ActivityArchitectureModel SystemTiagoNavigation {
	CPUCore CPU1 {
		coreNumber 1
	}
	
	ActivityNode BaseOdom {
		activationSource PeriodicTimer {
			periodicActFreq 10.0 Hz
		}
		cpuAffinity CPU1
		executionTime {
			maxTime 150 us
			minTime 100 us
		}
		scheduler {
			priority 1
			type DEFAULT
		}
	}
	
	InputHandlerNode NavVel {
		input TriggerInputNode nv
		prescale 1
	}
	
	ActivityNode Laser {
		inputs {
			RegisterInputNode Odom 
		}
		activationSource Sporadic {
			minActFreq 37.5 Hz
		}
	}
	
	ActivityNode CDL {
		inputs {
			TriggerInputNode Laser
		}
		activationSource DataTriggered Laser {
			prescale 1
		}
	}
	
	ActivityNode Mapper {
		inputs {
			TriggerInputNode Laser
		}
		activationSource DataTriggered Laser {
			prescale 10
		}
	}
	
	ActivityNode PathPlanner {
		inputs {
			TriggerInputNode Map
			TriggerInputNode Odom
		}
		activationSource DataTriggered Map { prescale 1}
	}
	
	DataFlow {
		source BaseOdom destination Laser.Odom
	}
	DataFlow {
		source Laser destination CDL.Laser
	}
	DataFlow {
		source CDL destination NavVel.nv
	}
	
	DataFlow {
		source Laser destination Mapper.Laser
	}
	DataFlow {
		source Mapper destination PathPlanner.Map
	}
	DataFlow {
		source BaseOdom destination PathPlanner.Odom
	}
}