CPAL Playground

/* Copyright (C) 2015, RealTime-at-Work, All Rights Reserved
 *
 * You may use, copy, reproduce, and distribute this sample cource code for any non-commercial purpose.
 * Some purposes which can be non-commercial are teaching, academic research,
 * public demonstrations and personal experimentation. You may also distribute this Software
 * with books or other teaching materials, or publish the Software on websites,
 * that are intended to teaching for academic or other non-commercial purposes.
 *
 * In return, we simply require that you agree: 
 * 1. That you will not remove any copyright or other notices from the Software.
 * 2. THAT THE SOFTWARE COMES "AS IS", WITH NO WARRANTIES. THIS MEANS NO EXPRESS, 
 *    IMPLIED OR STATUTORY WARRANTY.
 *
 * Author(s):
 *  - Loïc Fejoz
 *
 * @keywords architecture, pattern; sub-process
 */
 
/* a digital input connected to the ON-OFF button. */
var bool: btn_g = false;

/* a digital input connected to the simple-size cup button. */
var bool: btn_small_g = false;

/* a digital input connected to the double-size cup button. */
var bool: btn_double_g = false;

/* a digital output that activates the pump. */
var bool: pump_cmd_g = false;

/* Internal state telling if the coffee machine is ready to serve a cup. */
var bool: ready_g = false;

/* a digital output. Shall be connected to a LED. */
var bool: led_g = false;

/* simulates the level of coffe in the cup. Shall not be embedded. */
var uint32: level_g = 0;

/* Internal state telling if the coffee machine is active or not. */
var bool: is_on_g = false;

/* simulate the water level. Shall not be embedded. */
var uint32: tank_level_g = 250;

/* a digital sensor: true meaning there is water at the level of the sensor. */
var bool: tank_min_sensor_g = true;

/* tell the _gUI that there is no more water */
var bool: no_water_g;

/**
 * This process is the main control-command
 */
processdef The_Ctrl_Cmd(
  in  bool: btn,
  in  bool: btn_small,
  in  bool: btn_double,
  in  bool: tank_min_sensor,
  out bool: pump_cmd,
  out bool: ready,
  out bool: is_on,
  out bool: no_water)
{
  common {
    /* assert(no_water  == not tank_min_sensor); */
    /* assert((not no_water) || (not ready));*/
    /* no_water ==> not ready */
  }
  state Idle {
    /* This is the state when the coffee machine is not activated. */
    pump_cmd = false;
    ready = false;
    /* Ignore btn_small and btn_double */
    btn_small_g = false;
    btn_double_g = false;
    is_on = false;
  }
  on (btn and tank_min_sensor)
    {
      btn_g = false;
      is_on = true;
    }
    to Init;
  on (btn and not(tank_min_sensor))
    {
      btn_g = false;
      is_on = true;
      no_water = true;
    }
    to Init;

state Init {
    /* This is the warmup state. Need 5s to before being ready. */
    pump_cmd = false;
    ready = false;
    is_on = true;
  }
  on (btn)
    {
      btn_g = false;
    }
    to Idle;
  on (not(tank_min_sensor))
    to No_Water;
  after (5s)
    to Ready;

state Ready {
    /* Coffee is ready to be served. Waiting for user. */
    ready = true;
    is_on = true;
  }
  on (btn)
    {
      btn_g = false;
    }
    to Idle;
  on (not(tank_min_sensor))
    to No_Water;
  on (btn_small)
    {
      btn_small_g = false;
    }
    to Serving_Small;
  on (btn_double)
    {
      btn_double_g = false;
    }
    to Serving_Big;

state Serving_Small {
    /* Serving a simple-sized cup. */
    pump_cmd = true;
    is_on = true;
  }
  on (btn)
    {
      btn_g = false;
    }
    to Idle;
  on (not(tank_min_sensor))
    to No_Water;
  after (6s)
    to Init;

state Serving_Big {
    /* Serving a double-sized cup. */
    pump_cmd = true;
    is_on = true;
  }
  on (btn)
    {
      btn_g = false;
    }
    to Idle;
  on (not(tank_min_sensor))
    to No_Water;
  after (12s)
    to Init;

state No_Water {
    /* Not enough water for a simple-size cup. Cannot serve anything. */
    no_water = true;
    ready = false;
    pump_cmd = false;
    is_on = true;
  }
  on (btn)
    {
      btn_g = false;
    }
    to Idle;
  on (tank_min_sensor)
    {
      no_water = false;
    }
    to Init;

}
processdef Bool_Blinker(
  in  bool: value_max,
  out bool: blink_value)
{
  state On {
    /*      blink_value = value_max;*/
  }
  after (300ms)
    {
      blink_value = false;
    }
    to Off;

state Off {
    /*      blink_value = false;*/
  }
  after (300ms)
    {
      blink_value = true;
    }
    to On;

}
processdef Fast_Bool_Blinker(
  in  bool: value_max,
  out bool: blink_value)
{
  state On {
    /*      blink_value = value_max;*/
  }
  after (100ms)
    {
      blink_value = false;
    }
    to Off;

state Off {
    /*      blink_value = false;*/
  }
  after (100ms)
    {
      blink_value = true;
    }
    to On;

}

enum IHM_State
{
  ST_BLINKING,
  ST_FIXED
};

/**
 * This process translates internal state to a unique output: a LED.
 * - Fast blink when there is not enough water
 * - blink on warm-up or when not ready (for instance water not yet warm).
 * - Idle when the coffee machine is not activated.
 */
processdef IHM(
  in  bool: is_on,
  in  bool: ready,
  in  bool: no_water,
  out bool: led)
{
  process Bool_Blinker: blkr;
  process Fast_Bool_Blinker: fast_blkr;
  static var IHM_State: previous_state;
  state Idle {
    led = false;
  }
  on (is_on)
    to Blinking;

state Blinking {
    /*assert(is_on);*/
    blkr(is_on, led);
  }
  on (ready)
    to Fixed;
  on (not(is_on))
    to Idle;
  on (no_water)
    {
      previous_state = IHM_State.ST_BLINKING;
    }
    to Fast_Blinking;

state Fixed {
    led = true;
  }
  on (not(ready))
    to Blinking;
  on (not(is_on))
    to Idle;
  on (no_water)
    {
      previous_state = IHM_State.ST_FIXED;
    }
    to Fast_Blinking;

state Fast_Blinking {
    /*assert(is_on);*/
    fast_blkr(true, led);
  }
  on (not(is_on))
    to Idle;
  on (ready)
    to Fixed;
  /* on (no_water)
    to previous_state; */
  on (not(no_water) and previous_state == IHM_State.ST_BLINKING)
    to Blinking;
  on (not(no_water) and previous_state == IHM_State.ST_FIXED)
    to Fixed;

}

/**
 * This process simulate the physical part, aka the environment.
 * It shall not be embedded.
 */
processdef Sim_Physical(
  in  bool: pump_cmd,
  out uint32: cup_level,
  out uint32: tank_level,
  out bool: tank_min_sensor)
{
  common {
    tank_min_sensor = tank_level >= 15;
    /* assert((not pump_cmd) || tank_min_sensor); */
  }
  state No_Cup {
    cup_level = 0;
  }
  on (pump_cmd)
    to Filling;

state Filling {
    cup_level = cup_level + 1;
    tank_level = tank_level - 1;
  }
  on (not(pump_cmd))
    to Remove_Cup;

state Remove_Cup {
  }
  on (pump_cmd)
    to Filling;
  after (1s)
    to No_Cup;

}

process The_Ctrl_Cmd: p_main[100ms](btn_g, btn_small_g, btn_double_g, tank_min_sensor_g, pump_cmd_g, ready_g, is_on_g, no_water_g);
process IHM: ihm[100ms](is_on_g, ready_g, no_water_g, led_g);
process Sim_Physical: phys[100ms](pump_cmd_g, level_g, tank_level_g, tank_min_sensor_g);

for ms or try the desktop editor with advanced diagram views

Simulation
Tasks diagram


Quiet mode disabled
[0.000000000000:ASSIGN] Assign cpal_system new value: Scheduling_Policy.FIFO
[0.000000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[0.000000000000:STATE] process "The_Ctrl_Cmd", instance "p_main", state "Idle"
[0.000000000000:ASSIGN] Assign pump_cmd_g new value: false
[0.000000000000:ASSIGN] Assign ready_g new value: false
[0.000000000000:ASSIGN] Assign btn_small_g new value: false
[0.000000000000:ASSIGN] Assign btn_double_g new value: false
[0.000000000000:ASSIGN] Assign is_on_g new value: false
[0.000000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[0.000000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[0.000000000000:STATE] process "IHM", instance "ihm", state "Idle"
[0.000000000000:ASSIGN] Assign led_g new value: false
[0.000000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[0.000000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[0.000000000000:STATE] process "Sim_Physical", instance "phys", state "No_Cup"
[0.000000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[0.000000000000:ASSIGN] Assign level_g new value: 0
[0.000000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[0.100000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[0.100000000000:ASSIGN] Assign pump_cmd_g new value: false
[0.100000000000:ASSIGN] Assign ready_g new value: false
[0.100000000000:ASSIGN] Assign btn_small_g new value: false
[0.100000000000:ASSIGN] Assign btn_double_g new value: false
[0.100000000000:ASSIGN] Assign is_on_g new value: false
[0.100000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[0.100000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[0.100000000000:ASSIGN] Assign led_g new value: false
[0.100000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[0.100000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[0.100000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[0.100000000000:ASSIGN] Assign level_g new value: 0
[0.100000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[0.200000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[0.200000000000:ASSIGN] Assign pump_cmd_g new value: false
[0.200000000000:ASSIGN] Assign ready_g new value: false
[0.200000000000:ASSIGN] Assign btn_small_g new value: false
[0.200000000000:ASSIGN] Assign btn_double_g new value: false
[0.200000000000:ASSIGN] Assign is_on_g new value: false
[0.200000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[0.200000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[0.200000000000:ASSIGN] Assign led_g new value: false
[0.200000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[0.200000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[0.200000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[0.200000000000:ASSIGN] Assign level_g new value: 0
[0.200000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[0.300000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[0.300000000000:ASSIGN] Assign pump_cmd_g new value: false
[0.300000000000:ASSIGN] Assign ready_g new value: false
[0.300000000000:ASSIGN] Assign btn_small_g new value: false
[0.300000000000:ASSIGN] Assign btn_double_g new value: false
[0.300000000000:ASSIGN] Assign is_on_g new value: false
[0.300000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[0.300000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[0.300000000000:ASSIGN] Assign led_g new value: false
[0.300000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[0.300000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[0.300000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[0.300000000000:ASSIGN] Assign level_g new value: 0
[0.300000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[0.400000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[0.400000000000:ASSIGN] Assign pump_cmd_g new value: false
[0.400000000000:ASSIGN] Assign ready_g new value: false
[0.400000000000:ASSIGN] Assign btn_small_g new value: false
[0.400000000000:ASSIGN] Assign btn_double_g new value: false
[0.400000000000:ASSIGN] Assign is_on_g new value: false
[0.400000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[0.400000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[0.400000000000:ASSIGN] Assign led_g new value: false
[0.400000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[0.400000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[0.400000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[0.400000000000:ASSIGN] Assign level_g new value: 0
[0.400000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[0.500000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[0.500000000000:ASSIGN] Assign pump_cmd_g new value: false
[0.500000000000:ASSIGN] Assign ready_g new value: false
[0.500000000000:ASSIGN] Assign btn_small_g new value: false
[0.500000000000:ASSIGN] Assign btn_double_g new value: false
[0.500000000000:ASSIGN] Assign is_on_g new value: false
[0.500000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[0.500000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[0.500000000000:ASSIGN] Assign led_g new value: false
[0.500000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[0.500000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[0.500000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[0.500000000000:ASSIGN] Assign level_g new value: 0
[0.500000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[0.600000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[0.600000000000:ASSIGN] Assign pump_cmd_g new value: false
[0.600000000000:ASSIGN] Assign ready_g new value: false
[0.600000000000:ASSIGN] Assign btn_small_g new value: false
[0.600000000000:ASSIGN] Assign btn_double_g new value: false
[0.600000000000:ASSIGN] Assign is_on_g new value: false
[0.600000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[0.600000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[0.600000000000:ASSIGN] Assign led_g new value: false
[0.600000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[0.600000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[0.600000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[0.600000000000:ASSIGN] Assign level_g new value: 0
[0.600000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[0.700000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[0.700000000000:ASSIGN] Assign pump_cmd_g new value: false
[0.700000000000:ASSIGN] Assign ready_g new value: false
[0.700000000000:ASSIGN] Assign btn_small_g new value: false
[0.700000000000:ASSIGN] Assign btn_double_g new value: false
[0.700000000000:ASSIGN] Assign is_on_g new value: false
[0.700000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[0.700000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[0.700000000000:ASSIGN] Assign led_g new value: false
[0.700000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[0.700000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[0.700000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[0.700000000000:ASSIGN] Assign level_g new value: 0
[0.700000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[0.800000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[0.800000000000:ASSIGN] Assign pump_cmd_g new value: false
[0.800000000000:ASSIGN] Assign ready_g new value: false
[0.800000000000:ASSIGN] Assign btn_small_g new value: false
[0.800000000000:ASSIGN] Assign btn_double_g new value: false
[0.800000000000:ASSIGN] Assign is_on_g new value: false
[0.800000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[0.800000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[0.800000000000:ASSIGN] Assign led_g new value: false
[0.800000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[0.800000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[0.800000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[0.800000000000:ASSIGN] Assign level_g new value: 0
[0.800000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[0.900000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[0.900000000000:ASSIGN] Assign pump_cmd_g new value: false
[0.900000000000:ASSIGN] Assign ready_g new value: false
[0.900000000000:ASSIGN] Assign btn_small_g new value: false
[0.900000000000:ASSIGN] Assign btn_double_g new value: false
[0.900000000000:ASSIGN] Assign is_on_g new value: false
[0.900000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[0.900000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[0.900000000000:ASSIGN] Assign led_g new value: false
[0.900000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[0.900000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[0.900000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[0.900000000000:ASSIGN] Assign level_g new value: 0
[0.900000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[1.000000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[1.000000000000:ASSIGN] Assign pump_cmd_g new value: false
[1.000000000000:ASSIGN] Assign ready_g new value: false
[1.000000000000:ASSIGN] Assign btn_small_g new value: false
[1.000000000000:ASSIGN] Assign btn_double_g new value: false
[1.000000000000:ASSIGN] Assign is_on_g new value: false
[1.000000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[1.000000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[1.000000000000:ASSIGN] Assign led_g new value: false
[1.000000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[1.000000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[1.000000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[1.000000000000:ASSIGN] Assign level_g new value: 0
[1.000000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[1.100000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[1.100000000000:ASSIGN] Assign pump_cmd_g new value: false
[1.100000000000:ASSIGN] Assign ready_g new value: false
[1.100000000000:ASSIGN] Assign btn_small_g new value: false
[1.100000000000:ASSIGN] Assign btn_double_g new value: false
[1.100000000000:ASSIGN] Assign is_on_g new value: false
[1.100000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[1.100000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[1.100000000000:ASSIGN] Assign led_g new value: false
[1.100000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[1.100000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[1.100000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[1.100000000000:ASSIGN] Assign level_g new value: 0
[1.100000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[1.200000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[1.200000000000:ASSIGN] Assign pump_cmd_g new value: false
[1.200000000000:ASSIGN] Assign ready_g new value: false
[1.200000000000:ASSIGN] Assign btn_small_g new value: false
[1.200000000000:ASSIGN] Assign btn_double_g new value: false
[1.200000000000:ASSIGN] Assign is_on_g new value: false
[1.200000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[1.200000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[1.200000000000:ASSIGN] Assign led_g new value: false
[1.200000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[1.200000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[1.200000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[1.200000000000:ASSIGN] Assign level_g new value: 0
[1.200000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[1.300000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[1.300000000000:ASSIGN] Assign pump_cmd_g new value: false
[1.300000000000:ASSIGN] Assign ready_g new value: false
[1.300000000000:ASSIGN] Assign btn_small_g new value: false
[1.300000000000:ASSIGN] Assign btn_double_g new value: false
[1.300000000000:ASSIGN] Assign is_on_g new value: false
[1.300000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[1.300000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[1.300000000000:ASSIGN] Assign led_g new value: false
[1.300000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[1.300000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[1.300000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[1.300000000000:ASSIGN] Assign level_g new value: 0
[1.300000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[1.400000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[1.400000000000:ASSIGN] Assign pump_cmd_g new value: false
[1.400000000000:ASSIGN] Assign ready_g new value: false
[1.400000000000:ASSIGN] Assign btn_small_g new value: false
[1.400000000000:ASSIGN] Assign btn_double_g new value: false
[1.400000000000:ASSIGN] Assign is_on_g new value: false
[1.400000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[1.400000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[1.400000000000:ASSIGN] Assign led_g new value: false
[1.400000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[1.400000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[1.400000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[1.400000000000:ASSIGN] Assign level_g new value: 0
[1.400000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[1.500000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[1.500000000000:ASSIGN] Assign pump_cmd_g new value: false
[1.500000000000:ASSIGN] Assign ready_g new value: false
[1.500000000000:ASSIGN] Assign btn_small_g new value: false
[1.500000000000:ASSIGN] Assign btn_double_g new value: false
[1.500000000000:ASSIGN] Assign is_on_g new value: false
[1.500000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[1.500000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[1.500000000000:ASSIGN] Assign led_g new value: false
[1.500000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[1.500000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[1.500000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[1.500000000000:ASSIGN] Assign level_g new value: 0
[1.500000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[1.600000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[1.600000000000:ASSIGN] Assign pump_cmd_g new value: false
[1.600000000000:ASSIGN] Assign ready_g new value: false
[1.600000000000:ASSIGN] Assign btn_small_g new value: false
[1.600000000000:ASSIGN] Assign btn_double_g new value: false
[1.600000000000:ASSIGN] Assign is_on_g new value: false
[1.600000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[1.600000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[1.600000000000:ASSIGN] Assign led_g new value: false
[1.600000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[1.600000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[1.600000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[1.600000000000:ASSIGN] Assign level_g new value: 0
[1.600000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[1.700000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[1.700000000000:ASSIGN] Assign pump_cmd_g new value: false
[1.700000000000:ASSIGN] Assign ready_g new value: false
[1.700000000000:ASSIGN] Assign btn_small_g new value: false
[1.700000000000:ASSIGN] Assign btn_double_g new value: false
[1.700000000000:ASSIGN] Assign is_on_g new value: false
[1.700000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[1.700000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[1.700000000000:ASSIGN] Assign led_g new value: false
[1.700000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[1.700000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[1.700000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[1.700000000000:ASSIGN] Assign level_g new value: 0
[1.700000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[1.800000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[1.800000000000:ASSIGN] Assign pump_cmd_g new value: false
[1.800000000000:ASSIGN] Assign ready_g new value: false
[1.800000000000:ASSIGN] Assign btn_small_g new value: false
[1.800000000000:ASSIGN] Assign btn_double_g new value: false
[1.800000000000:ASSIGN] Assign is_on_g new value: false
[1.800000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[1.800000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[1.800000000000:ASSIGN] Assign led_g new value: false
[1.800000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[1.800000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[1.800000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[1.800000000000:ASSIGN] Assign level_g new value: 0
[1.800000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[1.900000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[1.900000000000:ASSIGN] Assign pump_cmd_g new value: false
[1.900000000000:ASSIGN] Assign ready_g new value: false
[1.900000000000:ASSIGN] Assign btn_small_g new value: false
[1.900000000000:ASSIGN] Assign btn_double_g new value: false
[1.900000000000:ASSIGN] Assign is_on_g new value: false
[1.900000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[1.900000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[1.900000000000:ASSIGN] Assign led_g new value: false
[1.900000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[1.900000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[1.900000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[1.900000000000:ASSIGN] Assign level_g new value: 0
[1.900000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[2.000000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[2.000000000000:ASSIGN] Assign pump_cmd_g new value: false
[2.000000000000:ASSIGN] Assign ready_g new value: false
[2.000000000000:ASSIGN] Assign btn_small_g new value: false
[2.000000000000:ASSIGN] Assign btn_double_g new value: false
[2.000000000000:ASSIGN] Assign is_on_g new value: false
[2.000000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[2.000000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[2.000000000000:ASSIGN] Assign led_g new value: false
[2.000000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[2.000000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[2.000000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[2.000000000000:ASSIGN] Assign level_g new value: 0
[2.000000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[2.100000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[2.100000000000:ASSIGN] Assign pump_cmd_g new value: false
[2.100000000000:ASSIGN] Assign ready_g new value: false
[2.100000000000:ASSIGN] Assign btn_small_g new value: false
[2.100000000000:ASSIGN] Assign btn_double_g new value: false
[2.100000000000:ASSIGN] Assign is_on_g new value: false
[2.100000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[2.100000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[2.100000000000:ASSIGN] Assign led_g new value: false
[2.100000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[2.100000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[2.100000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[2.100000000000:ASSIGN] Assign level_g new value: 0
[2.100000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[2.200000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[2.200000000000:ASSIGN] Assign pump_cmd_g new value: false
[2.200000000000:ASSIGN] Assign ready_g new value: false
[2.200000000000:ASSIGN] Assign btn_small_g new value: false
[2.200000000000:ASSIGN] Assign btn_double_g new value: false
[2.200000000000:ASSIGN] Assign is_on_g new value: false
[2.200000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[2.200000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[2.200000000000:ASSIGN] Assign led_g new value: false
[2.200000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[2.200000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[2.200000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[2.200000000000:ASSIGN] Assign level_g new value: 0
[2.200000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[2.300000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[2.300000000000:ASSIGN] Assign pump_cmd_g new value: false
[2.300000000000:ASSIGN] Assign ready_g new value: false
[2.300000000000:ASSIGN] Assign btn_small_g new value: false
[2.300000000000:ASSIGN] Assign btn_double_g new value: false
[2.300000000000:ASSIGN] Assign is_on_g new value: false
[2.300000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[2.300000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[2.300000000000:ASSIGN] Assign led_g new value: false
[2.300000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[2.300000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[2.300000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[2.300000000000:ASSIGN] Assign level_g new value: 0
[2.300000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[2.400000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[2.400000000000:ASSIGN] Assign pump_cmd_g new value: false
[2.400000000000:ASSIGN] Assign ready_g new value: false
[2.400000000000:ASSIGN] Assign btn_small_g new value: false
[2.400000000000:ASSIGN] Assign btn_double_g new value: false
[2.400000000000:ASSIGN] Assign is_on_g new value: false
[2.400000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[2.400000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[2.400000000000:ASSIGN] Assign led_g new value: false
[2.400000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[2.400000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[2.400000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[2.400000000000:ASSIGN] Assign level_g new value: 0
[2.400000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[2.500000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[2.500000000000:ASSIGN] Assign pump_cmd_g new value: false
[2.500000000000:ASSIGN] Assign ready_g new value: false
[2.500000000000:ASSIGN] Assign btn_small_g new value: false
[2.500000000000:ASSIGN] Assign btn_double_g new value: false
[2.500000000000:ASSIGN] Assign is_on_g new value: false
[2.500000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[2.500000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[2.500000000000:ASSIGN] Assign led_g new value: false
[2.500000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[2.500000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[2.500000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[2.500000000000:ASSIGN] Assign level_g new value: 0
[2.500000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[2.600000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[2.600000000000:ASSIGN] Assign pump_cmd_g new value: false
[2.600000000000:ASSIGN] Assign ready_g new value: false
[2.600000000000:ASSIGN] Assign btn_small_g new value: false
[2.600000000000:ASSIGN] Assign btn_double_g new value: false
[2.600000000000:ASSIGN] Assign is_on_g new value: false
[2.600000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[2.600000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[2.600000000000:ASSIGN] Assign led_g new value: false
[2.600000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[2.600000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[2.600000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[2.600000000000:ASSIGN] Assign level_g new value: 0
[2.600000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[2.700000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[2.700000000000:ASSIGN] Assign pump_cmd_g new value: false
[2.700000000000:ASSIGN] Assign ready_g new value: false
[2.700000000000:ASSIGN] Assign btn_small_g new value: false
[2.700000000000:ASSIGN] Assign btn_double_g new value: false
[2.700000000000:ASSIGN] Assign is_on_g new value: false
[2.700000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[2.700000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[2.700000000000:ASSIGN] Assign led_g new value: false
[2.700000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[2.700000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[2.700000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[2.700000000000:ASSIGN] Assign level_g new value: 0
[2.700000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[2.800000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[2.800000000000:ASSIGN] Assign pump_cmd_g new value: false
[2.800000000000:ASSIGN] Assign ready_g new value: false
[2.800000000000:ASSIGN] Assign btn_small_g new value: false
[2.800000000000:ASSIGN] Assign btn_double_g new value: false
[2.800000000000:ASSIGN] Assign is_on_g new value: false
[2.800000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[2.800000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[2.800000000000:ASSIGN] Assign led_g new value: false
[2.800000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[2.800000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[2.800000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[2.800000000000:ASSIGN] Assign level_g new value: 0
[2.800000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[2.900000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[2.900000000000:ASSIGN] Assign pump_cmd_g new value: false
[2.900000000000:ASSIGN] Assign ready_g new value: false
[2.900000000000:ASSIGN] Assign btn_small_g new value: false
[2.900000000000:ASSIGN] Assign btn_double_g new value: false
[2.900000000000:ASSIGN] Assign is_on_g new value: false
[2.900000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[2.900000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[2.900000000000:ASSIGN] Assign led_g new value: false
[2.900000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[2.900000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[2.900000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[2.900000000000:ASSIGN] Assign level_g new value: 0
[2.900000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
[3.000000000000:capsule-coffee-machine:STARTING_TASK] 'p_main'
[3.000000000000:ASSIGN] Assign pump_cmd_g new value: false
[3.000000000000:ASSIGN] Assign ready_g new value: false
[3.000000000000:ASSIGN] Assign btn_small_g new value: false
[3.000000000000:ASSIGN] Assign btn_double_g new value: false
[3.000000000000:ASSIGN] Assign is_on_g new value: false
[3.000000000000:capsule-coffee-machine:TASK_FINISHED] 'p_main'
[3.000000000000:capsule-coffee-machine:STARTING_TASK] 'ihm'
[3.000000000000:ASSIGN] Assign led_g new value: false
[3.000000000000:capsule-coffee-machine:TASK_FINISHED] 'ihm'
[3.000000000000:capsule-coffee-machine:STARTING_TASK] 'phys'
[3.000000000000:ASSIGN] Assign tank_min_sensor_g new value: true
[3.000000000000:ASSIGN] Assign level_g new value: 0
[3.000000000000:capsule-coffee-machine:TASK_FINISHED] 'phys'
EXIT (SUCCESS) AT 3s (3000000000000)

PID	start	end	name	state
0	0	0	p_main	Idle
1	0	0	ihm	Idle
4	0	0	phys	No_Cup
0	100000000000	100000000000	p_main	Idle
1	100000000000	100000000000	ihm	Idle
4	100000000000	100000000000	phys	No_Cup
0	200000000000	200000000000	p_main	Idle
1	200000000000	200000000000	ihm	Idle
4	200000000000	200000000000	phys	No_Cup
0	300000000000	300000000000	p_main	Idle
1	300000000000	300000000000	ihm	Idle
4	300000000000	300000000000	phys	No_Cup
0	400000000000	400000000000	p_main	Idle
1	400000000000	400000000000	ihm	Idle
4	400000000000	400000000000	phys	No_Cup
0	500000000000	500000000000	p_main	Idle
1	500000000000	500000000000	ihm	Idle
4	500000000000	500000000000	phys	No_Cup
0	600000000000	600000000000	p_main	Idle
1	600000000000	600000000000	ihm	Idle
4	600000000000	600000000000	phys	No_Cup
0	700000000000	700000000000	p_main	Idle
1	700000000000	700000000000	ihm	Idle
4	700000000000	700000000000	phys	No_Cup
0	800000000000	800000000000	p_main	Idle
1	800000000000	800000000000	ihm	Idle
4	800000000000	800000000000	phys	No_Cup
0	900000000000	900000000000	p_main	Idle
1	900000000000	900000000000	ihm	Idle
4	900000000000	900000000000	phys	No_Cup
0	1000000000000	1000000000000	p_main	Idle
1	1000000000000	1000000000000	ihm	Idle
4	1000000000000	1000000000000	phys	No_Cup
0	1100000000000	1100000000000	p_main	Idle
1	1100000000000	1100000000000	ihm	Idle
4	1100000000000	1100000000000	phys	No_Cup
0	1200000000000	1200000000000	p_main	Idle
1	1200000000000	1200000000000	ihm	Idle
4	1200000000000	1200000000000	phys	No_Cup
0	1300000000000	1300000000000	p_main	Idle
1	1300000000000	1300000000000	ihm	Idle
4	1300000000000	1300000000000	phys	No_Cup
0	1400000000000	1400000000000	p_main	Idle
1	1400000000000	1400000000000	ihm	Idle
4	1400000000000	1400000000000	phys	No_Cup
0	1500000000000	1500000000000	p_main	Idle
1	1500000000000	1500000000000	ihm	Idle
4	1500000000000	1500000000000	phys	No_Cup
0	1600000000000	1600000000000	p_main	Idle
1	1600000000000	1600000000000	ihm	Idle
4	1600000000000	1600000000000	phys	No_Cup
0	1700000000000	1700000000000	p_main	Idle
1	1700000000000	1700000000000	ihm	Idle
4	1700000000000	1700000000000	phys	No_Cup
0	1800000000000	1800000000000	p_main	Idle
1	1800000000000	1800000000000	ihm	Idle
4	1800000000000	1800000000000	phys	No_Cup
0	1900000000000	1900000000000	p_main	Idle
1	1900000000000	1900000000000	ihm	Idle
4	1900000000000	1900000000000	phys	No_Cup
0	2000000000000	2000000000000	p_main	Idle
1	2000000000000	2000000000000	ihm	Idle
4	2000000000000	2000000000000	phys	No_Cup
0	2100000000000	2100000000000	p_main	Idle
1	2100000000000	2100000000000	ihm	Idle
4	2100000000000	2100000000000	phys	No_Cup
0	2200000000000	2200000000000	p_main	Idle
1	2200000000000	2200000000000	ihm	Idle
4	2200000000000	2200000000000	phys	No_Cup
0	2300000000000	2300000000000	p_main	Idle
1	2300000000000	2300000000000	ihm	Idle
4	2300000000000	2300000000000	phys	No_Cup
0	2400000000000	2400000000000	p_main	Idle
1	2400000000000	2400000000000	ihm	Idle
4	2400000000000	2400000000000	phys	No_Cup
0	2500000000000	2500000000000	p_main	Idle
1	2500000000000	2500000000000	ihm	Idle
4	2500000000000	2500000000000	phys	No_Cup
0	2600000000000	2600000000000	p_main	Idle
1	2600000000000	2600000000000	ihm	Idle
4	2600000000000	2600000000000	phys	No_Cup
0	2700000000000	2700000000000	p_main	Idle
1	2700000000000	2700000000000	ihm	Idle
4	2700000000000	2700000000000	phys	No_Cup
0	2800000000000	2800000000000	p_main	Idle
1	2800000000000	2800000000000	ihm	Idle
4	2800000000000	2800000000000	phys	No_Cup
0	2900000000000	2900000000000	p_main	Idle
1	2900000000000	2900000000000	ihm	Idle
4	2900000000000	2900000000000	phys	No_Cup
0	3000000000000	3000000000000	p_main	Idle
1	3000000000000	3000000000000	ihm	Idle
4	3000000000000	3000000000000	phys	No_Cup