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Continue rapport
+25
-19
+25
-19
rapport/gz-unitree.typ
+25
-19
rapport/gz-unitree.typ
···
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node-stroke: 0.5pt,
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edge-corner-radius: 6pt,
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{
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-
if show-legend {
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node((0, 5), stroke: none, width: 15em, legend(
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("--", "Message DDS"),
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("@->", "Désynchronisation"),
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))
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}
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-
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let group = (
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nodes,
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label,
···
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) => node(
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name: name,
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enclose: nodes,
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snap: false,
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snap: if name == none { false } else { 1 },
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inset: group-inset,
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stroke: group-color.lighten(75%) + 2pt,
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align(alignment, move(
···
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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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+
name: <gz>,
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(<configure>, <preupdate>),
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`gz::sim::System`,
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alignment: top + center,
···
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for e in edges.pos() {
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e
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}
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+
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+
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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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edge(<channelfactory>, "->", <subscriber>)[initialise]
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edge(<publisher>, "<->", <lowstate>)[`std::bind`]
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edge(<subscriber>, "<->", <lowcmd>)[`std::bind`]
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edge(<configure>, "d,d,d,r", <gzclock>, "->")[]
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edge(<configure>, "d,d,d,r,r", <gzimu>, "->", label-pos: 75%)[démarre]
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edge(<configure>, "d,d,d,r", <gzclock>, "->", label-pos: 85%)[démarre]
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edge(<configure>, "d,d", (0, 3.75), "r,r", <gzimu>, "->", label-pos: 75%)[démarre]
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})
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On commence par instancier un contrôleur dans le domaine DDS n°1, sur l'interface réseau `lo`#footnote[interface dite "loopback", qui est locale à l'ordinateur: ici, le simulateur et la politique de contrôle tournent sur la même machine, donc les messages DDS n'ont pas besoin de "sortir" de celle-ci]
···
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#let transparent = luma(0).opacify(0%)
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#architecture([Phase d'envoi de l'état], {
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// #todo[Fix wonky starting segment of arrow because of shift]
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edge(<preupdate>, "d,d,r", <statebuf>, "->", shift: -5pt)[(1A)]
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edge(<preupdate>, "d", <statebuf.west>, "->", label-pos: 70%)[(1A): Joints]
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edge(<gz>, "d,d,d,d,d,r", <gzclock>, "@..>", label-pos: 30%)[(1D)]
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edge(<gz>, "d,d,d,d,d,r,r", <gzimu>, "@..>", label-pos: 30%)[(1C)]
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edge(<statebuf>, "@->", <lowstate>)[(1B)]
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edge(<lowstate>, "->", <publisher>)[(2)]
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edge(<publisher>, "->", (1, 0))[(3)]
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edge(<policy>, (1, -1), (1, 0), "<--", label-pos: 20%)[(4) subscription]
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edge(<gzclock>, "->", <statebuf>, label-pos: 30%)[(1C)]
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edge(<gzimu>, "u,l", <statebuf>, "->", shift: 5pt)[(1D)]
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edge(<policy>, (1, -1), (1, 0), "<--@", label-pos: 20%)[(4) subscription]
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edge(<gzclock>, "@->", <statebuf>, label-pos: 30%, label-side: right)[(1C): Tick]
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edge(<gzimu.west>, (1.5, 5), (1.5, 3), <statebuf.east>, "->", label-pos: 40%)[(2D): IMU]
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edge(
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<policy>,
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(1, -1),
···
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)
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let sim-edge = (label, ..args) => colored-edge(blue, label, ..args)
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let publisher-edge = (label, ..args) => colored-edge(red, label, ..args)
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let imu-edge = (label, ..args) => colored-edge(fuchsia, label, ..args)
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let imu-edge = (label, ..args) => colored-edge(olive.darken(30%), label, ..args)
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let clock-edge = (label, ..args) => colored-edge(orange, label, ..args)
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let policy-edge = (label, ..args) => colored-edge(
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olive.darken(30%),
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fuchsia,
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label,
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..args,
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)
···
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policy-edge("update", <lowcmd>, "->", <cmdbuf>)
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// imu loop
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imu-edge("update", <gzimu>, (2, 4.5), (1, 4.5), <statebuf>, "@->", shift: 5pt)
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imu-edge("", <gz.west>, (-0.75, 1.5), (-0.75, 6), (2,6), <gzimu>, "@..>", label-pos: 45%)
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+
imu-edge("update", <gzimu>, (1.5, 5), (1.5, 3), <statebuf>, "->", label-pos: 45%)
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// clock loop
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clock-edge("update", <gzclock>, <statebuf>, "@->", shift: 5pt, label-pos: 25%)
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+
clock-edge("", <gz.east>, (0.5, 1.5), (0.5, 5), <gzclock.west>, "@..>", label-pos: 45%)
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clock-edge("update", <gzclock>, <statebuf>, "->", label-pos: 25%, label-side: right)
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},
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)
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