Model { Name "vision_turtle" Version 7.9 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.1175" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "UTF-8" SaveDefaultBlockParams on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" FPTRunName "Run 1" MaxMDLFileLineLength 120 Created "Tue Jul 29 19:16:15 2008" Creator "Dennis" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "root" ModifiedDateFormat "%" LastModifiedDate "Sat Jun 04 15:05:53 2016" RTWModifiedTimeStamp 386953539 ModelVersionFormat "1.%" ConfigurationManager "None" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "none" WideLines off ShowLineDimensions on ShowPortDataTypes on ShowDesignRanges off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowSignalResolutionIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off SimulationMode "normal" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on CovForceBlockReductionOff on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on CovModelRefEnable "Off" CovExternalEMLEnable off ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect on ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock off BufferReuse on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.12.0" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 2 Version "1.12.0" StartTime "0.0" StopTime "4*3600" AbsTol "auto" FixedStep "0.02" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ZcThreshold "auto" ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" EnableConcurrentExecution off ConcurrentTasks off Solver "FixedStepDiscrete" SolverName "FixedStepDiscrete" SolverJacobianMethodControl "auto" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Nonadaptive" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" InsertRTBMode "Whenever possible" } Simulink.DataIOCC { $ObjectID 3 Version "1.12.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "4000*3600" LoadExternalInput off LoadInitialState off SaveFinalState off SaveCompleteFinalSimState off SaveFormat "Array" SignalLoggingSaveFormat "ModelDataLogs" SaveOutput off SaveState off SignalLogging off DSMLogging on InspectSignalLogs off SaveTime off ReturnWorkspaceOutputs off StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" DSMLoggingName "dsmout" OutputOption "RefineOutputTimes" OutputTimes "[]" ReturnWorkspaceOutputsName "out" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Version "1.12.0" Array { Type "Cell" Dimension 8 Cell "BooleansAsBitfields" Cell "PassReuseOutputArgsAs" Cell "PassReuseOutputArgsThreshold" Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "OptimizeModelRefInitCode" Cell "NoFixptDivByZeroProtection" Cell "UseSpecifiedMinMax" PropName "DisabledProps" } BlockReduction off BooleanDataType off ConditionallyExecuteInputs on InlineParams off UseIntDivNetSlope off UseFloatMulNetSlope off UseSpecifiedMinMax off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnhancedBackFolding off StrengthReduction off ExpressionFolding on BooleansAsBitfields off BitfieldContainerType "uint_T" EnableMemcpy on MemcpyThreshold 64 PassReuseOutputArgsAs "Structure reference" ExpressionDepthLimit 2147483647 FoldNonRolledExpr on LocalBlockOutputs on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off EfficientFloat2IntCast off EfficientMapNaN2IntZero on OptimizeModelRefInitCode off LifeSpan "inf" MaxStackSize "Inherit from target" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off ParallelExecutionInRapidAccelerator on } Simulink.DebuggingCC { $ObjectID 5 Version "1.12.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "none" SaveWithParameterizedLinksMsg "none" CheckSSInitialOutputMsg on UnderspecifiedInitializationDetection "Classic" MergeDetectMultiDrivingBlocksExec "none" CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "UseLocalSettings" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" MaskedZcDiagnostic "warning" IgnoredZcDiagnostic "warning" SolverPrmCheckMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "error" MultiTaskCondExecSysMsg "none" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterUnderflowMsg "none" ParameterPrecisionLossMsg "none" ParameterTunabilityLossMsg "warning" FixptConstUnderflowMsg "none" FixptConstOverflowMsg "none" FixptConstPrecisionLossMsg "none" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" FrameProcessingCompatibilityMsg "warning" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" SimStateInterfaceChecksumMismatchMsg "warning" SimStateOlderReleaseMsg "error" InitInArrayFormatMsg "warning" StrictBusMsg "None" BusNameAdapt "WarnAndRepair" NonBusSignalsTreatedAsBus "none" LoggingUnavailableSignals "error" BlockIODiagnostic "none" SFUnusedDataAndEventsDiag "warning" SFUnexpectedBacktrackingDiag "warning" SFInvalidInputDataAccessInChartInitDiag "warning" SFNoUnconditionalDefaultTransitionDiag "warning" SFTransitionOutsideNaturalParentDiag "warning" SFUnconditionalTransitionShadowingDiag "warning" } Simulink.HardwareCC { $ObjectID 6 Version "1.12.0" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdBitPerFloat 32 ProdBitPerDouble 64 ProdBitPerPointer 32 ProdLargestAtomicInteger "Char" ProdLargestAtomicFloat "None" ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 64 TargetBitPerFloat 32 TargetBitPerDouble 64 TargetBitPerPointer 64 TargetLargestAtomicInteger "Char" TargetLargestAtomicFloat "None" TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "LittleEndian" TargetWordSize 64 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "MATLAB Host" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.12.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" EnableParallelModelReferenceBuilds off ParallelModelReferenceErrorOnInvalidPool on ParallelModelReferenceMATLABWorkerInit "None" ModelReferenceNumInstancesAllowed "Multi" PropagateVarSize "Infer from blocks in model" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off PropagateSignalLabelsOutOfModel off SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { $ObjectID 8 Version "1.12.0" SFSimEnableDebug on SFSimOverflowDetection on SFSimEcho on SimBlas on SimCtrlC on SimExtrinsic on SimIntegrity on SimUseLocalCustomCode off SimParseCustomCode on SimBuildMode "sf_incremental_build" } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 9 Version "1.12.0" Array { Type "Cell" Dimension 9 Cell "IncludeHyperlinkInReport" Cell "GenerateTraceInfo" Cell "GenerateTraceReport" Cell "GenerateTraceReportSl" Cell "GenerateTraceReportSf" Cell "GenerateTraceReportEml" Cell "GenerateWebview" Cell "GenerateCodeMetricsReport" Cell "GenerateCodeReplacementReport" PropName "DisabledProps" } SystemTargetFile "vstarget.tlc" GenCodeOnly off MakeCommand "make_rtw CC=\"ccache gcc\" OPTS=\"-DTIMER_ID=-1 -D_GNU_SOURCE -O2 -g\"" GenerateMakefile on TemplateMakefile "vs_unix.tmf" Description "Robocup Real-Time Vision Target" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage on TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ProcessScript "vstarget_make_rtw_hook" ConfigAtBuild off RTWUseLocalCustomCode off RTWUseSimCustomCode off CustomHeaderCode "#include \"debug_drawing.h\"" CustomInclude "../usr/lib ../Libs/multicast ../Libs/ipcomm2 ../Libs/camlib/include ../Targets/vstarget ../Libs/G" "eneralFunctions ../Global_par ../includes \"../Libs/TUeDACS-2.0/RbmIo\" \"../Libs/TUeDACS-2.0/UgcIo\" /home/robocup" "/svn/trunk/src/Turtle2/Libs/Simulink/Bus/busses/" CustomLibrary "/usr/lib/librtdb.so /usr/lib/x86_64-linux-gnu/libpng.so /usr/lib/libipcomm2_server.so /usr/lib/li" "bPvAPI.so /usr/lib/libcameraJDB.so /usr/lib/libdiag.so /usr/lib/libRbmIo.so /usr/lib/libgeneral_functions.a" CustomTerminator "cleanupDebugDrawing();" IncludeHyperlinkInReport off LaunchReport off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime on GenerateTraceInfo off GenerateTraceReport off GenerateTraceReportSl off GenerateTraceReportSf off GenerateTraceReportEml off GenerateCodeInfo off GenerateWebview off GenerateCodeMetricsReport off GenerateCodeReplacementReport off RTWCompilerOptimization "Custom" RTWCustomCompilerOptimizations "-O2 -g -march='core2'" CheckMdlBeforeBuild "Off" CustomRebuildMode "OnUpdate" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 10 Version "1.12.0" Array { Type "Cell" Dimension 21 Cell "IgnoreCustomStorageClasses" Cell "IgnoreTestpoints" Cell "InsertBlockDesc" Cell "InsertPolySpaceComments" Cell "SFDataObjDesc" Cell "MATLABFcnDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" Cell "CustomSymbolStrGlobalVar" Cell "CustomSymbolStrType" Cell "CustomSymbolStrField" Cell "CustomSymbolStrFcn" Cell "CustomSymbolStrFcnArg" Cell "CustomSymbolStrBlkIO" Cell "CustomSymbolStrTmpVar" Cell "CustomSymbolStrMacro" Cell "ReqsInCode" PropName "DisabledProps" } ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IgnoreTestpoints off IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement on IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off MATLABFcnDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$R$N$M$F" CustomSymbolStrFcnArg "rt$I$N$M" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off InsertPolySpaceComments off SimulinkBlockComments on MATLABSourceComments off EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off UseSimReservedNames off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 11 Version "1.12.0" Array { Type "Cell" Dimension 16 Cell "GeneratePreprocessorConditionals" Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "CPPClassGenCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "PortableWordSizes" PropName "DisabledProps" } TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" CodeReplacementLibrary "ANSI_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" CodeExecutionProfiling off ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on ParMdlRefBuildCompliant on CompOptLevelCompliant on ConcurrentExecutionCompliant on IncludeMdlTerminateFcn on GeneratePreprocessorConditionals "Disable all" CombineOutputUpdateFcns on CombineSignalStateStructs off SuppressErrorStatus off ERTFirstTimeCompliant off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on SupportVariableSizeSignals off EnableShiftOperators on ParenthesesLevel "Nominal" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant off CPPClassGenCompliant off AutosarCompliant off GRTInterface off UseMalloc off ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off RTWCAPIRootIO off GenerateASAP2 off } PropName "Components" } } PropName "Components" } Name "Configuration" CurrentDlgPage "Code Generation/Custom Code" ConfigPrmDlgPosition [ 257, 110, 1325, 712 ] } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } ExplicitPartitioning off BlockDefaults { ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Arial" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on BlockRotation 0 BlockMirror off } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Arial" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Arial" FontSize 9 FontWeight "normal" FontAngle "normal" } BlockParameterDefaults { Block { BlockType Clock DisplayTime off Decimation "10" } Block { BlockType Concatenate NumInputs "2" Mode "Vector" ConcatenateDimension "1" } Block { BlockType Constant Value "1" VectorParams1D on SamplingMode "Sample based" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit from 'Constant value'" LockScale off SampleTime "inf" FramePeriod "inf" PreserveConstantTs off } Block { BlockType DataTypeConversion OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit via back propagation" LockScale off ConvertRealWorld "Real World Value (RWV)" RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Demux Outputs "4" DisplayOption "none" BusSelectionMode off } Block { BlockType Inport Port "1" OutputFunctionCall off OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" LatchByDelayingOutsideSignal off LatchInputForFeedbackSignals off Interpolate on } Block { BlockType Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" SourceOfInitialOutputValue "Dialog" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Reshape OutputDimensionality "1-D array" OutputDimensions "[1,1]" } Block { BlockType S-Function FunctionName "system" SFunctionModules "''" PortCounts "[]" SFunctionDeploymentMode off } Block { BlockType Selector NumberOfDimensions "1" IndexMode "One-based" InputPortWidth "-1" SampleTime "-1" } Block { BlockType SubSystem ShowPortLabels "FromPortIcon" Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit off CheckFcnCallInpInsideContextMsg off SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" SimViewingDevice off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" SFBlockType "NONE" Variant off GeneratePreprocessorConditionals off } Block { BlockType Sum IconShape "rectangular" Inputs "++" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on AccumDataTypeStr "Inherit: Inherit via internal rule" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Switch Criteria "u2 >= Threshold" Threshold "0" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit via internal rule" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on ZeroCross on SampleTime "-1" AllowDiffInputSizes off } Block { BlockType Terminator } Block { BlockType UnitDelay X0 "0" InputProcessing "Inherited" SampleTime "1" StateMustResolveToSignalObject off RTWStateStorageClass "Auto" HasFrameUpgradeWarning on } } System { Name "vision_turtle" Location [8, 81, 1592, 853] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" SIDHighWatermark "367" Block { BlockType Sum Name "Add" SID "1" Ports [2, 1] Position [480, 537, 510, 568] InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "GrabAdaptive" SID "2" Ports [2, 3] Position [150, 691, 255, 769] BackgroundColor "red" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "GrabAdaptive" Location [951, 170, 1585, 397] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "fixed shuttertime" SID "3" Position [155, 163, 185, 177] IconDisplay "Port number" } Block { BlockType Inport Name "green" SID "4" Position [100, 83, 130, 97] Port "2" IconDisplay "Port number" } Block { BlockType Mux Name "Mux" SID "5" Ports [3, 1] Position [455, 52, 465, 128] ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Terminator Name "Terminator" SID "6" Position [440, 180, 460, 200] ShowName off } Block { BlockType S-Function Name "grab image" SID "7" Ports [2, 6] Position [240, 45, 360, 210] BackgroundColor "red" FunctionName "grab_adaptive" EnableBusSupport off } Block { BlockType Outport Name "YUV" SID "8" Position [525, 83, 555, 97] IconDisplay "Port number" } Block { BlockType Outport Name "grabtime" SID "9" Position [475, 158, 505, 172] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "camerastatus" SID "10" Position [410, 133, 440, 147] Port "3" IconDisplay "Port number" } Line { SrcBlock "grab image" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "grab image" SrcPort 2 DstBlock "Mux" DstPort 2 } Line { SrcBlock "grab image" SrcPort 3 DstBlock "Mux" DstPort 3 } Line { SrcBlock "grab image" SrcPort 6 DstBlock "Terminator" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "YUV" DstPort 1 } Line { SrcBlock "green" SrcPort 1 DstBlock "grab image" DstPort 1 } Line { SrcBlock "grab image" SrcPort 4 DstBlock "camerastatus" DstPort 1 } Line { SrcBlock "fixed shuttertime" SrcPort 1 DstBlock "grab image" DstPort 2 } Line { SrcBlock "grab image" SrcPort 5 DstBlock "grabtime" DstPort 1 } } } Block { BlockType Reference Name "Set CPU affinity" SID "242" Ports [] Position [906, 638, 1006, 703] BackgroundColor "gray" LibraryVersion "1.51" SourceBlock "Robocup/Set CPU affinity" SourceType "Set CPU affinity" cpu_id "cpu1" } Block { BlockType UnitDelay Name "Unit Delay" SID "14" Position [500, 773, 535, 807] BlockMirror on SampleTime "1/get_global_par('VISION_SAMPLE_RATE')" } Block { BlockType SubSystem Name "communication_get" SID "15" Ports [0, 10] Position [25, 39, 175, 561] BackgroundColor "green" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "communication_get" Location [715, 182, 1675, 876] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType S-Function Name "multicast communication" SID "16" Ports [0, 10] Position [215, 29, 335, 541] BackgroundColor "green" FunctionName "mccomm_vision_get" EnableBusSupport off } Block { BlockType Outport Name "enc_robot" SID "17" Position [430, 53, 460, 67] IconDisplay "Port number" } Block { BlockType Outport Name "delayed\npose_worldmodel" SID "18" Position [425, 253, 455, 267] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "role_ID" SID "19" Position [430, 103, 460, 117] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "blue_is_home_goal" SID "20" Position [430, 153, 460, 167] Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "robot_active" SID "21" Position [425, 203, 455, 217] Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "Arbitrary ball demo" SID "22" Position [425, 503, 455, 517] Port "6" IconDisplay "Port number" } Block { BlockType Outport Name "get photo" SID "23" Position [425, 303, 455, 317] Port "7" IconDisplay "Port number" } Block { BlockType Outport Name "coach id" SID "24" Position [420, 353, 450, 367] Port "8" IconDisplay "Port number" } Block { BlockType Outport Name "get video" SID "25" Position [425, 403, 455, 417] Port "9" IconDisplay "Port number" } Block { BlockType Outport Name "get video #frames" SID "26" Position [425, 453, 455, 467] Port "10" IconDisplay "Port number" } Line { SrcBlock "multicast communication" SrcPort 1 DstBlock "enc_robot" DstPort 1 } Line { SrcBlock "multicast communication" SrcPort 2 DstBlock "role_ID" DstPort 1 } Line { SrcBlock "multicast communication" SrcPort 3 DstBlock "blue_is_home_goal" DstPort 1 } Line { SrcBlock "multicast communication" SrcPort 4 DstBlock "robot_active" DstPort 1 } Line { SrcBlock "multicast communication" SrcPort 5 DstBlock "delayed\npose_worldmodel" DstPort 1 } Line { SrcBlock "multicast communication" SrcPort 6 DstBlock "get photo" DstPort 1 } Line { SrcBlock "multicast communication" SrcPort 7 DstBlock "coach id" DstPort 1 } Line { SrcBlock "multicast communication" SrcPort 8 DstBlock "get video" DstPort 1 } Line { SrcBlock "multicast communication" SrcPort 9 DstBlock "get video #frames" DstPort 1 } Line { SrcBlock "multicast communication" SrcPort 10 DstBlock "Arbitrary ball demo" DstPort 1 } } } Block { BlockType SubSystem Name "compass heading" SID "27" Ports [0, 1] Position [350, 390, 445, 410] BackgroundColor "orange" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "compass heading" Location [575, 415, 910, 559] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Constant Name "Range [43 mm]" SID "28" Position [25, 67, 75, 83] BackgroundColor "red" Value "[1 1]*25" OutDataTypeStr "int32" } Block { BlockType Selector Name "Selector1" SID "29" Ports [1, 1] Position [240, 55, 255, 95] InputPortWidth "3" IndexOptions "Index vector (dialog)" Indices "3" OutputSizes "1" } Block { BlockType Constant Name "dead time [ms]" SID "30" Position [25, 37, 55, 53] BackgroundColor "red" Value "0" OutDataTypeStr "int32" } Block { BlockType S-Function Name "get sonar and bearing reading" SID "31" Ports [3, 1] Position [95, 29, 210, 121] FunctionName "collect_sonar_pthread" EnableBusSupport off } Block { BlockType Constant Name "max gain [2.5%]" SID "32" Position [25, 97, 75, 113] BackgroundColor "red" Value "[1 1]*2" OutDataTypeStr "int32" } Block { BlockType Outport Name "heading" SID "33" Position [280, 68, 310, 82] IconDisplay "Port number" } Line { SrcBlock "Selector1" SrcPort 1 Points [0, 0] DstBlock "heading" DstPort 1 } Line { SrcBlock "max gain [2.5%]" SrcPort 1 DstBlock "get sonar and bearing reading" DstPort 3 } Line { SrcBlock "Range [43 mm]" SrcPort 1 DstBlock "get sonar and bearing reading" DstPort 2 } Line { SrcBlock "dead time [ms]" SrcPort 1 DstBlock "get sonar and bearing reading" DstPort 1 } Line { SrcBlock "get sonar and bearing reading" SrcPort 1 DstBlock "Selector1" DstPort 1 } } } Block { BlockType SubSystem Name "image processing" SID "34" Ports [9, 11] Position [555, 28, 750, 512] BackgroundColor "lightBlue" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "image processing" Location [42, 283, 1592, 868] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "enc_robot" SID "35" Position [330, 213, 360, 227] IconDisplay "Port number" } Block { BlockType Inport Name "pose_worldmodel" SID "36" Position [330, 78, 360, 92] NamePlacement "alternate" Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "role_ID" SID "37" Position [295, 343, 325, 357] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "blue is home goal" SID "38" Position [330, 258, 360, 272] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "robot_active" SID "39" Position [285, 298, 315, 312] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "Arbitrary ball demo" SID "40" Position [120, 398, 150, 412] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "compass_heading" SID "41" Position [330, 163, 360, 177] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "YUV" SID "42" Position [330, 118, 360, 132] Port "8" IconDisplay "Port number" } Block { BlockType Inport Name "image processing tuning" SID "43" Position [85, 503, 115, 517] Port "9" IconDisplay "Port number" } Block { BlockType Constant Name "Constant" SID "44" Position [205, 345, 235, 375] } Block { BlockType DataTypeConversion Name "Data Type Conversion2" SID "45" Position [335, 289, 370, 321] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion4" SID "46" Position [315, 389, 335, 421] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Demux Name "Demux" SID "47" Ports [1, 3] Position [200, 491, 205, 529] BackgroundColor "black" ShowName off Outputs "[12 1 1]" DisplayOption "bar" } Block { BlockType Selector Name "Selector5" SID "48" Ports [1, 1] Position [610, 321, 650, 339] ShowName off InputPortWidth "3" IndexOptions "Index vector (dialog)" Indices "1" OutputSizes "1" } Block { BlockType Switch Name "Switch" SID "49" Position [270, 390, 300, 420] Threshold ".5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "feature detection1" SID "253" Ports [9, 11] Position [390, 55, 575, 465] BackgroundColor "lightBlue" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "feature detection1" Location [270, 268, 1490, 857] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "pose_world" SID "254" Position [45, 413, 75, 427] IconDisplay "Port number" } Block { BlockType Inport Name "YUV" SID "255" Position [345, 158, 375, 172] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "compass" SID "256" Position [45, 288, 75, 302] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "encoders" SID "257" Position [45, 313, 75, 327] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "blueishomegoal" SID "258" Position [45, 338, 75, 352] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "robot active" SID "259" Position [45, 388, 75, 402] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "role ID" SID "260" Position [45, 363, 75, 377] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "ArbitraryBallSwitch" SID "261" Position [835, 388, 865, 402] Port "8" IconDisplay "Port number" } Block { BlockType Inport Name "calibrationflag" SID "356" Position [765, 408, 795, 422] Port "9" IconDisplay "Port number" } Block { BlockType Demux Name "Demux" SID "262" Ports [1, 3] Position [455, 103, 465, 227] BackgroundColor "black" ShowName off Outputs "3" DisplayOption "bar" BusSelectionMode on } Block { BlockType SubSystem Name "Pose" SID "263" Ports [9, 6] Position [125, 226, 305, 464] BackgroundColor "lightBlue" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Pose" Location [455, 402, 1293, 830] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "linepoints_image" SID "264" Position [35, 103, 65, 117] IconDisplay "Port number" } Block { BlockType Inport Name "nlinepoins" SID "265" Position [35, 143, 65, 157] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "compass" SID "266" Position [345, 158, 375, 172] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "encoders" SID "267" Position [560, 308, 590, 322] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "blueishomegoal" SID "268" Position [320, 188, 350, 202] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "task ID" SID "269" Position [560, 208, 590, 222] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "robot active" SID "270" Position [560, 258, 590, 272] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "poseworld" SID "271" Position [345, 218, 375, 232] Port "8" IconDisplay "Port number" } Block { BlockType Inport Name "maskcenterphi" SID "272" Position [35, 183, 65, 197] Port "9" IconDisplay "Port number" } Block { BlockType Mux Name "Mux" SID "273" Ports [2, 1] Position [730, 21, 735, 59] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType UnitDelay Name "Unit Delay" SID "274" Position [100, 180, 120, 200] ShowName off SampleTime "-1" } Block { BlockType S-Function Name "compasscheck" SID "275" Ports [5, 3] Position [410, 89, 485, 241] BackgroundColor "yellow" FunctionName "compasscheck" EnableBusSupport off } Block { BlockType S-Function Name "findpose" SID "276" Ports [3, 4] Position [165, 89, 240, 211] BackgroundColor "yellow" FunctionName "findpose" Parameters "par_findpose" EnableBusSupport off } Block { BlockType S-Function Name "localisationaid" SID "277" Ports [6, 2] Position [615, 90, 695, 390] BackgroundColor "yellow" FunctionName "localisationaid" EnableBusSupport off } Block { BlockType Outport Name "posevisionfound" SID "278" Position [735, 308, 765, 322] IconDisplay "Port number" } Block { BlockType Outport Name "par" SID "279" Position [260, 188, 290, 202] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "pose" SID "280" Position [740, 158, 770, 172] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "line_pose_recog\n+ compass" SID "281" Position [765, 33, 795, 47] Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "blue goal heading" SID "282" Position [500, 208, 530, 222] Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "fitval" SID "283" Position [260, 158, 290, 172] Port "6" IconDisplay "Port number" } Line { SrcBlock "localisationaid" SrcPort 2 Points [5, 0] Branch { DstBlock "posevisionfound" DstPort 1 } Branch { Points [0, -265] DstBlock "Mux" DstPort 2 } } Line { SrcBlock "localisationaid" SrcPort 1 DstBlock "pose" DstPort 1 } Line { SrcBlock "compasscheck" SrcPort 2 DstBlock "localisationaid" DstPort 2 } Line { SrcBlock "compasscheck" SrcPort 1 DstBlock "localisationaid" DstPort 1 } Line { SrcBlock "robot active" SrcPort 1 DstBlock "localisationaid" DstPort 4 } Line { SrcBlock "task ID" SrcPort 1 DstBlock "localisationaid" DstPort 3 } Line { SrcBlock "compasscheck" SrcPort 3 DstBlock "blue goal heading" DstPort 1 } Line { SrcBlock "findpose" SrcPort 3 DstBlock "fitval" DstPort 1 } Line { SrcBlock "findpose" SrcPort 2 Points [145, 0] Branch { DstBlock "compasscheck" DstPort 2 } Branch { Points [0, -105] DstBlock "Mux" DstPort 1 } } Line { SrcBlock "findpose" SrcPort 1 DstBlock "compasscheck" DstPort 1 } Line { SrcBlock "blueishomegoal" SrcPort 1 Points [25, 0] Branch { DstBlock "compasscheck" DstPort 4 } Branch { Points [0, 170] DstBlock "localisationaid" DstPort 6 } } Line { SrcBlock "compass" SrcPort 1 DstBlock "compasscheck" DstPort 3 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "line_pose_recog\n+ compass" DstPort 1 } Line { SrcBlock "encoders" SrcPort 1 DstBlock "localisationaid" DstPort 5 } Line { SrcBlock "poseworld" SrcPort 1 DstBlock "compasscheck" DstPort 5 } Line { SrcBlock "linepoints_image" SrcPort 1 DstBlock "findpose" DstPort 1 } Line { SrcBlock "nlinepoins" SrcPort 1 DstBlock "findpose" DstPort 2 } Line { SrcBlock "findpose" SrcPort 4 DstBlock "par" DstPort 1 } Line { SrcBlock "maskcenterphi" SrcPort 1 DstBlock "Unit Delay" DstPort 1 } Line { SrcBlock "Unit Delay" SrcPort 1 DstBlock "findpose" DstPort 3 } } } Block { BlockType S-Function Name "S-Function" SID "284" Ports [0, 1] Position [1040, 86, 1115, 114] BackgroundColor "lightBlue" ShowName off FunctionName "getvisiontime" EnableBusSupport off } Block { BlockType S-Function Name "S-Function1" SID "358" Ports [3, 5] Position [515, 442, 590, 508] ZOrder -5 FunctionName "histogram" EnableBusSupport off } Block { BlockType SubSystem Name "find stuff" SID "291" Ports [11, 7] Position [950, 256, 1160, 494] BackgroundColor "lightBlue" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "find stuff" Location [76, 221, 1382, 864] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "Y" SID "292" Position [130, 343, 160, 357] IconDisplay "Port number" } Block { BlockType Inport Name "U" SID "293" Position [130, 368, 160, 382] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "V" SID "294" Position [130, 393, 160, 407] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "par" SID "295" Position [15, 443, 45, 457] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "pose" SID "296" Position [70, 418, 100, 432] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "posefound" SID "297" Position [870, 188, 900, 202] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "ArbitraryBallSwitch" SID "298" Position [225, 303, 255, 317] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "calibrationflag" SID "355" Position [900, 488, 930, 502] Port "8" IconDisplay "Port number" } Block { BlockType Inport Name "s" SID "362" Position [115, 83, 145, 97] Port "9" IconDisplay "Port number" } Block { BlockType Inport Name "s_thres" SID "363" Position [115, 113, 145, 127] Port "10" IconDisplay "Port number" } Block { BlockType Inport Name "obj_thres" SID "364" Position [115, 188, 145, 202] Port "11" IconDisplay "Port number" } Block { BlockType Reference Name "Blob Analysis1" SID "299" Tag "vipblks_row_conv" Ports [1, 4] Position [530, 238, 625, 337] BackgroundColor "yellow" LibraryVersion "1.594" SourceBlock "vipstatistics/Blob Analysis" SourceType "Blob Analysis" area on centroid on bBox on majorAxis off minorAxis off angle off eccentricity off equivDiameterSq off extent off perimeter off maxBlobs "1000" warnIfNumBlobsExceeded on isCount on useMinArea off minArea "0" useMaxArea off maxArea "inf" excludeBorderBlob off outDT "double" isOutVarDim off isFill on fillValues "-1" conn "8" isLabel off outputMode "Binary point scaling" outputWordLength "32" outputFracLength "16" memoryMode "Same as product output" memoryWordLength "32" memoryFracLength "16" firstCoeffMode "Binary point scaling" firstCoeffWordLength "16" firstCoeffFracLength "14" secondCoeffMode "Binary point scaling" secondCoeffWordLength "32" secondCoeffFracLength "16" accumMode "Binary point scaling" accumWordLength "32" accumFracLength "0" prodOutputMode "Binary point scaling" prodOutputWordLength "32" prodOutputFracLength "16" roundingMode "Floor" overflowMode off LockScale off } Block { BlockType DataTypeConversion Name "Data Type Conversion" SID "300" Position [835, 238, 910, 272] ZOrder -7 OutDataTypeStr "int32" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Mux Name "Mux" SID "301" Ports [2, 1] Position [1235, 191, 1240, 229] ZOrder -16 ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType S-Function Name "S-Function" SID "302" Ports [5, 2] Position [1010, 155, 1210, 275] ZOrder -5 FunctionName "maskcalibrationintheloop" EnableBusSupport off } Block { BlockType S-Function Name "ballsizefilter" SID "303" Ports [1, 1] Position [415, 256, 510, 324] BackgroundColor "yellow" FunctionName "ballsizefilter" Parameters " " EnableBusSupport off } Block { BlockType S-Function Name "findball3D" SID "304" Ports [9, 6] Position [650, 243, 740, 457] BackgroundColor "yellow" FunctionName "findball3D" EnableBusSupport off } Block { BlockType S-Function Name "findobstacles" SID "305" Ports [6, 3] Position [205, 17, 430, 143] BackgroundColor "yellow" FunctionName "findobstacles" EnableBusSupport off } Block { BlockType S-Function Name "labellerconvhull" SID "306" Ports [4, 1] Position [305, 254, 400, 321] BackgroundColor "yellow" FunctionName "labellerconvhull" Parameters " " EnableBusSupport off } Block { BlockType Terminator Name "nballs" SID "307" Position [790, 395, 810, 415] } Block { BlockType Terminator Name "nobstacles" SID "308" Position [660, 65, 680, 85] } Block { BlockType Terminator Name "obstaclepoints" SID "309" Position [660, 95, 680, 115] } Block { BlockType Outport Name "labels" SID "310" Position [555, 198, 585, 212] IconDisplay "Port number" } Block { BlockType Outport Name "obstacles" SID "311" Position [590, 33, 620, 47] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "nearest ball [global]" SID "312" Position [800, 258, 830, 272] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "ball confidence [0...1]" SID "313" Position [800, 293, 830, 307] Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "all balls [global]" SID "314" Position [800, 328, 830, 342] Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "all balls confidence [0...1]" SID "315" Position [800, 363, 830, 377] Port "6" IconDisplay "Port number" } Block { BlockType Outport Name "maskcenterphi" SID "316" Position [1275, 203, 1305, 217] Port "7" IconDisplay "Port number" } Line { SrcBlock "findball3D" SrcPort 3 DstBlock "all balls [global]" DstPort 1 } Line { SrcBlock "findball3D" SrcPort 4 DstBlock "all balls confidence [0...1]" DstPort 1 } Line { SrcBlock "findball3D" SrcPort 5 DstBlock "nballs" DstPort 1 } Line { SrcBlock "labellerconvhull" SrcPort 1 DstBlock "ballsizefilter" DstPort 1 } Line { SrcBlock "findball3D" SrcPort 2 Points [30, 0] Branch { DstBlock "ball confidence [0...1]" DstPort 1 } Branch { Points [0, -45] DstBlock "Data Type Conversion" DstPort 1 } } Line { SrcBlock "findball3D" SrcPort 1 DstBlock "nearest ball [global]" DstPort 1 } Line { SrcBlock "pose" SrcPort 1 Points [0, 0] Branch { DstBlock "findball3D" DstPort 8 } Branch { Points [0, -260] Branch { Points [0, -135] DstBlock "findobstacles" DstPort 1 } Branch { DstBlock "S-Function" DstPort 1 } } } Line { SrcBlock "V" SrcPort 1 Points [10, 0] Branch { DstBlock "findball3D" DstPort 7 } Branch { Points [0, -105] DstBlock "labellerconvhull" DstPort 3 } } Line { SrcBlock "U" SrcPort 1 Points [15, 0] Branch { DstBlock "findball3D" DstPort 6 } Branch { Points [0, -95] DstBlock "labellerconvhull" DstPort 2 } } Line { SrcBlock "Y" SrcPort 1 Points [20, 0] Branch { DstBlock "findball3D" DstPort 5 } Branch { Points [0, -85] Branch { DstBlock "labellerconvhull" DstPort 1 } Branch { Points [0, -215] DstBlock "findobstacles" DstPort 2 } } } Line { SrcBlock "Blob Analysis1" SrcPort 1 DstBlock "findball3D" DstPort 1 } Line { SrcBlock "Blob Analysis1" SrcPort 2 DstBlock "findball3D" DstPort 2 } Line { SrcBlock "Blob Analysis1" SrcPort 3 DstBlock "findball3D" DstPort 3 } Line { SrcBlock "Blob Analysis1" SrcPort 4 DstBlock "findball3D" DstPort 4 } Line { SrcBlock "ArbitraryBallSwitch" SrcPort 1 DstBlock "labellerconvhull" DstPort 4 } Line { SrcBlock "findobstacles" SrcPort 3 Points [180, 0; 0, -15] DstBlock "obstaclepoints" DstPort 1 } Line { SrcBlock "findobstacles" SrcPort 1 Points [45, 0; 35, -5; 60, 0] DstBlock "obstacles" DstPort 1 } Line { SrcBlock "findobstacles" SrcPort 2 Points [180, 0; 0, -5] DstBlock "nobstacles" DstPort 1 } Line { SrcBlock "par" SrcPort 1 Points [5, 0] Branch { DstBlock "findball3D" DstPort 9 } Branch { Points [0, -380] DstBlock "findobstacles" DstPort 3 } } Line { SrcBlock "ballsizefilter" SrcPort 1 Points [0, 0] Branch { DstBlock "Blob Analysis1" DstPort 1 } Branch { Points [0, -85] DstBlock "labels" DstPort 1 } } Line { SrcBlock "findball3D" SrcPort 6 Points [200, 0; 0, -225] DstBlock "S-Function" DstPort 3 } Line { SrcBlock "posefound" SrcPort 1 Points [90, 0] DstBlock "S-Function" DstPort 2 } Line { SrcBlock "S-Function" SrcPort 1 Points [5, 0] DstBlock "Mux" DstPort 1 } Line { SrcBlock "S-Function" SrcPort 2 Points [5, 0] DstBlock "Mux" DstPort 2 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "maskcenterphi" DstPort 1 } Line { SrcBlock "Data Type Conversion" SrcPort 1 Points [80, 0] DstBlock "S-Function" DstPort 4 } Line { SrcBlock "calibrationflag" SrcPort 1 Points [60, 0] DstBlock "S-Function" DstPort 5 } Line { SrcBlock "s" SrcPort 1 DstBlock "findobstacles" DstPort 4 } Line { SrcBlock "s_thres" SrcPort 1 Points [40, 0] DstBlock "findobstacles" DstPort 5 } Line { SrcBlock "obj_thres" SrcPort 1 Points [40, 0] DstBlock "findobstacles" DstPort 6 } } } Block { BlockType SubSystem Name "mask/linepoints" SID "317" Ports [10, 7] Position [695, 111, 830, 364] BackgroundColor "lightBlue" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "mask/linepoints" Location [44, 126, 983, 530] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "Y" SID "318" Position [330, 43, 360, 57] IconDisplay "Port number" } Block { BlockType Inport Name "U" SID "319" Position [330, 73, 360, 87] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "V" SID "320" Position [330, 103, 360, 117] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "posefound" SID "321" Position [30, 153, 60, 167] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "par" SID "322" Position [30, 183, 60, 197] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "pose" SID "323" Position [30, 123, 60, 137] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "line_thres" SID "359" Position [535, 238, 565, 252] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "s_thres" SID "360" Position [535, 268, 565, 282] Port "8" IconDisplay "Port number" } Block { BlockType Inport Name "s" SID "361" Position [535, 298, 565, 312] Port "9" IconDisplay "Port number" } Block { BlockType Inport Name "s_max" SID "366" Position [535, 328, 565, 342] Port "10" IconDisplay "Port number" } Block { BlockType UnitDelay Name "Unit Delay" SID "327" Position [85, 120, 105, 140] ShowName off SampleTime "-1" } Block { BlockType UnitDelay Name "Unit Delay1" SID "328" Position [85, 150, 105, 170] ShowName off SampleTime "-1" } Block { BlockType UnitDelay Name "Unit Delay2" SID "329" Position [85, 180, 105, 200] ShowName off SampleTime "-1" } Block { BlockType S-Function Name "YUVmask" SID "330" Ports [4, 3] Position [385, 38, 470, 152] BackgroundColor "yellow" FunctionName "YUVmask" EnableBusSupport off } Block { BlockType S-Function Name "adaptivepolygonmask" SID "331" Ports [3, 2] Position [180, 114, 300, 206] BackgroundColor "yellow" FunctionName "adaptivepolygonmask" EnableBusSupport off } Block { BlockType Terminator Name "edgeradius" SID "332" Position [330, 175, 350, 195] } Block { BlockType S-Function Name "findlinepoints" SID "333" Ports [10, 4] Position [655, 38, 755, 362] BackgroundColor "yellow" FunctionName "findlinepoints" EnableBusSupport off } Block { BlockType Outport Name "linepoints_image" SID "334" Position [805, 233, 835, 247] IconDisplay "Port number" } Block { BlockType Outport Name "nlinepoints" SID "335" Position [805, 153, 835, 167] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "linepoints" SID "336" Position [805, 73, 835, 87] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "greencolor" SID "337" Position [805, 313, 835, 327] Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "Ymasked" SID "338" Position [490, 23, 520, 37] Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "Umasked" SID "339" Position [490, 63, 520, 77] Port "6" IconDisplay "Port number" } Block { BlockType Outport Name "Vmasked" SID "340" Position [490, 103, 520, 117] Port "7" IconDisplay "Port number" } Line { SrcBlock "YUVmask" SrcPort 3 Points [0, 0] Branch { DstBlock "Vmasked" DstPort 1 } Branch { Points [165, 0] DstBlock "findlinepoints" DstPort 3 } } Line { SrcBlock "YUVmask" SrcPort 2 Points [0, 0] Branch { DstBlock "Umasked" DstPort 1 } Branch { DstBlock "findlinepoints" DstPort 2 } } Line { SrcBlock "YUVmask" SrcPort 1 Points [0, 0] Branch { DstBlock "Ymasked" DstPort 1 } Branch { Points [165, 0] DstBlock "findlinepoints" DstPort 1 } } Line { SrcBlock "posefound" SrcPort 1 DstBlock "Unit Delay1" DstPort 1 } Line { SrcBlock "pose" SrcPort 1 DstBlock "Unit Delay" DstPort 1 } Line { SrcBlock "V" SrcPort 1 DstBlock "YUVmask" DstPort 3 } Line { SrcBlock "U" SrcPort 1 DstBlock "YUVmask" DstPort 2 } Line { SrcBlock "Y" SrcPort 1 DstBlock "YUVmask" DstPort 1 } Line { SrcBlock "adaptivepolygonmask" SrcPort 1 DstBlock "YUVmask" DstPort 4 } Line { SrcBlock "adaptivepolygonmask" SrcPort 2 DstBlock "edgeradius" DstPort 1 } Line { SrcBlock "Unit Delay" SrcPort 1 Points [30, 0] Branch { DstBlock "adaptivepolygonmask" DstPort 1 } Branch { Points [0, 100; 370, 0; 0, -75] DstBlock "findlinepoints" DstPort 4 } } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [20, 0] Branch { DstBlock "adaptivepolygonmask" DstPort 2 } Branch { Points [0, 80; 395, 0; 0, -55] DstBlock "findlinepoints" DstPort 5 } } Line { SrcBlock "par" SrcPort 1 DstBlock "Unit Delay2" DstPort 1 } Line { SrcBlock "Unit Delay2" SrcPort 1 Points [10, 0] Branch { DstBlock "adaptivepolygonmask" DstPort 3 } Branch { Points [0, 25] DstBlock "findlinepoints" DstPort 6 } } Line { SrcBlock "findlinepoints" SrcPort 1 DstBlock "linepoints" DstPort 1 } Line { SrcBlock "findlinepoints" SrcPort 2 DstBlock "nlinepoints" DstPort 1 } Line { SrcBlock "findlinepoints" SrcPort 3 DstBlock "linepoints_image" DstPort 1 } Line { SrcBlock "findlinepoints" SrcPort 4 DstBlock "greencolor" DstPort 1 } Line { SrcBlock "line_thres" SrcPort 1 DstBlock "findlinepoints" DstPort 7 } Line { SrcBlock "s" SrcPort 1 DstBlock "findlinepoints" DstPort 9 } Line { SrcBlock "s_thres" SrcPort 1 DstBlock "findlinepoints" DstPort 8 } Line { SrcBlock "s_max" SrcPort 1 DstBlock "findlinepoints" DstPort 10 } } } Block { BlockType Terminator Name "t1" SID "352" Position [340, 435, 360, 455] ShowName off } Block { BlockType Terminator Name "t2" SID "353" Position [855, 185, 875, 205] ShowName off } Block { BlockType Terminator Name "t3" SID "354" Position [1180, 255, 1200, 275] ShowName off } Block { BlockType Outport Name "pose_vision" SID "341" Position [360, 293, 390, 307] IconDisplay "Port number" } Block { BlockType Outport Name "pose_vision_found" SID "342" Position [360, 253, 390, 267] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "obstacles [global]" SID "343" Position [1230, 293, 1260, 307] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "nearest ball [global]" SID "344" Position [1230, 328, 1260, 342] Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "ball confidence [0...1]" SID "345" Position [1230, 363, 1260, 377] Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "all balls [global]" SID "346" Position [1230, 398, 1260, 412] Port "6" IconDisplay "Port number" } Block { BlockType Outport Name "all balls confidence [0...1]" SID "347" Position [1230, 433, 1260, 447] Port "7" IconDisplay "Port number" } Block { BlockType Outport Name "greencolor" SID "348" Position [855, 223, 885, 237] Port "8" IconDisplay "Port number" } Block { BlockType Outport Name "visiontime" SID "349" Position [1135, 93, 1165, 107] Port "9" IconDisplay "Port number" } Block { BlockType Outport Name "line pose recog \n+ compass" SID "350" Position [355, 358, 385, 372] Port "10" IconDisplay "Port number" } Block { BlockType Outport Name "blue goal heading" SID "351" Position [355, 398, 385, 412] Port "11" IconDisplay "Port number" } Line { SrcBlock "S-Function" SrcPort 1 DstBlock "visiontime" DstPort 1 } Line { SrcBlock "role ID" SrcPort 1 DstBlock "Pose" DstPort 6 } Line { SrcBlock "robot active" SrcPort 1 DstBlock "Pose" DstPort 7 } Line { SrcBlock "mask/linepoints" SrcPort 4 Points [0, -10] DstBlock "greencolor" DstPort 1 } Line { SrcBlock "YUV" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "Demux" SrcPort 3 Points [10, 0] Branch { Points [200, 0] DstBlock "mask/linepoints" DstPort 3 } Branch { Points [0, 290] DstBlock "S-Function1" DstPort 3 } } Line { SrcBlock "Demux" SrcPort 2 Points [20, 0] Branch { Points [190, 0] DstBlock "mask/linepoints" DstPort 2 } Branch { Points [0, 310] DstBlock "S-Function1" DstPort 2 } } Line { SrcBlock "Demux" SrcPort 1 Points [30, 0] Branch { DstBlock "mask/linepoints" DstPort 1 } Branch { DstBlock "S-Function1" DstPort 1 } } Line { SrcBlock "mask/linepoints" SrcPort 7 Points [100, 0] DstBlock "find stuff" DstPort 3 } Line { SrcBlock "mask/linepoints" SrcPort 6 Points [100, 0] DstBlock "find stuff" DstPort 2 } Line { SrcBlock "mask/linepoints" SrcPort 5 DstBlock "find stuff" DstPort 1 } Line { SrcBlock "blueishomegoal" SrcPort 1 DstBlock "Pose" DstPort 5 } Line { SrcBlock "find stuff" SrcPort 5 Points [0, -5] DstBlock "all balls [global]" DstPort 1 } Line { SrcBlock "find stuff" SrcPort 6 Points [0, -5] DstBlock "all balls confidence [0...1]" DstPort 1 } Line { SrcBlock "find stuff" SrcPort 4 Points [0, -5] DstBlock "ball confidence [0...1]" DstPort 1 } Line { SrcBlock "pose_world" SrcPort 1 DstBlock "Pose" DstPort 8 } Line { SrcBlock "find stuff" SrcPort 3 Points [0, -5] DstBlock "nearest ball [global]" DstPort 1 } Line { SrcBlock "encoders" SrcPort 1 DstBlock "Pose" DstPort 4 } Line { SrcBlock "compass" SrcPort 1 DstBlock "Pose" DstPort 3 } Line { SrcBlock "find stuff" SrcPort 2 Points [0, -5] DstBlock "obstacles [global]" DstPort 1 } Line { SrcBlock "Pose" SrcPort 1 Points [0, 0] Branch { Points [0, 15] DstBlock "pose_vision_found" DstPort 1 } Branch { Points [230, 0] Branch { Points [140, 0] DstBlock "mask/linepoints" DstPort 4 } Branch { Points [0, 130] DstBlock "find stuff" DstPort 6 } } } Line { SrcBlock "Pose" SrcPort 3 Points [0, 0] Branch { Points [0, -25] DstBlock "pose_vision" DstPort 1 } Branch { Points [240, 0] Branch { Points [0, 30] DstBlock "find stuff" DstPort 5 } Branch { Points [130, 0] DstBlock "mask/linepoints" DstPort 6 } } } Line { SrcBlock "Pose" SrcPort 4 DstBlock "line pose recog \n+ compass" DstPort 1 } Line { SrcBlock "Pose" SrcPort 5 DstBlock "blue goal heading" DstPort 1 } Line { SrcBlock "ArbitraryBallSwitch" SrcPort 1 DstBlock "find stuff" DstPort 7 } Line { SrcBlock "Pose" SrcPort 6 DstBlock "t1" DstPort 1 } Line { SrcBlock "find stuff" SrcPort 1 DstBlock "t3" DstPort 1 } Line { SrcBlock "Pose" SrcPort 2 Points [245, 0] Branch { Points [0, 50] DstBlock "find stuff" DstPort 4 } Branch { Points [125, 0] DstBlock "mask/linepoints" DstPort 5 } } Line { SrcBlock "mask/linepoints" SrcPort 1 Points [75, 0; 0, -40; -680, 0; 0, 155] DstBlock "Pose" DstPort 1 } Line { SrcBlock "mask/linepoints" SrcPort 2 Points [90, 0; 0, -80; -700, 0; 0, 180] DstBlock "Pose" DstPort 2 } Line { SrcBlock "mask/linepoints" SrcPort 3 Points [0, -10] DstBlock "t2" DstPort 1 } Line { SrcBlock "find stuff" SrcPort 7 Points [0, 55; -935, 0; 0, -40; -145, -5; 0, -45] DstBlock "Pose" DstPort 9 } Line { SrcBlock "calibrationflag" SrcPort 1 DstBlock "find stuff" DstPort 8 } Line { SrcBlock "S-Function1" SrcPort 1 Points [85, 0; 0, -10] Branch { DstBlock "mask/linepoints" DstPort 9 } Branch { DstBlock "find stuff" DstPort 9 } } Line { SrcBlock "S-Function1" SrcPort 3 Points [80, 0; 0, -200] DstBlock "mask/linepoints" DstPort 7 } Line { SrcBlock "S-Function1" SrcPort 2 Points [335, 0; 0, 15] DstBlock "find stuff" DstPort 11 } Line { SrcBlock "S-Function1" SrcPort 4 Points [45, 0] Branch { Points [90, 0; 0, -35] DstBlock "find stuff" DstPort 10 } Branch { Points [0, -190] DstBlock "mask/linepoints" DstPort 8 } } Line { SrcBlock "S-Function1" SrcPort 5 Points [90, 0; 0, -155] DstBlock "mask/linepoints" DstPort 10 } } } Block { BlockType SubSystem Name "tracking/filtering/estimation" SID "136" Ports [6, 3] Position [915, 61, 1095, 444] BackgroundColor "yellow" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "tracking/filtering/estimation" Location [501, 79, 1377, 474] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "pose world" SID "137" Position [15, 117, 45, 133] IconDisplay "Port number" } Block { BlockType Inport Name "obstacles" SID "138" Position [205, 88, 235, 102] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "ball" SID "139" Position [160, 243, 190, 257] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "ball conf" SID "140" Position [385, 228, 420, 242] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "role ID" SID "141" Position [400, 30, 435, 50] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "WML tuneparam" SID "142" Position [410, 138, 440, 152] Port "6" IconDisplay "Port number" } Block { BlockType S-Function Name "lob detector\n(used by goalie)" SID "143" Ports [2, 1] Position [535, 221, 630, 274] BackgroundColor "lightBlue" FunctionName "lobdetection" EnableBusSupport off } Block { BlockType S-Function Name "lob detector\n(used by goalie)1" SID "144" Ports [2, 1] Position [255, 238, 335, 282] BackgroundColor "lightBlue" FunctionName "ball_global2local" EnableBusSupport off } Block { BlockType SubSystem Name "obstacle clustering and\nestimation" SID "145" Ports [4, 4] Position [465, 22, 700, 163] BackgroundColor "darkGreen" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "obstacle clustering and\nestimation" Location [272, 202, 1521, 822] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "current role" SID "146" Position [520, 313, 550, 327] IconDisplay "Port number" } Block { BlockType Inport Name "pose_worldmodel" SID "147" Position [55, 243, 85, 257] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "obstacles" SID "148" Position [55, 278, 85, 292] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "WML tuneparam" SID "149" Position [60, 383, 90, 397] Port "4" IconDisplay "Port number" } Block { BlockType Clock Name "Clock" SID "150" Position [140, 320, 160, 340] } Block { BlockType DataTypeConversion Name "Data Type Conversion2" SID "151" Position [575, 304, 620, 336] ShowName off OutDataTypeStr "double" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Demux Name "Demux" SID "152" Ports [1, 3] Position [120, 219, 130, 281] BackgroundColor "black" ShowName off Outputs "3" DisplayOption "bar" } Block { BlockType Demux Name "Demux1" SID "153" Ports [1, 2] Position [145, 359, 155, 421] BackgroundColor "black" ShowName off Outputs "[11 1]" DisplayOption "bar" } Block { BlockType Concatenate Name "Matrix\nConcatenate" SID "154" Ports [2, 1] Position [890, 54, 945, 96] Mode "Multidimensional array" } Block { BlockType Mux Name "Mux" SID "155" Ports [2, 1] Position [150, 221, 155, 259] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType SubSystem Name "Object Prediction" SID "156" Ports [4, 1] Position [745, 217, 870, 333] BackgroundColor "darkGreen" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskPromptString "Prediction horizon (s)" MaskStyleString "edit" MaskVariables "horizon=@1;" MaskTunableValueString "on" MaskEnableString "on" MaskVisibilityString "on" MaskToolTipString "on" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "0" System { Name "Object Prediction" Location [558, 411, 984, 682] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "obj" SID "157" Position [80, 95, 110, 110] BlockRotation 270 IconDisplay "Port number" } Block { BlockType Inport Name "r" SID "158" Position [25, 113, 55, 127] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "nobj" SID "159" Position [80, 138, 110, 152] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "role_id" SID "160" Position [25, 148, 55, 162] Port "4" IconDisplay "Port number" } Block { BlockType S-Function Name "S-Function" SID "161" Ports [4, 1] Position [145, 82, 285, 158] FunctionName "sf_predict" Parameters "horizon" EnableBusSupport off } Block { BlockType Outport Name "obst" SID "162" Position [310, 113, 340, 127] IconDisplay "Port number" } Line { SrcBlock "role_id" SrcPort 1 Points [15, 0; 0, 15; 55, 0] DstBlock "S-Function" DstPort 4 } Line { SrcBlock "S-Function" SrcPort 1 DstBlock "obst" DstPort 1 } Line { SrcBlock "obj" SrcPort 1 DstBlock "S-Function" DstPort 1 } Line { SrcBlock "nobj" SrcPort 1 Points [15, 0] DstBlock "S-Function" DstPort 3 } Line { SrcBlock "r" SrcPort 1 Points [70, 0] DstBlock "S-Function" DstPort 2 } } } Block { BlockType Reshape Name "Reshape" SID "163" Ports [1, 1] Position [640, 48, 710, 82] OutputDimensionality "Customize" OutputDimensions "[2,10]" } Block { BlockType Reshape Name "Reshape1" SID "164" Ports [1, 1] Position [785, 68, 845, 102] OutputDimensionality "Row vector (2-D)" OutputDimensions "[1,20]" } Block { BlockType Reshape Name "Reshape2" SID "165" Ports [1, 1] Position [985, 58, 1045, 92] OutputDimensions "[1,20]" } Block { BlockType S-Function Name "S-Function" SID "166" Ports [4, 1] Position [450, 208, 545, 252] ShowName off FunctionName "error_correction" EnableBusSupport off } Block { BlockType Selector Name "Selector1" SID "167" Ports [1, 1] Position [575, 46, 605, 84] ShowName off InputPortWidth "40" IndexOptions "Index vector (dialog)" Indices "[1:2:4*get_global_par('MAXNOBJ_LOCAL')]" OutputSizes "1" } Block { BlockType SubSystem Name "Sequential Clustering" SID "168" Ports [4, 6] Position [205, 217, 355, 393] BackgroundColor "darkGreen" ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Sequential Clustering" Location [617, 174, 1189, 561] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "mypos" SID "169" Position [20, 38, 50, 52] IconDisplay "Port number" } Block { BlockType Inport Name "obst" SID "170" Position [20, 78, 50, 92] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "time" SID "171" Position [20, 118, 50, 132] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "tuning_params" SID "172" Position [20, 158, 50, 172] Port "4" IconDisplay "Port number" } Block { BlockType S-Function Name "Sequential Clustering" SID "173" Ports [4, 6] Position [80, 19, 150, 186] FunctionName "sf_sc" EnableBusSupport off } Block { BlockType Outport Name "obj" SID "174" Position [190, 33, 220, 47] IconDisplay "Port number" } Block { BlockType Outport Name "r" SID "175" Position [230, 58, 260, 72] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "nobj" SID "176" Position [190, 83, 220, 97] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "maxnobj" SID "177" Position [230, 108, 260, 122] Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "avgcpu" SID "178" Position [190, 133, 220, 147] Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "maxcpu" SID "179" Position [230, 158, 260, 172] Port "6" IconDisplay "Port number" } Line { SrcBlock "Sequential Clustering" SrcPort 4 DstBlock "maxnobj" DstPort 1 } Line { SrcBlock "Sequential Clustering" SrcPort 3 DstBlock "nobj" DstPort 1 } Line { SrcBlock "Sequential Clustering" SrcPort 2 DstBlock "r" DstPort 1 } Line { SrcBlock "mypos" SrcPort 1 DstBlock "Sequential Clustering" DstPort 1 } Line { SrcBlock "Sequential Clustering" SrcPort 1 DstBlock "obj" DstPort 1 } Line { SrcBlock "time" SrcPort 1 DstBlock "Sequential Clustering" DstPort 3 } Line { SrcBlock "obst" SrcPort 1 DstBlock "Sequential Clustering" DstPort 2 } Line { SrcBlock "Sequential Clustering" SrcPort 5 DstBlock "avgcpu" DstPort 1 } Line { SrcBlock "Sequential Clustering" SrcPort 6 DstBlock "maxcpu" DstPort 1 } Line { SrcBlock "tuning_params" SrcPort 1 DstBlock "Sequential Clustering" DstPort 4 } } } Block { BlockType Terminator Name "Terminator1" SID "180" Position [145, 260, 165, 280] ShowName off } Block { BlockType Terminator Name "Terminator2" SID "181" Position [380, 310, 400, 330] ShowName off } Block { BlockType Outport Name "obstacles_for_strategy_xyxydotr" SID "182" Position [980, 268, 1010, 282] IconDisplay "Port number" } Block { BlockType Outport Name "avg CPU" SID "183" Position [380, 343, 410, 357] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "max CPU" SID "184" Position [380, 373, 410, 387] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "pos_obstacles_for_worldmodel" SID "185" Position [1120, 68, 1150, 82] Port "4" IconDisplay "Port number" } Line { SrcBlock "Sequential Clustering" SrcPort 2 Points [365, 0] Branch { Points [0, -175] DstBlock "Reshape1" DstPort 1 } Branch { DstBlock "Object Prediction" DstPort 2 } } Line { SrcBlock "Sequential Clustering" SrcPort 3 Points [65, 0] Branch { DstBlock "Object Prediction" DstPort 3 } Branch { Points [0, -55] DstBlock "S-Function" DstPort 3 } } Line { SrcBlock "Clock" SrcPort 1 DstBlock "Sequential Clustering" DstPort 3 } Line { SrcBlock "Demux" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 DstBlock "Mux" DstPort 2 } Line { SrcBlock "Mux" SrcPort 1 Points [10, 0] Branch { DstBlock "Sequential Clustering" DstPort 1 } Branch { Points [0, -25] DstBlock "S-Function" DstPort 1 } } Line { SrcBlock "current role" SrcPort 1 DstBlock "Data Type Conversion2" DstPort 1 } Line { SrcBlock "Sequential Clustering" SrcPort 5 DstBlock "avg CPU" DstPort 1 } Line { SrcBlock "Sequential Clustering" SrcPort 6 DstBlock "max CPU" DstPort 1 } Line { SrcBlock "Demux" SrcPort 3 DstBlock "Terminator1" DstPort 1 } Line { SrcBlock "Sequential Clustering" SrcPort 4 DstBlock "Terminator2" DstPort 1 } Line { SrcBlock "pose_worldmodel" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "obstacles" SrcPort 1 DstBlock "Sequential Clustering" DstPort 2 } Line { SrcBlock "Data Type Conversion2" SrcPort 1 DstBlock "Object Prediction" DstPort 4 } Line { SrcBlock "Object Prediction" SrcPort 1 DstBlock "obstacles_for_strategy_xyxydotr" DstPort 1 } Line { SrcBlock "Selector1" SrcPort 1 DstBlock "Reshape" DstPort 1 } Line { SrcBlock "Reshape" SrcPort 1 DstBlock "Matrix\nConcatenate" DstPort 1 } Line { SrcBlock "Matrix\nConcatenate" SrcPort 1 DstBlock "Reshape2" DstPort 1 } Line { SrcBlock "Reshape1" SrcPort 1 DstBlock "Matrix\nConcatenate" DstPort 2 } Line { SrcBlock "Reshape2" SrcPort 1 DstBlock "pos_obstacles_for_worldmodel" DstPort 1 } Line { SrcBlock "S-Function" SrcPort 1 Points [5, 0] Branch { DstBlock "Object Prediction" DstPort 1 } Branch { Points [0, -165] DstBlock "Selector1" DstPort 1 } } Line { SrcBlock "Demux1" SrcPort 1 DstBlock "Sequential Clustering" DstPort 4 } Line { SrcBlock "WML tuneparam" SrcPort 1 DstBlock "Demux1" DstPort 1 } Line { SrcBlock "Demux1" SrcPort 2 Points [275, 0] DstBlock "S-Function" DstPort 4 } Line { SrcBlock "Sequential Clustering" SrcPort 1 Points [75, 0] DstBlock "S-Function" DstPort 2 } } } Block { BlockType S-Function Name "remove obstacles outside field" SID "186" Ports [2, 1] Position [260, 81, 405, 139] BackgroundColor "yellow" FunctionName "removeobstaclesoutsidefield" EnableBusSupport off } Block { BlockType Terminator Name "sigma1" SID "187" Position [725, 65, 745, 85] ShowName off } Block { BlockType Terminator Name "sigma2" SID "188" Position [725, 100, 745, 120] ShowName off } Block { BlockType Outport Name "pos_obstacles_for_strategy" SID "189" Position [770, 33, 800, 47] IconDisplay "Port number" } Block { BlockType Outport Name "pos_obstacles_for_WM" SID "190" Position [770, 138, 800, 152] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "ov_lob_detected" SID "191" Position [760, 243, 790, 257] Port "3" IconDisplay "Port number" } Line { SrcBlock "remove obstacles outside field" SrcPort 1 DstBlock "obstacle clustering and\nestimation" DstPort 3 } Line { SrcBlock "role ID" SrcPort 1 DstBlock "obstacle clustering and\nestimation" DstPort 1 } Line { SrcBlock "pose world" SrcPort 1 Points [20, 0] Branch { Points [0, 0] Branch { DstBlock "remove obstacles outside field" DstPort 2 } Branch { Points [0, 145] DstBlock "lob detector\n(used by goalie)1" DstPort 2 } } Branch { Points [0, -50] DstBlock "obstacle clustering and\nestimation" DstPort 2 } } Line { SrcBlock "ball conf" SrcPort 1 DstBlock "lob detector\n(used by goalie)" DstPort 1 } Line { SrcBlock "obstacle clustering and\nestimation" SrcPort 1 DstBlock "pos_obstacles_for_strategy" DstPort 1 } Line { SrcBlock "obstacles" SrcPort 1 DstBlock "remove obstacles outside field" DstPort 1 } Line { SrcBlock "WML tuneparam" SrcPort 1 DstBlock "obstacle clustering and\nestimation" DstPort 4 } Line { SrcBlock "obstacle clustering and\nestimation" SrcPort 4 DstBlock "pos_obstacles_for_WM" DstPort 1 } Line { SrcBlock "lob detector\n(used by goalie)1" SrcPort 1 DstBlock "lob detector\n(used by goalie)" DstPort 2 } Line { SrcBlock "lob detector\n(used by goalie)" SrcPort 1 DstBlock "ov_lob_detected" DstPort 1 } Line { SrcBlock "obstacle clustering and\nestimation" SrcPort 2 DstBlock "sigma1" DstPort 1 } Line { SrcBlock "obstacle clustering and\nestimation" SrcPort 3 DstBlock "sigma2" DstPort 1 } Line { SrcBlock "ball" SrcPort 1 DstBlock "lob detector\n(used by goalie)1" DstPort 1 } } } Block { BlockType Outport Name "pose_vision_global" SID "192" Position [610, 78, 640, 92] IconDisplay "Port number" } Block { BlockType Outport Name "pos_obstacles_for_strategy" SID "193" Position [1155, 123, 1185, 137] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "pos_obstacles_for_worldmodel" SID "194" Position [1155, 248, 1185, 262] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "line_pose_recog + compass" SID "195" Position [665, 393, 695, 407] Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "all_balls_ov" SID "196" Position [605, 253, 635, 267] Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "all balls ov conf" SID "197" Position [605, 288, 635, 302] Port "6" IconDisplay "Port number" } Block { BlockType Outport Name "pose_vision_found" SID "198" Position [610, 113, 640, 127] Port "7" IconDisplay "Port number" } Block { BlockType Outport Name "blue goal\nheading" SID "199" Position [665, 428, 695, 442] Port "8" IconDisplay "Port number" } Block { BlockType Outport Name "ov_lob_detected" SID "200" Position [1155, 373, 1185, 387] Port "9" IconDisplay "Port number" } Block { BlockType Outport Name "l2g-vision time" SID "201" Position [665, 358, 695, 372] Port "10" IconDisplay "Port number" } Block { BlockType Outport Name "green" SID "202" Position [665, 323, 695, 337] Port "11" IconDisplay "Port number" } Line { SrcBlock "YUV" SrcPort 1 DstBlock "feature detection1" DstPort 2 } Line { SrcBlock "pose_worldmodel" SrcPort 1 Points [10, 0] Branch { Labels [0, 0] Points [0, -50; 525, 0] DstBlock "tracking/filtering/estimation" DstPort 1 } Branch { DstBlock "feature detection1" DstPort 1 } } Line { SrcBlock "tracking/filtering/estimation" SrcPort 1 DstBlock "pos_obstacles_for_strategy" DstPort 1 } Line { SrcBlock "tracking/filtering/estimation" SrcPort 2 DstBlock "pos_obstacles_for_worldmodel" DstPort 1 } Line { SrcBlock "Selector5" SrcPort 1 DstBlock "green" DstPort 1 } Line { SrcBlock "feature detection1" SrcPort 8 DstBlock "Selector5" DstPort 1 } Line { SrcBlock "feature detection1" SrcPort 3 DstBlock "tracking/filtering/estimation" DstPort 2 } Line { SrcBlock "feature detection1" SrcPort 9 DstBlock "l2g-vision time" DstPort 1 } Line { SrcBlock "feature detection1" SrcPort 6 DstBlock "all_balls_ov" DstPort 1 } Line { SrcBlock "feature detection1" SrcPort 7 DstBlock "all balls ov conf" DstPort 1 } Line { SrcBlock "feature detection1" SrcPort 10 DstBlock "line_pose_recog + compass" DstPort 1 } Line { SrcBlock "feature detection1" SrcPort 5 Points [150, 0; 0, 60] DstBlock "tracking/filtering/estimation" DstPort 4 } Line { SrcBlock "blue is home goal" SrcPort 1 Points [10, 0] DstBlock "feature detection1" DstPort 5 } Line { SrcBlock "role_ID" SrcPort 1 Points [25, 0; 5, 0] Branch { Labels [0, 0] Points [15, 0; 0, 135; 395, 0; 0, -135] DstBlock "tracking/filtering/estimation" DstPort 5 } Branch { DstBlock "feature detection1" DstPort 7 } } Line { SrcBlock "compass_heading" SrcPort 1 DstBlock "feature detection1" DstPort 3 } Line { SrcBlock "enc_robot" SrcPort 1 Points [10, 0] DstBlock "feature detection1" DstPort 4 } Line { SrcBlock "robot_active" SrcPort 1 DstBlock "Data Type Conversion2" DstPort 1 } Line { SrcBlock "feature detection1" SrcPort 2 DstBlock "pose_vision_found" DstPort 1 } Line { SrcBlock "feature detection1" SrcPort 1 DstBlock "pose_vision_global" DstPort 1 } Line { SrcBlock "feature detection1" SrcPort 11 DstBlock "blue goal\nheading" DstPort 1 } Line { Labels [0, 0] SrcBlock "feature detection1" SrcPort 4 Points [220, 0; 0, 30] DstBlock "tracking/filtering/estimation" DstPort 3 } Line { SrcBlock "tracking/filtering/estimation" SrcPort 3 DstBlock "ov_lob_detected" DstPort 1 } Line { SrcBlock "Data Type Conversion2" SrcPort 1 DstBlock "feature detection1" DstPort 6 } Line { SrcBlock "image processing tuning" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "Demux" SrcPort 1 Points [625, 0; 0, -85] DstBlock "tracking/filtering/estimation" DstPort 6 } Line { SrcBlock "Demux" SrcPort 2 Points [25, 0; 0, -95] DstBlock "Switch" DstPort 3 } Line { SrcBlock "Data Type Conversion4" SrcPort 1 Points [35, 0] DstBlock "feature detection1" DstPort 8 } Line { SrcBlock "Constant" SrcPort 1 Points [15, 0] DstBlock "Switch" DstPort 1 } Line { SrcBlock "Arbitrary ball demo" SrcPort 1 DstBlock "Switch" DstPort 2 } Line { SrcBlock "Switch" SrcPort 1 DstBlock "Data Type Conversion4" DstPort 1 } Line { SrcBlock "Demux" SrcPort 3 Points [165, 0] DstBlock "feature detection1" DstPort 9 } } } Block { BlockType SubSystem Name "put communication" SID "203" Ports [13] Position [870, 34, 1035, 596] BackgroundColor "green" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "put communication" Location [836, 255, 1659, 843] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "pose_vision_global" SID "204" Position [225, 53, 255, 67] IconDisplay "Port number" } Block { BlockType Inport Name "pos_obstacles_for_strategy" SID "205" Position [225, 93, 255, 107] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "pos_obstacles_for_worldmodel" SID "206" Position [225, 133, 255, 147] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "line_pose_recog+compass" SID "207" Position [225, 173, 255, 187] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "ov_balls" SID "208" Position [225, 213, 255, 227] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "ov_balls_conf" SID "209" Position [225, 253, 255, 267] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "pose_vision_found" SID "210" Position [225, 333, 255, 347] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "blue goal heading" SID "211" Position [225, 453, 255, 467] Port "8" IconDisplay "Port number" } Block { BlockType Inport Name "ov_lob_detected" SID "212" Position [230, 493, 260, 507] Port "9" IconDisplay "Port number" } Block { BlockType Inport Name "l2g time" SID "213" Position [100, 443, 130, 457] Port "10" IconDisplay "Port number" } Block { BlockType Inport Name "image timestamp" SID "214" Position [85, 383, 115, 397] Port "11" IconDisplay "Port number" } Block { BlockType Inport Name "compassReading" SID "215" Position [225, 373, 255, 387] Port "12" IconDisplay "Port number" } Block { BlockType Inport Name "camera status" SID "216" Position [225, 293, 255, 307] Port "13" IconDisplay "Port number" } Block { BlockType DataTypeConversion Name "Data Type Conversion1" SID "217" Position [275, 292, 310, 308] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Mux Name "Mux2" SID "218" Ports [2, 1] Position [180, 404, 185, 431] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType S-Function Name "multicast communication" SID "219" Ports [12] Position [450, 28, 635, 532] BackgroundColor "green" FunctionName "mccomm_vision_put" EnableBusSupport off MaskDisplay "port_label('input', 1, 'pose_vision_global')\nport_label('input', 2, 'pos_obs_for_strategy')\nport_" "label('input', 3, 'pos_obs_for_wm')\nport_label('input', 4, 'line_pose_recog+compass')\nport_label('input', 5, 'ov_" "balls')\nport_label('input', 6, 'ov_balls_conf')\nport_label('input', 7, 'camera_status')\nport_label('input', 8, '" "pose_found')\nport_label('input', 9, 'compass_reading')\nport_label('input', 10, 'delay_times')\nport_label('input'" ", 11, 'blue goal heading')\nport_label('input', 12, 'lob_detected')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Line { SrcBlock "camera status" SrcPort 1 DstBlock "Data Type Conversion1" DstPort 1 } Line { SrcBlock "image timestamp" SrcPort 1 Points [35, 0; 0, 20] DstBlock "Mux2" DstPort 1 } Line { SrcBlock "l2g time" SrcPort 1 Points [20, 0; 0, -25] DstBlock "Mux2" DstPort 2 } Line { SrcBlock "pose_vision_global" SrcPort 1 DstBlock "multicast communication" DstPort 1 } Line { SrcBlock "pos_obstacles_for_strategy" SrcPort 1 DstBlock "multicast communication" DstPort 2 } Line { SrcBlock "pos_obstacles_for_worldmodel" SrcPort 1 DstBlock "multicast communication" DstPort 3 } Line { SrcBlock "line_pose_recog+compass" SrcPort 1 DstBlock "multicast communication" DstPort 4 } Line { SrcBlock "ov_balls" SrcPort 1 DstBlock "multicast communication" DstPort 5 } Line { SrcBlock "ov_balls_conf" SrcPort 1 DstBlock "multicast communication" DstPort 6 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 DstBlock "multicast communication" DstPort 7 } Line { SrcBlock "pose_vision_found" SrcPort 1 DstBlock "multicast communication" DstPort 8 } Line { SrcBlock "compassReading" SrcPort 1 DstBlock "multicast communication" DstPort 9 } Line { SrcBlock "Mux2" SrcPort 1 DstBlock "multicast communication" DstPort 10 } Line { SrcBlock "blue goal heading" SrcPort 1 DstBlock "multicast communication" DstPort 11 } Line { SrcBlock "ov_lob_detected" SrcPort 1 DstBlock "multicast communication" DstPort 12 } } } Block { BlockType SubSystem Name "save_data" SID "220" Ports [9, 1] Position [300, 428, 435, 662] BackgroundColor "yellow" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "save_data" Location [548, 89, 1597, 853] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "compass heading" SID "221" Position [220, 33, 250, 47] IconDisplay "Port number" } Block { BlockType Inport Name "pose" SID "222" Position [220, 273, 250, 287] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "pose vision/motion" SID "223" Position [220, 313, 250, 327] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "get_photo" SID "224" Position [220, 73, 250, 87] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "coach_id" SID "225" Position [220, 113, 250, 127] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "get_video" SID "226" Position [225, 413, 255, 427] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "numberofframes" SID "227" Position [225, 453, 255, 467] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "YUV" SID "228" Position [220, 193, 250, 207] Port "8" IconDisplay "Port number" } Block { BlockType Inport Name "timestamp" SID "229" Position [225, 613, 255, 627] Port "9" IconDisplay "Port number" } Block { BlockType Demux Name "Demux" SID "230" Ports [1, 3] Position [345, 139, 360, 261] BackgroundColor "black" ShowName off Outputs "3" DisplayOption "bar" BusSelectionMode on } Block { BlockType S-Function Name "get photo" SID "231" Ports [8] Position [640, 25, 830, 335] FunctionName "get_photo" EnableBusSupport off MaskDisplay "port_label('input', 1, 'compass heading')\nport_label('input', 2, 'enable')\nport_label('input', 3," " 'coach id')\nport_label('input', 4, 'Y')\nport_label('input', 5, 'U')\nport_label('input', 6, 'V')\nport_label('in" "put', 7, 'pose vision')\nport_label('input', 8, 'pose vision/motion')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType S-Function Name "get video" SID "232" Ports [8, 1] Position [640, 365, 830, 675] FunctionName "get_video" EnableBusSupport off MaskDisplay "port_label('input', 1, 'compass heading')\nport_label('input', 2, 'enable')\nport_label('input', 3," " 'number of frames')\nport_label('input', 4, 'Y')\nport_label('input', 5, 'U')\nport_label('input', 6, 'V')\nport_l" "abel('input', 7, 'time stamp')\nport_label('input', 8, 'pose vision')\nport_label('output', 1, 'state')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType Outport Name "get_video_state" SID "233" Position [900, 513, 930, 527] IconDisplay "Port number" } Line { SrcBlock "compass heading" SrcPort 1 Points [345, 0] Branch { DstBlock "get photo" DstPort 1 } Branch { Points [0, 340] DstBlock "get video" DstPort 1 } } Line { SrcBlock "Demux" SrcPort 1 Points [195, 0] Branch { DstBlock "get photo" DstPort 4 } Branch { Points [0, 340] DstBlock "get video" DstPort 4 } } Line { SrcBlock "Demux" SrcPort 2 Points [155, 0] Branch { DstBlock "get photo" DstPort 5 } Branch { Points [0, 340] DstBlock "get video" DstPort 5 } } Line { SrcBlock "Demux" SrcPort 3 Points [115, 0] Branch { DstBlock "get photo" DstPort 6 } Branch { Points [0, 340] DstBlock "get video" DstPort 6 } } Line { SrcBlock "pose" SrcPort 1 Points [185, 0] Branch { DstBlock "get photo" DstPort 7 } Branch { Points [0, 380] DstBlock "get video" DstPort 8 } } Line { SrcBlock "pose vision/motion" SrcPort 1 DstBlock "get photo" DstPort 8 } Line { SrcBlock "get_photo" SrcPort 1 DstBlock "get photo" DstPort 2 } Line { SrcBlock "coach_id" SrcPort 1 DstBlock "get photo" DstPort 3 } Line { SrcBlock "get_video" SrcPort 1 DstBlock "get video" DstPort 2 } Line { SrcBlock "numberofframes" SrcPort 1 DstBlock "get video" DstPort 3 } Line { SrcBlock "timestamp" SrcPort 1 DstBlock "get video" DstPort 7 } Line { SrcBlock "YUV" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "get video" SrcPort 1 DstBlock "get_video_state" DstPort 1 } } } Block { BlockType SubSystem Name "tuning" SID "234" Ports [0, 2] Position [15, 665, 115, 725] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "tuning" Location [857, 96, 1569, 548] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType S-Function Name "Bus decoder" SID "235" Ports [1, 15] Position [270, 111, 500, 429] BackgroundColor "cyan" FunctionName "sf_bus_decode" Parameters "sizes,offsets,portwidth,types,bus_size" EnableBusSupport off MaskType "Decode bus variables." 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