#########################################################
# Example ComponentInfo file for datalink to GTMAX and  #
# and a simple trajectory generator                     #
#########################################################

#########################
# Signal Type Definitions
#########################

[Signal_Types]

Signal GtmaxState
   Data
   char navStatus
   char gpsStatus
   char sonarStatus
   char radarStatus
   char magnetStatus
   char overrun
   char wow
   char autopilot
   char lavoid
   double time
   double x
   double y
   double z
   double vx
   double vy
   double vz
   double q1
   double q2
   double q3
   double q4
   double p
   double q
   double r
   double rpm
   double altitudeAGL

Signal GtmaxCommand
   Data
      int    type
      double x
      double y
      double z
      double vx
      double vy
      double vz
      double q1
      double q2
      double q3
      double q4
      double p
      double q
      double r
      double delm1
      double delm2
      double delm3
      double delf

############################
# Component Type Definitions
############################

[Component_Types]
Component GtmaxLink
   Input: triggerIn
      Trigger: S/W
   Input: commandIn
      Receives: GtmaxCommand
   Output: stateOut
      Sends: GtmaxState
   Behavior: TriggerAvailable
      Inputs: triggerIn
      Outputs: stateOut
   Behavior: CommandAvailable
      Inputs: commandIn

Component SimpleTrajectoryGenerator
   Input: stateIn
      Receives: GtmaxState
   Output: commandOut
      Sends: GtmaxCommand
   Behavior: StateAvailable
      Inputs: stateIn
      Outputs: commandOut


#######################
# Processes Definitions
#######################

[Processes]
Process: 1
Component GtmaxLink gtmaxLink
       triggerIn,    PERIODIC, HIGH_CRITICALITY, 0.001
       commandIn,    PERIODIC, HIGH_CRITICALITY, 0.001
       stateOut,     PERIODIC, HIGH_CRITICALITY, 0.001

Component SimpleTrajectoryGenerator simpleTrajGen
       stateIn,    PERIODIC, HIGH_CRITICALITY, 0.001
       commandOut, PERIODIC, HIGH_CRITICALITY, 0.001

Connections:
       simpleTrajGen.stateIn, gtmaxLink.stateOut
       gtmaxLink.commandIn,   simpleTrajGen.commandOut


##########################
# Hybrid State Definitions
##########################


[Hybrid_States]

[Default_State]
Mode1

[Mode1]
   gtmaxLink.triggerIn,      HIGH_CRITICALITY, (25)
   gtmaxLink.commandIn,      HIGH_CRITICALITY, (25)
   gtmaxLink.stateOut,       HIGH_CRITICALITY, (25)
   simpleTrajGen.stateIn,    HIGH_CRITICALITY, (25)
   simpleTrajGen.commandOut, HIGH_CRITICALITY, (25)