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pantiltModel.scxml
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pantiltModel.scxml
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<?xml version="1.0" ?>
<scxml
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xmlns:wot="http://example.com/wot"
xsi:schemaLocation="http://www.w3.org/2005/07/scxml https://www.w3.org/2011/04/SCXML/scxml.xsd"
xmlns="http://www.w3.org/2005/07/scxml" version="1.0"
initial="servos" datamodel="ecmascript" name="pantilt">
<datamodel>
<data id="panPosition" expr="0"/>
<data id="tiltPosition" expr="0"/>
<data id="panTarget" expr="0"/>
<data id="tiltTarget" expr="0"/>
<data id="pan_speed" expr="0"/>
<data id="tilt_speed" expr="0"/>
</datamodel>
<parallel id="servos">
<state id="panServo">
<state id="panIdle">
<onentry>
<assign location="panTarget" expr="0"/>
</onentry>
<transition event="invokeaction.panTo" target="panToTarget">
<assign location="panTarget" expr="event.data.payload"/>
</transition>
<transition event="invokeaction.moveTo" target="panToTarget">
<assign location="panTarget" expr="event.data.payload.panAngle"/>
</transition>
<transition event="invokeaction.goHome" target="panToTarget">
<assign location="panTarget" expr="0"/>
</transition>
<transition event="invokeaction.panContinuously" cond="event.data.payload !== 0" target="panningContinuously">
<assign location="pan_speed" expr="event.data.payload"/>
<wot:data cond="panPostion === -90">
{
"description": "The speed at which the platform moves. Negative values for right and positive values for left",
"maximum": 15,
"minimum": 0,
"type": "number",
"unit": "angle per sec"
}
</wot:data>
<wot:data cond="panPostion === 90">
{
"description": "The speed at which the platform moves. Negative values for right and positive values for left",
"maximum": 0,
"minimum": -15,
"type": "number",
"unit": "angle per sec"
}
</wot:data>
</transition>
<transition event="invokeaction.moveContinuously" cond="event.data.payload.panSpeed !== 0" target="panningContinuously">
<assign location="pan_speed" expr="event.data.payload.panSpeed"/>
</transition>
</state>
<state id="panToTarget">
<transition event="simulationStep" target="panToTarget">
<if cond="panTarget - panPosition >= 0">
<assign location="panPosition" expr="(panTarget - panPosition) > 6 ? panPosition + 6 : panPosition + (panTarget - panPosition)"/>
<else/>
<assign location="panPosition" expr="(panTarget - panPosition) < -6 ? panPosition - 6 : panPosition + (panTarget - panPosition)"/>
</if>
</transition>
<transition event="invokeaction.panContinuously" target="panningContinuously">
<raise event="notPanning"/>
</transition>
<transition event="invokeaction.moveContinuously" target="panningContinuously">
<raise event="notPanning"/>
</transition>
<transition cond="panPosition === panTarget" target="panIdle">
<raise event="notPanning"/>
<send type="WoTIOProcessor" target="Consumer" event="actionDone"/>
</transition>
</state>
<state id="panningContinuously">
<onentry>
<wot:model id="panCon" server="ws://127.0.0.1:8765">
<content>
model panCon
parameter Real speed;
parameter Real startPos;
output Real pos;
initial equation
pos = startPos;
equation
der(pos) = 1.1 * speed;
end panCon;
</content>
<variable name="speed" location="pan_speed"/>
<variable name="startPos" location="panPosition"/>
<variable name="pos" location="panPosition"/>
</wot:model>
</onentry>
<transition event="invokeaction.panTo" target="panToTarget">
<assign location="panTarget" expr="event.data.payload"/>
</transition>
<transition event="invokeaction.moveTo" target="panToTarget">
<assign location="panTarget" expr="event.data.payload.panAngle"/>
</transition>
<transition event="invokeaction.goHome" target="panToTarget">
<assign location="panTarget" expr="0"/>
</transition>
<transition event="invokeaction.stopMovement" target="panIdle">
<raise event="notPanning"/>
</transition>
<transition cond="(panPosition >= 90 && pan_speed > 0) || (panPosition <= -90 && pan_speed < 0) || pan_speed === 0" target="panIdle">
<raise event="notPanning"/>
</transition>
</state>
</state>
<state id="tiltServo">
<state id="tiltIdle">
<onentry>
<assign location="tiltTarget" expr="0"/>
</onentry>
<transition event="invokeaction.tiltTo" target="tiltToTarget">
<assign location="tiltTarget" expr="event.data.payload"/>
</transition>
<transition event="invokeaction.moveTo" target="tiltToTarget">
<assign location="tiltTarget" expr="event.data.payload.tiltAngle"/>
</transition>
<transition event="invokeaction.goHome" target="tiltToTarget">
<assign location="tiltTarget" expr="0"/>
</transition>
<transition event="invokeaction.tiltContinuously" cond="event.data.payload !== 0" target="tiltingContinuously">
<assign location="tilt_speed" expr="event.data.payload"/>
</transition>
<transition event="invokeaction.moveContinuously" cond="event.data.payload.tiltSpeed !== 0" target="tiltingContinuously">
<assign location="tilt_speed" expr="event.data.payload.tiltSpeed"/>
</transition>
</state>
<state id="tiltToTarget">
<transition event="simulationStep" target="tiltToTarget">
<if cond="tiltTarget - tiltPosition >= 0">
<assign location="tiltPosition" expr="(tiltTarget - tiltPosition) > 6 ? tiltPosition + 6 : tiltPosition + (tiltTarget - tiltPosition)"/>
<else/>
<assign location="tiltPosition" expr="(tiltTarget - tiltPosition) < -6 ? tiltPosition - 6 : tiltPosition + (tiltTarget - tiltPosition)"/>
</if>
</transition>
<transition event="invokeaction.tiltContinuously" target="tiltingContinuously">
<raise event="notTilting"/>
</transition>
<transition event="invokeaction.moveContinuously" target="tiltingContinuously">
<raise event="notTilting"/>
</transition>
<transition cond="tiltPosition === tiltTarget" target="tiltIdle">
<raise event="notTilting"/>
<send type="WoTIOProcessor" target="Consumer" event="actionDone"/>
</transition>
</state>
<state id="tiltingContinuously">
<onentry>
<wot:model id="tiltCon" server="ws://127.0.0.1:8765">
<content>
model tiltCon
parameter Real speed;
parameter Real startPos;
output Real pos;
initial equation
pos = startPos;
equation
der(pos) = 1.1 * speed;
end tiltCon;
</content>
<variable name="speed" location="tilt_speed"/>
<variable name="startPos" location="tiltPosition"/>
<variable name="pos" location="tiltPosition"/>
</wot:model>
</onentry>
<transition event="invokeaction.tiltTo" target="tiltToTarget">
<assign location="tiltTarget" expr="event.data.payload"/>
</transition>
<transition event="invokeaction.moveTo" target="tiltToTarget">
<assign location="tiltTarget" expr="event.data.payload.tiltAngle"/>
</transition>
<transition event="invokeaction.goHome" target="tiltToTarget">
<assign location="tiltTarget" expr="0"/>
</transition>
<transition event="invokeaction.stopMovement" target="tiltIdle">
<raise event="notTilting"/>
</transition>
<transition cond="(tiltPosition >= 80 && tilt_speed > 0) || (tiltPosition <= -80 && tilt_speed < 0) || tilt_speed === 0" target="tiltIdle">
<raise event="notTilting"/>
</transition>
</state>
</state>
</parallel>
<wot:affordances>
<wot:event name="actionDone" emitEvent="actionDone">
<content>
{
"description": "Event that fires when the last action is done"
}
</content>
</wot:event>
<wot:property name="panPosition" dataElement="panPosition">
<content>
{
"description": "The current position of the pan platform in degrees",
"maximum": 90,
"minimum": -90,
"observable": true,
"readOnly": true,
"title": "Pan Position",
"type": "number",
"unit": "degrees",
"writeOnly": false
}
</content>
</wot:property>
<wot:property name="tiltPosition" dataElement="tiltPosition">
<content>
{
"description": "The current position of the pan platform in degrees",
"maximum": 80,
"minimum": -80,
"observable": true,
"readOnly": true,
"title": "Tilt Position",
"type": "number",
"unit": "degrees",
"writeOnly": false
}
</content>
</wot:property>
<wot:property name="panState" stateElement="panServo"/>
<wot:property name="tiltState" stateElement="tiltServo"/>
<wot:action name="tiltTo">
<content>
{
"description": "Moves the tilt and pan platform with the speeds given in input until a stop action is invoked or limits are reached",
"synchronous": false,
"input": {
"maximum": 80,
"minimum": -80,
"type": "number",
"unit": "degrees"
},
"idempotent": false,
"safe": false,
"title": "Tilt To"
}
</content>
<wot:op type="invokeaction" event="invokeaction.tiltTo" responseEvent ="response.invokeaction.tiltTo">
<content>
{
"description": "Moves the tilt and pan platform with the speeds given in input until a stop action is invoked or limits are reached",
"synchronous": false,
"input": {
"maximum": 80,
"minimum": -80,
"type": "number",
"unit": "degrees"
},
"idempotent": false,
"safe": false,
"title": "Tilt To"
}
</content>
</wot:op>
</wot:action>
<wot:action name="panTo">
<content>
{
"description": "Moves the pan platform to the angle specific in the input",
"synchronous": false,
"idempotent": false,
"input": {
"maximum": 90,
"minimum": -90,
"type": "number",
"unit": "degrees"
},
"safe": false,
"title": "Pan To"
}
</content>
<wot:op type="invokeaction" event="invokeaction.panTo" responseEvent ="response.invokeaction.panTo">
<content>
{
"description": "Moves the pan platform to the angle specific in the input",
"synchronous": false,
"idempotent": false,
"input": {
"maximum": 90,
"minimum": -90,
"type": "number",
"unit": "degrees"
},
"safe": false,
"title": "Pan To"
}
</content>
</wot:op>
</wot:action>
<wot:action name="moveTo">
<content>
{
"description": "Moves the tilt and pan platform to the angles given in input",
"idempotent": false,
"synchronous": false,
"input": {
"properties": {
"panAngle": {
"maximum": 90,
"minimum": -90,
"title": "Pan To",
"type": "number",
"unit": "degrees"
},
"tiltAngle": {
"maximum": 80,
"minimum": -80,
"title": "Tilt To",
"type": "number",
"unit": "degrees"
}
},
"required": [
"panAngle",
"tiltAngle"
],
"type": "object"
},
"safe": false,
"title": "Move To"
}
</content>
<wot:op type="invokeaction" event="invokeaction.moveTo">
<content>
{
"description": "Moves the tilt and pan platform to the angles given in input",
"idempotent": false,
"synchronous": false,
"input": {
"properties": {
"panAngle": {
"maximum": 90,
"minimum": -90,
"title": "Pan To",
"type": "number",
"unit": "degrees"
},
"tiltAngle": {
"maximum": 80,
"minimum": -80,
"title": "Tilt To",
"type": "number",
"unit": "degrees"
}
},
"required": [
"panAngle",
"tiltAngle"
],
"type": "object"
},
"safe": false,
"title": "Move To"
}
</content>
</wot:op>
</wot:action>
<wot:action name="tiltContinuously">
<content>
{
"description": "Moves the tilt platform with speed given in input until a stop action is invoked or limits are reached",
"idempotent": false,
"synchronous": false,
"input": {
"description": "The speed at which the platform moves. Negative values for moving up and positive values for moving down",
"maximum": 15,
"minimum": -15,
"type": "number",
"unit": "angle per sec"
},
"safe": false,
"title": "Tilt Continuously"
}
</content>
<wot:op type="invokeaction" event="invokeaction.tiltContinuously">
<content>
{
"description": "Moves the tilt platform with speed given in input until a stop action is invoked or limits are reached",
"idempotent": false,
"synchronous": false,
"input": {
"description": "The speed at which the platform moves. Negative values for moving up and positive values for moving down",
"maximum": 15,
"minimum": -15,
"type": "number",
"unit": "angle per sec"
},
"safe": false,
"title": "Tilt Continuously"
}
</content>
</wot:op>
</wot:action>
<wot:action name="panContinuously">
<content>
{
"description": "Moves the pan platform with speed given in input until a stop action is invoked or limits are reached",
"idempotent": false,
"synchronous": false,
"input": {
"description": "The speed at which the platform moves. Negative values for right and positive values for left",
"maximum": 15,
"minimum": -15,
"type": "number",
"unit": "angle per sec"
},
"safe": false,
"title": "Pan Continuously"
}
</content>
<wot:op type="invokeaction" event="invokeaction.panContinuously">
<content>
{
"description": "Moves the pan platform with speed given in input until a stop action is invoked or limits are reached",
"idempotent": false,
"synchronous": false
"input": {
"description": "The speed at which the platform moves. Negative values for right and positive values for left",
"maximum": 15,
"minimum": -15,
"type": "number",
"unit": "angle per sec"
},
"safe": false,
"title": "Pan Continuously"
}
</content>
</wot:op>
</wot:action>
<wot:action name="moveContinuously">
<content>
{
"description": "Moves the tilt and pan platform with the speeds given in input until a stop action is invoked or limits are reached",
"idempotent": false,
"synchronous": false,
"input": {
"properties": {
"panSpeed": {
"description": "The speed at which the platform moves. Negative values for right and positive values for left",
"maximum": 15,
"minimum": -15,
"type": "number",
"unit": "angle per sec"
},
"tiltSpeed": {
"description": "The speed at which the tilt platform moves. Negative values for moving up and positive values for moving down",
"maximum": 15,
"minimum": -15,
"type": "number",
"unit": "angle per sec"
}
},
"required": [
"panSpeed",
"tiltSpeed"
],
"type": "object"
},
"safe": false,
"title": "Move Continuously"
}
</content>
<wot:op type="invokeaction" event="invokeaction.moveContinuously">
<content>
{
"description": "Moves the tilt and pan platform with the speeds given in input until a stop action is invoked or limits are reached",
"idempotent": false,
"synchronous": false,
"input": {
"properties": {
"panSpeed": {
"description": "The speed at which the platform moves. Negative values for right and positive values for left",
"maximum": 15,
"minimum": -15,
"type": "number",
"unit": "angle per sec"
},
"tiltSpeed": {
"description": "The speed at which the tilt platform moves. Negative values for moving up and positive values for moving down",
"maximum": 15,
"minimum": -15,
"type": "number",
"unit": "angle per sec"
}
},
"required": [
"panSpeed",
"tiltSpeed"
],
"type": "object"
},
"safe": false,
"title": "Move Continuously"
}
</content>
</wot:op>
</wot:action>
<wot:action name="goHome">
<content>
{
"description": "Returns the pan and tilt to their home position which is at 0 and 0 degrees",
"idempotent": false,
"synchronous": false,
"safe": false,
"title": "Go Home"
}
</content>
<wot:op type="invokeaction" event="invokeaction.goHome">
<content>
{
"description": "Returns the pan and tilt to their home position which is at 0 and 0 degrees",
"idempotent": false,
"synchronous": false,
"safe": false,
"title": "Go Home"
}
</content>
</wot:op>
</wot:action>
<wot:action name="stopMovement">
<content>
{
"description": "Stops any movement that was created with continuous movement calls",
"idempotent": false,
"synchronous": false,
"safe": false,
"title": "Stop Movement"
}
</content>
<wot:op type="invokeaction" event="invokeaction.stopMovement">
<content>
{
"description": "Stops any movement that was created with continuous movement calls",
"idempotent": false,
"synchronous": false,
"safe": false,
"title": "Stop Movement"
}
</content>
</wot:op>
</wot:action>
</wot:affordances>
</scxml>