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rapport/gz-unitree.typ
··· 182 182 node-stroke: 0.5pt, 183 183 edge-corner-radius: 6pt, 184 184 { 185 - if show-legend { 186 - node((0, 5), stroke: none, width: 15em, legend( 187 - ("--", "Message DDS"), 188 - ("@->", "Désynchronisation"), 189 - )) 190 - } 191 - 192 185 let group = ( 193 186 nodes, 194 187 label, ··· 197 190 ) => node( 198 191 name: name, 199 192 enclose: nodes, 200 - snap: false, 193 + snap: if name == none { false } else { 1 }, 201 194 inset: group-inset, 202 195 stroke: group-color.lighten(75%) + 2pt, 203 196 align(alignment, move( ··· 214 207 node(name: <configure>, (0, 1), `::Configure`) 215 208 node(name: <preupdate>, (0, 2), `::PreUpdate`) 216 209 group( 210 + name: <gz>, 217 211 (<configure>, <preupdate>), 218 212 `gz::sim::System`, 219 213 alignment: top + center, ··· 254 248 for e in edges.pos() { 255 249 e 256 250 } 251 + 252 + 253 + if show-legend { 254 + node((0, 5), stroke: none, width: 15em, fill: white, legend( 255 + ("--", "Message DDS"), 256 + ("..", "Message Gazebo"), 257 + ("@->", "Désynchronisation"), 258 + )) 259 + } 257 260 }, 258 261 ), 259 262 )) ··· 271 274 edge(<channelfactory>, "->", <subscriber>)[initialise] 272 275 edge(<publisher>, "<->", <lowstate>)[`std::bind`] 273 276 edge(<subscriber>, "<->", <lowcmd>)[`std::bind`] 274 - edge(<configure>, "d,d,d,r", <gzclock>, "->")[] 275 - edge(<configure>, "d,d,d,r,r", <gzimu>, "->", label-pos: 75%)[démarre] 277 + edge(<configure>, "d,d,d,r", <gzclock>, "->", label-pos: 85%)[démarre] 278 + edge(<configure>, "d,d", (0, 3.75), "r,r", <gzimu>, "->", label-pos: 75%)[démarre] 276 279 }) 277 280 278 281 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] ··· 582 585 #let transparent = luma(0).opacify(0%) 583 586 584 587 #architecture([Phase d'envoi de l'état], { 585 - // #todo[Fix wonky starting segment of arrow because of shift] 586 - edge(<preupdate>, "d,d,r", <statebuf>, "->", shift: -5pt)[(1A)] 588 + edge(<preupdate>, "d", <statebuf.west>, "->", label-pos: 70%)[(1A): Joints] 589 + edge(<gz>, "d,d,d,d,d,r", <gzclock>, "@..>", label-pos: 30%)[(1D)] 590 + edge(<gz>, "d,d,d,d,d,r,r", <gzimu>, "@..>", label-pos: 30%)[(1C)] 587 591 edge(<statebuf>, "@->", <lowstate>)[(1B)] 588 592 edge(<lowstate>, "->", <publisher>)[(2)] 589 593 edge(<publisher>, "->", (1, 0))[(3)] 590 - edge(<policy>, (1, -1), (1, 0), "<--", label-pos: 20%)[(4) subscription] 591 - edge(<gzclock>, "->", <statebuf>, label-pos: 30%)[(1C)] 592 - edge(<gzimu>, "u,l", <statebuf>, "->", shift: 5pt)[(1D)] 594 + edge(<policy>, (1, -1), (1, 0), "<--@", label-pos: 20%)[(4) subscription] 595 + edge(<gzclock>, "@->", <statebuf>, label-pos: 30%, label-side: right)[(1C): Tick] 596 + edge(<gzimu.west>, (1.5, 5), (1.5, 3), <statebuf.east>, "->", label-pos: 40%)[(2D): IMU] 593 597 edge( 594 598 <policy>, 595 599 (1, -1), ··· 638 642 ) 639 643 let sim-edge = (label, ..args) => colored-edge(blue, label, ..args) 640 644 let publisher-edge = (label, ..args) => colored-edge(red, label, ..args) 641 - let imu-edge = (label, ..args) => colored-edge(fuchsia, label, ..args) 645 + let imu-edge = (label, ..args) => colored-edge(olive.darken(30%), label, ..args) 642 646 let clock-edge = (label, ..args) => colored-edge(orange, label, ..args) 643 647 let policy-edge = (label, ..args) => colored-edge( 644 - olive.darken(30%), 648 + fuchsia, 645 649 label, 646 650 ..args, 647 651 ) ··· 688 692 policy-edge("update", <lowcmd>, "->", <cmdbuf>) 689 693 690 694 // imu loop 691 - imu-edge("update", <gzimu>, (2, 4.5), (1, 4.5), <statebuf>, "@->", shift: 5pt) 695 + imu-edge("", <gz.west>, (-0.75, 1.5), (-0.75, 6), (2,6), <gzimu>, "@..>", label-pos: 45%) 696 + imu-edge("update", <gzimu>, (1.5, 5), (1.5, 3), <statebuf>, "->", label-pos: 45%) 692 697 693 698 // clock loop 694 - clock-edge("update", <gzclock>, <statebuf>, "@->", shift: 5pt, label-pos: 25%) 699 + clock-edge("", <gz.east>, (0.5, 1.5), (0.5, 5), <gzclock.west>, "@..>", label-pos: 45%) 700 + clock-edge("update", <gzclock>, <statebuf>, "->", label-pos: 25%, label-side: right) 695 701 }, 696 702 ) 697 703