<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/25.0.2 Chrome/128.0.6613.186 Electron/32.2.5 Safari/537.36" version="25.0.2">
  <diagram id="C5RBs43oDa-KdzZeNtuy" name="Page-1">
    <mxGraphModel dx="1649" dy="793" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="827" pageHeight="1169" math="0" shadow="0">
      <root>
        <mxCell id="WIyWlLk6GJQsqaUBKTNV-0" />
        <mxCell id="WIyWlLk6GJQsqaUBKTNV-1" parent="WIyWlLk6GJQsqaUBKTNV-0" />
        <mxCell id="WIyWlLk6GJQsqaUBKTNV-2" value="" style="rounded=0;html=1;jettySize=auto;orthogonalLoop=1;fontSize=11;endArrow=block;endFill=0;endSize=8;strokeWidth=1;shadow=0;labelBackgroundColor=none;edgeStyle=orthogonalEdgeStyle;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="WIyWlLk6GJQsqaUBKTNV-3" target="WIyWlLk6GJQsqaUBKTNV-6" edge="1">
          <mxGeometry relative="1" as="geometry" />
        </mxCell>
        <mxCell id="WIyWlLk6GJQsqaUBKTNV-3" value="writeTrajectoryControlMessage(TRAJECTORY_START, number_of_points&lt;span style=&quot;background-color: initial;&quot;&gt;)&lt;/span&gt;" style="rounded=1;whiteSpace=wrap;html=1;fontSize=12;glass=0;strokeWidth=1;shadow=0;fillColor=#dae8fc;strokeColor=#6c8ebf;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
          <mxGeometry x="55" y="50" width="330" height="50" as="geometry" />
        </mxCell>
        <mxCell id="WIyWlLk6GJQsqaUBKTNV-4" value="Yes" style="rounded=0;html=1;jettySize=auto;orthogonalLoop=1;fontSize=11;endArrow=block;endFill=0;endSize=8;strokeWidth=1;shadow=0;labelBackgroundColor=none;edgeStyle=orthogonalEdgeStyle;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="WIyWlLk6GJQsqaUBKTNV-6" target="0kFuc1mFAYY3ESqruEvN-4" edge="1">
          <mxGeometry y="20" relative="1" as="geometry">
            <mxPoint as="offset" />
            <mxPoint x="220" y="310" as="targetPoint" />
          </mxGeometry>
        </mxCell>
        <mxCell id="0kFuc1mFAYY3ESqruEvN-3" value="No" style="edgeStyle=orthogonalEdgeStyle;shape=connector;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=1;entryDx=0;entryDy=0;shadow=0;strokeColor=default;strokeWidth=1;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=11;fontColor=default;labelBackgroundColor=none;endArrow=block;endFill=0;endSize=8;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="WIyWlLk6GJQsqaUBKTNV-6" target="0kFuc1mFAYY3ESqruEvN-0">
          <mxGeometry x="0.0411" y="10" relative="1" as="geometry">
            <mxPoint as="offset" />
          </mxGeometry>
        </mxCell>
        <mxCell id="WIyWlLk6GJQsqaUBKTNV-6" value="All points transferred?" style="rhombus;whiteSpace=wrap;html=1;shadow=0;fontFamily=Helvetica;fontSize=12;align=center;strokeWidth=1;spacing=6;spacingTop=-4;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
          <mxGeometry x="170" y="170" width="100" height="80" as="geometry" />
        </mxCell>
        <mxCell id="0kFuc1mFAYY3ESqruEvN-2" style="edgeStyle=orthogonalEdgeStyle;shape=connector;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;shadow=0;strokeColor=default;strokeWidth=1;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=11;fontColor=default;labelBackgroundColor=none;endArrow=block;endFill=0;endSize=8;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="0kFuc1mFAYY3ESqruEvN-0" target="WIyWlLk6GJQsqaUBKTNV-6">
          <mxGeometry relative="1" as="geometry" />
        </mxCell>
        <mxCell id="0kFuc1mFAYY3ESqruEvN-0" value="writeTrajectoryPoint() /&lt;div&gt;writeTrajectorySplinePoint()&lt;/div&gt;" style="rounded=1;whiteSpace=wrap;html=1;fontSize=12;glass=0;strokeWidth=1;shadow=0;fillColor=#d5e8d4;strokeColor=#82b366;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
          <mxGeometry x="500" y="90" width="160" height="50" as="geometry" />
        </mxCell>
        <mxCell id="0kFuc1mFAYY3ESqruEvN-12" style="edgeStyle=orthogonalEdgeStyle;shape=connector;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;shadow=0;strokeColor=default;strokeWidth=1;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=11;fontColor=default;labelBackgroundColor=none;endArrow=block;endFill=0;endSize=8;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="0kFuc1mFAYY3ESqruEvN-4" target="0kFuc1mFAYY3ESqruEvN-11">
          <mxGeometry relative="1" as="geometry" />
        </mxCell>
        <mxCell id="0kFuc1mFAYY3ESqruEvN-4" value="writeTrajectoryControlMessage(TRAJECTORY_NOOP)" style="rounded=1;whiteSpace=wrap;html=1;fontSize=12;glass=0;strokeWidth=1;shadow=0;fillColor=#dae8fc;strokeColor=#6c8ebf;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
          <mxGeometry x="55" y="300" width="330" height="50" as="geometry" />
        </mxCell>
        <mxCell id="0kFuc1mFAYY3ESqruEvN-15" style="edgeStyle=orthogonalEdgeStyle;shape=connector;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;shadow=0;strokeColor=default;strokeWidth=1;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=11;fontColor=default;labelBackgroundColor=none;endArrow=block;endFill=0;endSize=8;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="0kFuc1mFAYY3ESqruEvN-6" target="0kFuc1mFAYY3ESqruEvN-7">
          <mxGeometry relative="1" as="geometry" />
        </mxCell>
        <mxCell id="0kFuc1mFAYY3ESqruEvN-6" value="Trajectory executing on robot" style="rounded=0;whiteSpace=wrap;html=1;fontFamily=Helvetica;fontSize=12;fontColor=default;labelBackgroundColor=none;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
          <mxGeometry x="805" y="280" width="120" height="225" as="geometry" />
        </mxCell>
        <mxCell id="0kFuc1mFAYY3ESqruEvN-7" value="send trajectory result" style="rounded=1;whiteSpace=wrap;html=1;fontSize=12;glass=0;strokeWidth=1;shadow=0;fillColor=#d5e8d4;strokeColor=#82b366;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
          <mxGeometry x="700" y="535" width="330" height="50" as="geometry" />
        </mxCell>
        <mxCell id="0kFuc1mFAYY3ESqruEvN-8" value="" style="endArrow=none;html=1;rounded=0;shadow=0;strokeColor=default;strokeWidth=1;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=11;fontColor=default;labelBackgroundColor=none;edgeStyle=orthogonalEdgeStyle;endSize=8;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
          <mxGeometry width="50" height="50" relative="1" as="geometry">
            <mxPoint x="680" y="590" as="sourcePoint" />
            <mxPoint x="680" as="targetPoint" />
          </mxGeometry>
        </mxCell>
        <mxCell id="0kFuc1mFAYY3ESqruEvN-9" value="External Control PC" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontFamily=Helvetica;fontSize=20;fontColor=default;labelBackgroundColor=none;fontStyle=1" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
          <mxGeometry x="100" width="250" height="30" as="geometry" />
        </mxCell>
        <mxCell id="0kFuc1mFAYY3ESqruEvN-10" value="Robot" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontFamily=Helvetica;fontSize=20;fontColor=default;labelBackgroundColor=none;fontStyle=1" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
          <mxGeometry x="740" width="250" height="30" as="geometry" />
        </mxCell>
        <mxCell id="0kFuc1mFAYY3ESqruEvN-14" style="edgeStyle=orthogonalEdgeStyle;shape=connector;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;shadow=0;strokeColor=default;strokeWidth=1;align=center;verticalAlign=middle;fontFamily=Helvetica;fontSize=11;fontColor=default;labelBackgroundColor=none;endArrow=block;endFill=0;endSize=8;" edge="1" parent="WIyWlLk6GJQsqaUBKTNV-1" source="0kFuc1mFAYY3ESqruEvN-11" target="0kFuc1mFAYY3ESqruEvN-13">
          <mxGeometry relative="1" as="geometry" />
        </mxCell>
        <mxCell id="0kFuc1mFAYY3ESqruEvN-11" value="Cancel requested?" style="rhombus;whiteSpace=wrap;html=1;shadow=0;fontFamily=Helvetica;fontSize=12;align=center;strokeWidth=1;spacing=6;spacingTop=-4;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
          <mxGeometry x="170" y="400" width="100" height="80" as="geometry" />
        </mxCell>
        <mxCell id="0kFuc1mFAYY3ESqruEvN-13" value="writeTrajectoryControlMessage(TRAJECTORY_CANCEL)" style="rounded=1;whiteSpace=wrap;html=1;fontSize=12;glass=0;strokeWidth=1;shadow=0;fillColor=#dae8fc;strokeColor=#6c8ebf;" vertex="1" parent="WIyWlLk6GJQsqaUBKTNV-1">
          <mxGeometry x="55" y="534.5" width="330" height="50" as="geometry" />
        </mxCell>
      </root>
    </mxGraphModel>
  </diagram>
</mxfile>
