module Bordel: 

 type orcStrlPtr ;
output BF_Bordel, 
       STARTED_Bordel, 
       GoodEnd_Bordel, 
       Abort_Bordel, 
       T3_Bordel;
input START_Bordel, 
      Abort_Local_Bordel;
output START_InitCycab,
       Abort_Local_InitCycab;
input  InitCycab_Start : orcStrlPtr,
       USERSTART_InitCycab,
       BF_InitCycab,
       T3_InitCycab;
procedure InitCycab_controler()(orcStrlPtr), 
           InitCycab_fileparameter()(orcStrlPtr, string), 
          InitCycab_parameter()(orcStrlPtr); 

output START_JoystickDrv,
       Abort_Local_JoystickDrv;
input  JoystickDrv_Start : orcStrlPtr,
       USERSTART_JoystickDrv,
       BF_JoystickDrv,
       T3_JoystickDrv;
procedure JoystickDrv_controler()(orcStrlPtr), 
           JoystickDrv_fileparameter()(orcStrlPtr, string), 
          JoystickDrv_parameter()(orcStrlPtr); 

output START_ParkDrv,
       Abort_Local_ParkDrv;
input  ParkDrv_Start : orcStrlPtr,
       USERSTART_ParkDrv,
       BF_ParkDrv,
       T3_ParkDrv;
procedure ParkDrv_controler()(orcStrlPtr), 
           ParkDrv_fileparameter()(orcStrlPtr, string), 
          ParkDrv_parameter()(orcStrlPtr,string,string);
output START_SearchDrv,
       Abort_Local_SearchDrv;
input  SearchDrv_Start : orcStrlPtr,
       USERSTART_SearchDrv,
       BF_SearchDrv,
       T3_SearchDrv;
procedure SearchDrv_controler()(orcStrlPtr), 
           SearchDrv_fileparameter()(orcStrlPtr, string), 
          SearchDrv_parameter()(orcStrlPtr,string);
input T2_PbMotorE,
	T2_NoParkE;

input Obstacle;

relation START_Bordel#
         BF_InitCycab#
         T3_InitCycab#
         T2_PbMotorE#
         BF_JoystickDrv#
         T3_JoystickDrv#
         T2_PbMotorE#
         BF_ParkDrv#
         T3_ParkDrv#
         T2_PbMotorE#
         BF_SearchDrv#
         T3_SearchDrv#
         T2_NoParkE#
         Obstacle#
         Abort_Local_Bordel ;
signal L_T2_NoParkE,
	L_T2_PbMotorE,
	 dummylocalsignal in


await immediate START_Bordel ;
emit STARTED_Bordel ;

trap Abort in 
 trap T3_controle_Bordel in
  trap BF_controle_Bordel in
  [

   [
[  %  ---------------  InitCycab  ---------------
  [
    call InitCycab_parameter()(?InitCycab_Start);
    call InitCycab_controler()(?InitCycab_Start);
    emit START_InitCycab;
    await
      case BF_InitCycab
      case T3_InitCycab do exit T3_controle_Bordel
    end await
  ]
]  %  -------------  fin InitCycab  -------------
;
trap E_SearchDrv in
[
  loop
  [  %  ---------------  JoystickDrv  ---------------
    [
      call JoystickDrv_parameter()(?JoystickDrv_Start);
      call JoystickDrv_controler()(?JoystickDrv_Start);
      emit START_JoystickDrv;
      await
        case BF_JoystickDrv
        case T3_JoystickDrv do exit T3_controle_Bordel
      end await
    ]
  ]  %  -------------  fin JoystickDrv  -------------
  ;
  [  %  ---------------  SearchDrv  ---------------
    [
      call SearchDrv_parameter()(?SearchDrv_Start,"0.0 0.0 0.0");
      call SearchDrv_controler()(?SearchDrv_Start);
      emit START_SearchDrv;
      await
        case BF_SearchDrv
        case T3_SearchDrv do exit T3_controle_Bordel
      end await
    ]
  ]  %  -------------  fin SearchDrv  -------------
  end loop
]
||
await BF_SearchDrv;emit Abort_Local_JoystickDrv; exit E_SearchDrv
end trap
;
[  %  ---------------  ParkDrv  ---------------
  [
    call ParkDrv_parameter()(?ParkDrv_Start,"0.0 0.0 0.0","0.0 0.0 0.0");
    call ParkDrv_controler()(?ParkDrv_Start);
    emit START_ParkDrv;
    await
      case BF_ParkDrv
      case T3_ParkDrv do exit T3_controle_Bordel
    end await
  ]
]  %  -------------  fin ParkDrv  -------------



  ; exit BF_controle_Bordel
]

  ||

   [
     await Abort_Local_Bordel; 
     emit Abort_Bordel; 
     emit Abort_Local_InitCycab;
     emit Abort_Local_JoystickDrv;
     emit Abort_Local_ParkDrv;
     emit Abort_Local_SearchDrv;
     exit Abort;

   ]

  ]
  ; exit BF_controle_Bordel
  handle BF_controle_Bordel do emit BF_Bordel; emit GoodEnd_Bordel
  end trap
 handle T3_controle_Bordel do emit T3_Bordel
 end trap
end trap
end signal

end module