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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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}
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#let colored-edge = (color, label, ..args) => edge(
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stroke: color,
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label: text(fill: color, label),
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..args,
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)
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#let sim-edge = (..args) => colored-edge(blue, ..args)
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#let publisher-edge = (..args) => colored-edge(red, ..args)
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#let imu-edge = (..args) => colored-edge(olive.darken(30%), ..args)
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#let clock-edge = (..args) => colored-edge(orange.darken(30%), ..args)
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#let policy-edge = (..args) => colored-edge(fuchsia, ..args)
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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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#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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+
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pause,
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+
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// Simulation loop
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sim-edge(
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"update",
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<preupdate.east>,
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"d",
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<statebuf>,
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"->",
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label-pos: 70%,
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label-side: right,
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),
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clock-edge(
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"",
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<gz.east>,
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(0.5, 1.5),
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(0.5, 5),
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<gzclock.west>,
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"@-->",
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label-pos: 45%,
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),
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imu-edge(
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"",
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<gz.west>,
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(-0.75, 1.5),
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(-0.75, 5.75),
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(2, 5.75),
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<gzimu>,
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"@-->",
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label-pos: 45%,
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),
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pause,
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+
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clock-edge(
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"update",
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<gzclock>,
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<statebuf>,
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"->",
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label-pos: 25%,
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label-side: right,
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),
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imu-edge(
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"update",
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<gzimu>,
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(1.5, 5),
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(1.5, 3),
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<statebuf>,
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"->",
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label-pos: 45%,
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),
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publisher-edge("read", <statebuf>, "@->", <lowstate>),
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pause,
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+
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publisher-edge("", <lowstate>, "-", <publisher>),
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publisher-edge("", <publisher>, (1, 0), <channelfactory.west>, "->"),
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pause,
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policy-edge(
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"state",
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<policy>,
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(0, 0),
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<channelfactory.west>,
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"<--@",
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label-pos: 80%,
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),
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pause,
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policy-edge(
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"commands",
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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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label-pos: 10%,
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),
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policy-edge("", <channelfactory.east>, (2, 0), <subscriber>, "->"),
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policy-edge("", <subscriber>, "-", <lowcmd>),
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policy-edge("update", <lowcmd>, "->", <cmdbuf>),
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pause,
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sim-edge("read", <preupdate>, "d,d,r,r", <cmdbuf>, "<-@"),
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)))
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#title-slide[
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== Reproductibilité
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Avec Nix
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]