(******************************************************************************
 *                     P R O D U C T I O N    C E L L
 *-----------------------------------------------------------------------------
 *   INRIA - Unite de Recherche Rhone-Alpes
 *   655, avenue de l'Europe
 *   38330 Montbonnot Saint Martin
 *   FRANCE
 *-----------------------------------------------------------------------------
 *   Module		:	CHANNELS.lnt
 *   Auteurs		:	Hubert GARAVEL and Wendelin SERWE
 *   Version		:	1.11
 *   Date		: 	2017/02/23 06:55:12
 *****************************************************************************)

module CHANNELS (TYPES) is

-- definition of the channel types, many of them are overloaded with the
-- name of the corresponding type

-------------------------------------------------------------------------------

channel STATUS is
   -- simulation status: values of all sensors
   (S1 : BOOL,   -- press in bottom position
    S2 : BOOL,   -- press in middle position
    S3 : BOOL,   -- press in top position
    S4 : REAL,   -- extension of the robot's arm 1
    S5 : REAL,   -- extension of the robot's arm 2
    S6 : REAL,   -- angle of rotation of the robot
    S7 : BOOL,   -- elevating rotary table in bottom position
    S8 : BOOL,   -- elevating rotary table in top position
    S9 : REAL,   -- angle of rotation of the table
    S10 : BOOL,  -- crane over the deposit belt
    S11 : BOOL,  -- crane over the feed belt
    S12 : REAL,  -- height of the crane's magnet
    S13 : BOOL,  -- blank inside the feed belt photoelectric barrier
    S14 : BOOL,  -- blank inside the deposit belt photoelectric barrier
    E : STRING   -- errors that occurred since the last reaction cycle
    )
end channel

-------------------------------------------------------------------------------

channel BOOL is
   (S : BOOL)
end channel

-------------------------------------------------------------------------------

channel PRESS_POSITION is
   (VALUE : PRESS_POSITION)
end channel

-------------------------------------------------------------------------------

channel ARM1_EXTENSION is
   (VALUE : ARM1_EXTENSION)
end channel

-------------------------------------------------------------------------------

channel ARM2_EXTENSION is
   (VALUE : ARM2_EXTENSION)
end channel

-------------------------------------------------------------------------------

channel ROBOT_ANGLE is
   (VALUE : ROBOT_ANGLE)
end channel

-------------------------------------------------------------------------------

channel TABLE_ANGLE is
   (VALUE : TABLE_ANGLE)
end channel

-------------------------------------------------------------------------------

channel TABLE_POSITION is
   (VALUE : TABLE_POSITION)
end channel

-------------------------------------------------------------------------------

channel CRANE_POSITION is
   (VALUE : CRANE_POSITION)
end channel

-------------------------------------------------------------------------------

channel CRANE_HEIGHT is
   (VALUE : CRANE_HEIGHT)
end channel

-------------------------------------------------------------------------------

end module