe_pause = if pauses { pause } else { none }
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let subtitled = (title, subtitle) => [#title \ #text(
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size: 0.8em,
···
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node-stroke: 0.5pt,
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edge-corner-radius: 6pt,
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(
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node(name: <policy>, (0, -1), $Pi$),
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maybe_pause,
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node(name: <configure>, (0, 1), `::Configure`),
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node(name: <preupdate>, (0, 2), `::PreUpdate`),
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group(
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`gz::sim::System`,
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alignment: top + center,
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),
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maybe_pause,
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node(
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name: <channelfactory>,
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enclose: ((1, 0), (2, 0)),
···
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(<channelfactory>, <publisher>, <subscriber>),
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alignment: top + center,
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)[Unitree SDK],
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maybe_pause,
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node(name: <gzclock>, (1, 5), subtitled(
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`::TickHandler`,
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[topic Gazebo `/clock`],
···
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),
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[Plugin internals],
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),
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node(name: <policy>, (0, -1), $Pi$),
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maybe_pause,
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// TODO
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// node((0, 5), stroke: none, width: 15em, fill: white, legend(
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// ("-->", "Message DDS"),
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// ("..>", "Message Gazebo"),
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// ("@->", "Désynchronisation"),
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// )),
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..edges.pos(),
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if show-legend {
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node((0, 5), stroke: none, width: 15em, fill: white, legend(
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("-->", "Message DDS"),
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("..>", "Message Gazebo"),
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("@->", "Désynchronisation"),
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))
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},
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),
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)
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}
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#centered-slide(scale(56%, reflow: true, architecture([Phase d'initialisation du plugin], show-legend: false, (
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#centered-slide(scale(56%, reflow: true, architecture(
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show-legend: false,
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pauses: true,
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edge(
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<configure>,
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"u",
···
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)[appelle],
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pause,
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edge(<configure>, "d,d,d,r", <gzclock>, "->", label-pos: 85%)[démarre],
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pause,
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edge(
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<configure>,
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"d,d",
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(0, 3.75),
···
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pause,
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edge(<channelfactory>, "->", <publisher>)[initialise],
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edge(<channelfactory>, "->", <subscriber>)[initialise],
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pause,
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edge(<publisher>, "<->", <lowstate>)[`std::bind`],
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edge(<subscriber>, "<->", <lowcmd>)[`std::bind`],
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))))
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)))
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#centered-slide(scale(56%, reflow: true, architecture(
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show-legend: true,
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pauses: false,
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edge(
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<policy>,
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(2.25, -1),
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(2.25, 0),
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<channelfactory.east>,
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"-->",
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label-pos: 5%,
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)[(1A) publish],
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edge(
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<policy>,
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(2.25, -1),
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(2.25, 0),
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<channelfactory.east>,
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stroke: none,
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label-pos: 60%,
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label-side: left,
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)[(1A) subscription],
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edge(<channelfactory.east>, (2, 0), <subscriber>, "->", label-pos: 80%)[(2)],
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edge(<subscriber>, "->", <lowcmd>, label-side: right)[(3)],
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edge(<lowcmd>, "->", <cmdbuf>)[(4)],
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// edge(<lowcmd.east>, "r,d,d,l,l,l,l,l,l,u,u,u", <preupdate>, "->", label-side: left)[(5)]
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edge(<preupdate>, "d,d,r,r", <cmdbuf>, "<-@")[(1B)],
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)))