diff --git a/build.txt b/build.txt
index 21342490ff3d708cacb44af4b8fd485fc2a70845..4a1d4d342bdbfd9535de545054610357be271cc1 100644
--- a/build.txt
+++ b/build.txt
@@ -1 +1 @@
-14764
\ No newline at end of file
+14771
\ No newline at end of file
diff --git a/modeling/DASIP2016/DASIP2016_clustered.xml b/modeling/DASIP2016/DASIP2016_clustered.xml
index 5d04e8010ea56a156af18ede67ebc3cc60733b4c..d8b2c475926aec66de386e495efd1e56b5d816e4 100644
--- a/modeling/DASIP2016/DASIP2016_clustered.xml
+++ b/modeling/DASIP2016/DASIP2016_clustered.xml
@@ -1,177 +1,198 @@
-<?xml version="1.0" encoding="ISO-8859-1"?>
+<?xml version="1.0" encoding="UTF-8"?>
-<TURTLEGMODELING version="0.98-beta4">
+<TURTLEGMODELING version="3.0 beta" ANIMATE_INTERACTIVE_SIMULATION="true" ACTIVATE_PENALTIES="true" UPDATE_INFORMATION_DIPLO_SIM="true" ANIMATE_WITH_INFO_DIPLO_SIM="true" OPEN_DIAG_DIPLO_SIM="false" LAST_SELECTED_MAIN_TAB="0" LAST_SELECTED_SUB_TAB="0">
-<Modeling type="TML Component Design" nameTab="Braking - FV" >
-<TMLComponentTaskDiagramPanel name="TML Component Task Diagram" minX="10" maxX="1919" minY="10" maxY="1419" channels="true" events="true" requests="true" zoom="1.0000000000000009" >
-<CONNECTOR type="126" id="2" >
+<Modeling type="TML Component Design" nameTab="Braking - FV" tabs="TML Component Task Diagram$DSRCManagement$doReduceDrivingPower$DrivingPowerReductionstrategy$DoBrake$GPSReception$NeighbourhoodTableManagement$CorrectnessChecking$GetEnvironmentInformation$PlausibilityCheck$ObjectListManagement$VehicleDynamicsManagement$GetVehicleDynamics$BrakeManagement$DangerAvoidanceStrategy$DSRCRxTx" >
+<TMLComponentTaskDiagramPanel name="TML Component Task Diagram" minX="10" maxX="1919" minY="10" maxY="1419" channels="true" events="true" requests="true" considerExecOperators="true" considerTimingOperators="true" zoom="1.0000000000000009" >
+<CONNECTOR type="126" id="2" index="0" uid="628fc3cb-6a24-4fdb-a5d4-eab1382d421c" >
<cdparam x="472" y="108" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="460" y="109" id="23" />
-<P2 x="195" y="81" id="215" />
+<P1 x="460" y="109" id="29" />
+<P2 x="208" y="94" id="219" />
<Point x="460" y="95" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1" >
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1" index="34" uid="3ee9786b-22e5-4751-a1d1-3c3eaaa39020" >
<father id="2" num="0" />
<cdparam x="460" y="95" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="126" id="3" >
+<CONNECTOR type="126" id="3" index="1" uid="8170f98c-dbae-4094-905e-cec39a633c12" >
<cdparam x="168" y="107" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="195" y="174" id="217" />
-<P2 x="355" y="174" id="21" />
+<P1 x="208" y="187" id="217" />
+<P2 x="342" y="187" id="31" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="5" >
+<CONNECTOR type="126" id="5" index="2" uid="08a98ada-d905-4154-b94a-357303575da1" >
<cdparam x="1018" y="479" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="1018" y="479" id="196" />
-<P2 x="525" y="154" id="25" />
+<P1 x="1018" y="479" id="204" />
+<P2 x="538" y="167" id="27" />
<Point x="1018" y="168" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4" >
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4" index="35" uid="a446e046-90e0-4832-8144-b422f95f2044" >
<father id="5" num="0" />
<cdparam x="1018" y="168" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="126" id="6" >
+<CONNECTOR type="126" id="6" index="3" uid="40fa475d-35d5-45bb-8f2d-49dd071515aa" >
<cdparam x="221" y="113" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="195" y="125" id="219" />
-<P2 x="355" y="125" id="27" />
+<P1 x="208" y="138" id="215" />
+<P2 x="342" y="138" id="25" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="7" >
+<CONNECTOR type="126" id="7" index="4" uid="75d20208-e922-42f1-a92c-ade30274eb26" >
<cdparam x="1309" y="685" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="1360" y="664" id="55" />
+<P1 x="1360" y="690" id="53" />
<P2 x="1415" y="739" id="42" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="8" >
+<CONNECTOR type="126" id="8" index="5" uid="2452c34f-9f10-4be6-94b8-3893c6167cfa" >
<cdparam x="1183" y="534" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="1138" y="555" id="204" />
-<P2 x="1241" y="625" id="53" />
+<P1 x="1138" y="581" id="196" />
+<P2 x="1228" y="638" id="55" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="9" >
+<CONNECTOR type="126" id="9" index="6" uid="71055749-e912-4100-b147-9734e759699b" >
<cdparam x="1555" y="370" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="1353" y="380" id="185" />
-<P2 x="1449" y="380" id="66" />
+<P1 x="1366" y="393" id="183" />
+<P2 x="1436" y="393" id="66" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="10" >
+<CONNECTOR type="126" id="10" index="7" uid="b195266b-c402-4956-b559-24b24bf75236" >
<cdparam x="1235" y="470" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
<P1 x="1080" y="479" id="200" />
-<P2 x="1160" y="382" id="183" />
+<P2 x="1147" y="395" id="185" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="11" >
+<CONNECTOR type="126" id="11" index="8" uid="06c0c46f-4e39-41e9-9be4-26a7091a1058" >
<cdparam x="843" y="483" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="828" y="457" id="133" />
-<P2 x="977" y="518" id="198" />
+<P1 x="841" y="470" id="129" />
+<P2 x="964" y="531" id="202" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="12" >
+<CONNECTOR type="126" id="12" index="9" uid="8251ef4b-ef1e-488d-8e1a-bc0beb4a610a" >
<cdparam x="686" y="624" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="692" y="584" id="161" />
-<P2 x="692" y="487" id="135" />
+<P1 x="692" y="584" id="159" />
+<P2 x="692" y="513" id="127" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="13" >
+<CONNECTOR type="126" id="13" index="10" uid="be709863-f908-40b6-b074-278d8f7bc65c" >
<cdparam x="701" y="708" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
<P1 x="695" y="707" id="172" />
-<P2 x="695" y="646" id="159" />
+<P2 x="695" y="672" id="161" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="14" >
+<CONNECTOR type="126" id="14" index="11" uid="a349bc67-164b-4914-9d93-a90825c267ad" >
<cdparam x="247" y="495" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="375" y="208" id="29" />
-<P2 x="301" y="454" id="92" />
+<P1 x="375" y="234" id="23" />
+<P2 x="301" y="454" id="88" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="15" >
+<CONNECTOR type="126" id="15" index="12" uid="7b8d68d5-0ca4-4102-acfc-85f21f89fb0b" >
<cdparam x="245" y="605" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
<P1 x="263" y="605" id="77" />
-<P2 x="317" y="516" id="90" />
+<P2 x="317" y="542" id="90" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="16" >
+<CONNECTOR type="126" id="16" index="13" uid="d125ef23-37e5-4b7d-b913-a456d162ae62" >
<cdparam x="247" y="467" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="480" y="208" id="31" />
-<P2 x="521" y="291" id="105" />
+<P1 x="480" y="234" id="21" />
+<P2 x="521" y="291" id="103" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="17" >
+<CONNECTOR type="126" id="17" index="14" uid="f8c6ab77-580c-4532-b623-d795ffc226b5" >
<cdparam x="555" y="415" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="548" y="495" id="88" />
-<P2 x="605" y="479" id="131" />
+<P1 x="561" y="508" id="92" />
+<P2 x="592" y="492" id="131" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="18" >
+<CONNECTOR type="126" id="18" index="15" uid="0e223211-c659-4e64-9a02-20f4a111bc0c" >
<cdparam x="531" y="310" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="569" y="351" id="103" />
-<P2 x="605" y="444" id="129" />
+<P1 x="569" y="377" id="105" />
+<P2 x="592" y="457" id="133" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="19" >
+<CONNECTOR type="126" id="19" index="16" uid="7e4a4c26-06a0-4f2f-9941-fc1ee1b5a2d3" >
<cdparam x="708" y="372" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="708" y="359" id="148" />
-<P2 x="708" y="421" id="127" />
+<P1 x="708" y="385" id="146" />
+<P2 x="708" y="421" id="135" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="20" >
+<CONNECTOR type="126" id="20" index="17" uid="239fd8ae-a73c-4095-bd14-e20309f9086b" >
<cdparam x="707" y="234" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="706" y="116" id="116" />
-<P2 x="706" y="302" id="146" />
+<P1 x="706" y="142" id="116" />
+<P2 x="706" y="302" id="148" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<COMPONENT type="1202" id="41" >
+<COMPONENT type="1202" id="41" index="18" uid="fd7484b6-2c98-4d51-b204-2a07ec561e38" >
<cdparam x="355" y="122" />
<sizeparam width="170" height="99" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Primitive component" value="DSRCManagement" />
+<new d="false" />
<TGConnectingPoint num="0" id="33" />
<TGConnectingPoint num="1" id="34" />
<TGConnectingPoint num="2" id="35" />
@@ -181,20 +202,22 @@
<TGConnectingPoint num="6" id="39" />
<TGConnectingPoint num="7" id="40" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
<Attribute access="2" id="x" value="4" type="0" typeOther="" />
<Attribute access="2" id="y" value="5" type="0" typeOther="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="22" >
+<SUBCOMPONENT type="1203" id="22" index="36" uid="421ed0a1-0076-4c99-ae1e-32e5e06ad7e9" >
<father id="41" num="0" />
-<cdparam x="342" y="174" />
+<cdparam x="467" y="208" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Channel neighbourhoodData" />
+<infoparam name="Primitive port" value="Event emergencyBrake" />
+<new d="false" />
<TGConnectingPoint num="0" id="21" />
<extraparam>
-<Prop commName="neighbourhoodData" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -202,16 +225,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="24" >
+<SUBCOMPONENT type="1203" id="24" index="37" uid="165e0a44-fb3b-4431-864d-e5cb70b1d3dc" >
<father id="41" num="1" />
-<cdparam x="447" y="109" />
+<cdparam x="362" y="208" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
+<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
+<new d="false" />
<TGConnectingPoint num="0" id="23" />
<extraparam>
-<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="neighbourhoodInfo" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -219,16 +243,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="26" >
+<SUBCOMPONENT type="1203" id="26" index="38" uid="a49cc50c-c192-4d46-91d0-c24a86e9b50f" >
<father id="41" num="2" />
-<cdparam x="512" y="154" />
+<cdparam x="342" y="125" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
+<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
+<new d="false" />
<TGConnectingPoint num="0" id="25" />
<extraparam>
-<Prop commName="sendEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="DSRCEmergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -236,16 +261,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="28" >
+<SUBCOMPONENT type="1203" id="28" index="39" uid="5fe1fe84-b7d3-4734-9ed9-69d262c91987" >
<father id="41" num="3" />
-<cdparam x="342" y="125" />
+<cdparam x="512" y="154" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
+<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
+<new d="false" />
<TGConnectingPoint num="0" id="27" />
<extraparam>
-<Prop commName="DSRCEmergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="sendEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -253,16 +279,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="30" >
+<SUBCOMPONENT type="1203" id="30" index="40" uid="58ec924b-2330-4225-b322-c9e9a1ba0c09" >
<father id="41" num="4" />
-<cdparam x="362" y="208" />
+<cdparam x="447" y="109" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
+<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
+<new d="false" />
<TGConnectingPoint num="0" id="29" />
<extraparam>
-<Prop commName="neighbourhoodInfo" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -270,16 +297,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="32" >
+<SUBCOMPONENT type="1203" id="32" index="41" uid="2ea2027d-35c5-459b-a94e-29409635873b" >
<father id="41" num="5" />
-<cdparam x="467" y="208" />
+<cdparam x="342" y="174" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event emergencyBrake" />
+<infoparam name="Primitive port" value="Channel neighbourhoodData" />
+<new d="false" />
<TGConnectingPoint num="0" id="31" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="neighbourhoodData" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -288,12 +316,13 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1202" id="52" >
+<COMPONENT type="1202" id="52" index="19" uid="632960b5-f522-443a-8090-508c94098e08" >
<cdparam x="1353" y="752" />
<sizeparam width="233" height="60" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Primitive component" value="doReduceDrivingPower" />
+<new d="false" />
<TGConnectingPoint num="0" id="44" />
<TGConnectingPoint num="1" id="45" />
<TGConnectingPoint num="2" id="46" />
@@ -303,18 +332,20 @@
<TGConnectingPoint num="6" id="50" />
<TGConnectingPoint num="7" id="51" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="43" >
+<SUBCOMPONENT type="1203" id="43" index="42" uid="175f061f-6ee3-4330-8bd5-8094d117364f" >
<father id="52" num="0" />
<cdparam x="1402" y="739" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="220" minY="-13" maxY="47" />
<infoparam name="Primitive port" value="Event commandDP" />
+<new d="false" />
<TGConnectingPoint num="0" id="42" />
<extraparam>
-<Prop commName="commandDP" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="commandDP" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -323,12 +354,13 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1202" id="65" >
+<COMPONENT type="1202" id="65" index="20" uid="d117f475-2876-43ba-a1d2-ca2e15cac23b" >
<cdparam x="1241" y="613" />
<sizeparam width="245" height="64" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Primitive component" value="DrivingPowerReductionstrategy" />
+<new d="false" />
<TGConnectingPoint num="0" id="57" />
<TGConnectingPoint num="1" id="58" />
<TGConnectingPoint num="2" id="59" />
@@ -338,18 +370,20 @@
<TGConnectingPoint num="6" id="63" />
<TGConnectingPoint num="7" id="64" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="54" >
+<SUBCOMPONENT type="1203" id="54" index="43" uid="27b07a20-8ddd-4a80-a61f-b4bc26363813" >
<father id="65" num="0" />
-<cdparam x="1228" y="625" />
+<cdparam x="1347" y="664" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="232" minY="-13" maxY="51" />
-<infoparam name="Primitive port" value="Event drivingPowerReduction" />
+<infoparam name="Primitive port" value="Event commandDP" />
+<new d="false" />
<TGConnectingPoint num="0" id="53" />
<extraparam>
-<Prop commName="drivingPowerReduction" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="commandDP" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -357,16 +391,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="56" >
+<SUBCOMPONENT type="1203" id="56" index="44" uid="d6df49a6-8a59-4ffa-95ae-4650f3df9d06" >
<father id="65" num="1" />
-<cdparam x="1347" y="664" />
+<cdparam x="1228" y="625" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="232" minY="-13" maxY="51" />
-<infoparam name="Primitive port" value="Event commandDP" />
+<infoparam name="Primitive port" value="Event drivingPowerReduction" />
+<new d="false" />
<TGConnectingPoint num="0" id="55" />
<extraparam>
-<Prop commName="commandDP" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="drivingPowerReduction" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -375,12 +410,13 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1202" id="76" >
+<COMPONENT type="1202" id="76" index="21" uid="71b20cfa-13c5-409f-8e5c-352b7c9f4092" >
<cdparam x="1449" y="354" />
<sizeparam width="141" height="67" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Primitive component" value="DoBrake" />
+<new d="false" />
<TGConnectingPoint num="0" id="68" />
<TGConnectingPoint num="1" id="69" />
<TGConnectingPoint num="2" id="70" />
@@ -390,18 +426,20 @@
<TGConnectingPoint num="6" id="74" />
<TGConnectingPoint num="7" id="75" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="67" >
+<SUBCOMPONENT type="1203" id="67" index="45" uid="e698c1ea-fc59-4b37-85ea-ee2ea347a7d9" >
<father id="76" num="0" />
<cdparam x="1436" y="380" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="128" minY="-13" maxY="54" />
<infoparam name="Primitive port" value="Event brake" />
+<new d="false" />
<TGConnectingPoint num="0" id="66" />
<extraparam>
-<Prop commName="brake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="brake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -410,12 +448,13 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1202" id="87" >
+<COMPONENT type="1202" id="87" index="22" uid="52b326e5-6c74-4aa2-a76b-270897f5bca4" >
<cdparam x="188" y="618" />
<sizeparam width="146" height="50" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Primitive component" value="GPSReception" />
+<new d="false" />
<TGConnectingPoint num="0" id="79" />
<TGConnectingPoint num="1" id="80" />
<TGConnectingPoint num="2" id="81" />
@@ -425,18 +464,20 @@
<TGConnectingPoint num="6" id="85" />
<TGConnectingPoint num="7" id="86" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="78" >
+<SUBCOMPONENT type="1203" id="78" index="46" uid="09a00ab8-e311-424c-81e7-116227e7010c" >
<father id="87" num="0" />
<cdparam x="250" y="605" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="133" minY="-13" maxY="37" />
<infoparam name="Primitive port" value="Channel positionInformation" />
+<new d="false" />
<TGConnectingPoint num="0" id="77" />
<extraparam>
-<Prop commName="positionInformation" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="positionInformation" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -445,12 +486,13 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1202" id="102" >
+<COMPONENT type="1202" id="102" index="23" uid="c346e1bd-aaa3-4f54-b21f-ed0b11734cf3" >
<cdparam x="273" y="467" />
<sizeparam width="275" height="62" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Primitive component" value="NeighbourhoodTableManagement" />
+<new d="false" />
<TGConnectingPoint num="0" id="94" />
<TGConnectingPoint num="1" id="95" />
<TGConnectingPoint num="2" id="96" />
@@ -460,18 +502,20 @@
<TGConnectingPoint num="6" id="100" />
<TGConnectingPoint num="7" id="101" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="89" >
+<SUBCOMPONENT type="1203" id="89" index="47" uid="8ed3dcc4-78e5-4e66-8067-3696ffc72543" >
<father id="102" num="0" />
-<cdparam x="535" y="495" />
+<cdparam x="288" y="454" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="262" minY="-13" maxY="49" />
-<infoparam name="Primitive port" value="Channel neigbourhoodTable" />
+<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
+<new d="false" />
<TGConnectingPoint num="0" id="88" />
<extraparam>
-<Prop commName="neigbourhoodTable" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="neighbourhoodInfo" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -479,16 +523,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="91" >
+<SUBCOMPONENT type="1203" id="91" index="48" uid="bd41e0b6-06fb-42a0-94bc-ac1f54d0d81b" >
<father id="102" num="1" />
<cdparam x="304" y="516" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="262" minY="-13" maxY="49" />
<infoparam name="Primitive port" value="Channel positionInformation" />
+<new d="false" />
<TGConnectingPoint num="0" id="90" />
<extraparam>
-<Prop commName="positionInformation" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="positionInformation" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -496,16 +541,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="93" >
+<SUBCOMPONENT type="1203" id="93" index="49" uid="ffd4c5c2-f3e5-4753-a380-0a2ed8fcce2f" >
<father id="102" num="2" />
-<cdparam x="288" y="454" />
+<cdparam x="535" y="495" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="262" minY="-13" maxY="49" />
-<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
+<infoparam name="Primitive port" value="Channel neigbourhoodTable" />
+<new d="false" />
<TGConnectingPoint num="0" id="92" />
<extraparam>
-<Prop commName="neighbourhoodInfo" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="neigbourhoodTable" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -514,12 +560,13 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1202" id="115" >
+<COMPONENT type="1202" id="115" index="24" uid="9189da4c-d13c-4b10-8f9e-26c9a08862a3" >
<cdparam x="402" y="304" />
<sizeparam width="176" height="60" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Primitive component" value="CorrectnessChecking" />
+<new d="false" />
<TGConnectingPoint num="0" id="107" />
<TGConnectingPoint num="1" id="108" />
<TGConnectingPoint num="2" id="109" />
@@ -529,18 +576,20 @@
<TGConnectingPoint num="6" id="113" />
<TGConnectingPoint num="7" id="114" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="104" >
+<SUBCOMPONENT type="1203" id="104" index="50" uid="9be1978b-3186-4296-a02e-feec64b340b7" >
<father id="115" num="0" />
-<cdparam x="556" y="351" />
+<cdparam x="508" y="291" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="163" minY="-13" maxY="47" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
+<new d="false" />
<TGConnectingPoint num="0" id="103" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -548,16 +597,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="106" >
+<SUBCOMPONENT type="1203" id="106" index="51" uid="eb8d24ed-1169-4bc7-95e2-a185ecdcda81" >
<father id="115" num="1" />
-<cdparam x="508" y="291" />
+<cdparam x="556" y="351" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="163" minY="-13" maxY="47" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
+<new d="false" />
<TGConnectingPoint num="0" id="105" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -566,12 +616,13 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1202" id="126" >
+<COMPONENT type="1202" id="126" index="25" uid="a0d7047f-9fe4-405e-ab7d-da091ab56632" >
<cdparam x="600" y="68" />
<sizeparam width="239" height="61" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Primitive component" value="GetEnvironmentInformation" />
+<new d="false" />
<TGConnectingPoint num="0" id="118" />
<TGConnectingPoint num="1" id="119" />
<TGConnectingPoint num="2" id="120" />
@@ -581,18 +632,20 @@
<TGConnectingPoint num="6" id="124" />
<TGConnectingPoint num="7" id="125" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="117" >
+<SUBCOMPONENT type="1203" id="117" index="52" uid="86ecd424-5232-4b89-89b7-33b58a65fc31" >
<father id="126" num="0" />
<cdparam x="693" y="116" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="226" minY="-13" maxY="48" />
<infoparam name="Primitive port" value="Channel rawData01" />
+<new d="false" />
<TGConnectingPoint num="0" id="116" />
<extraparam>
-<Prop commName="rawData01" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="rawData01" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -601,12 +654,13 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1202" id="145" >
+<COMPONENT type="1202" id="145" index="26" uid="6da9d017-22ee-4d8e-b30a-14106a044a3f" >
<cdparam x="605" y="434" />
<sizeparam width="223" height="66" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Primitive component" value="PlausibilityCheck" />
+<new d="false" />
<TGConnectingPoint num="0" id="137" />
<TGConnectingPoint num="1" id="138" />
<TGConnectingPoint num="2" id="139" />
@@ -616,18 +670,20 @@
<TGConnectingPoint num="6" id="143" />
<TGConnectingPoint num="7" id="144" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="128" >
+<SUBCOMPONENT type="1203" id="128" index="53" uid="d61c75ea-ee0a-422c-b07d-e8259eabb301" >
<father id="145" num="0" />
-<cdparam x="695" y="421" />
+<cdparam x="679" y="487" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
-<infoparam name="Primitive port" value="Channel objList01" />
+<infoparam name="Primitive port" value="Channel vehicleDynamics" />
+<new d="false" />
<TGConnectingPoint num="0" id="127" />
<extraparam>
-<Prop commName="objList01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="vehicleDynamics" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -635,16 +691,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="130" >
+<SUBCOMPONENT type="1203" id="130" index="54" uid="61f29708-2f4b-4bdc-8f77-585617e8c598" >
<father id="145" num="1" />
-<cdparam x="592" y="444" />
+<cdparam x="815" y="457" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
+<new d="false" />
<TGConnectingPoint num="0" id="129" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -652,16 +709,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="132" >
+<SUBCOMPONENT type="1203" id="132" index="55" uid="aab04fdb-a34b-47ef-8b43-7031f34eded3" >
<father id="145" num="2" />
<cdparam x="592" y="479" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
<infoparam name="Primitive port" value="Channel neighbourhoodTable" />
+<new d="false" />
<TGConnectingPoint num="0" id="131" />
<extraparam>
-<Prop commName="neighbourhoodTable" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="neighbourhoodTable" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -669,16 +727,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="134" >
+<SUBCOMPONENT type="1203" id="134" index="56" uid="7ab99928-8916-4712-bb38-c7c4c93ccefc" >
<father id="145" num="3" />
-<cdparam x="815" y="457" />
+<cdparam x="592" y="444" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
+<new d="false" />
<TGConnectingPoint num="0" id="133" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -686,16 +745,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="136" >
+<SUBCOMPONENT type="1203" id="136" index="57" uid="cf0362cc-1fae-42d3-ae19-c9c946fce5c6" >
<father id="145" num="4" />
-<cdparam x="679" y="487" />
+<cdparam x="695" y="421" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
-<infoparam name="Primitive port" value="Channel vehicleDynamics" />
+<infoparam name="Primitive port" value="Channel objList01" />
+<new d="false" />
<TGConnectingPoint num="0" id="135" />
<extraparam>
-<Prop commName="vehicleDynamics" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="objList01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -704,12 +764,13 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1202" id="158" >
+<COMPONENT type="1202" id="158" index="27" uid="f2190af9-8fcd-4b9f-809d-8dbf0506a507" >
<cdparam x="605" y="315" />
<sizeparam width="227" height="57" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Primitive component" value="ObjectListManagement" />
+<new d="false" />
<TGConnectingPoint num="0" id="150" />
<TGConnectingPoint num="1" id="151" />
<TGConnectingPoint num="2" id="152" />
@@ -719,18 +780,20 @@
<TGConnectingPoint num="6" id="156" />
<TGConnectingPoint num="7" id="157" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="147" >
+<SUBCOMPONENT type="1203" id="147" index="58" uid="33c1895b-bbcf-4c14-aa63-d8e1359d6c7b" >
<father id="158" num="0" />
-<cdparam x="693" y="302" />
+<cdparam x="695" y="359" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="214" minY="-13" maxY="44" />
-<infoparam name="Primitive port" value="Channel rawData01" />
+<infoparam name="Primitive port" value="Channel objList01" />
+<new d="false" />
<TGConnectingPoint num="0" id="146" />
<extraparam>
-<Prop commName="rawData01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="objList01" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -738,16 +801,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="149" >
+<SUBCOMPONENT type="1203" id="149" index="59" uid="dafc2f90-2865-48d3-8a10-dd8e437a7041" >
<father id="158" num="1" />
-<cdparam x="695" y="359" />
+<cdparam x="693" y="302" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="214" minY="-13" maxY="44" />
-<infoparam name="Primitive port" value="Channel objList01" />
+<infoparam name="Primitive port" value="Channel rawData01" />
+<new d="false" />
<TGConnectingPoint num="0" id="148" />
<extraparam>
-<Prop commName="objList01" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="rawData01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -756,12 +820,13 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1202" id="171" >
+<COMPONENT type="1202" id="171" index="28" uid="3509d714-6fa2-486a-b947-8f235450801f" >
<cdparam x="615" y="597" />
<sizeparam width="242" height="62" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Primitive component" value="VehicleDynamicsManagement" />
+<new d="false" />
<TGConnectingPoint num="0" id="163" />
<TGConnectingPoint num="1" id="164" />
<TGConnectingPoint num="2" id="165" />
@@ -771,18 +836,20 @@
<TGConnectingPoint num="6" id="169" />
<TGConnectingPoint num="7" id="170" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="160" >
+<SUBCOMPONENT type="1203" id="160" index="60" uid="76c5e128-5c24-4320-8400-84f517d4db8a" >
<father id="171" num="0" />
-<cdparam x="682" y="646" />
+<cdparam x="679" y="584" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="229" minY="-13" maxY="49" />
-<infoparam name="Primitive port" value="Channel rawData02" />
+<infoparam name="Primitive port" value="Channel vehicleDynamics" />
+<new d="false" />
<TGConnectingPoint num="0" id="159" />
<extraparam>
-<Prop commName="rawData02" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="vehicleDynamics" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -790,16 +857,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="162" >
+<SUBCOMPONENT type="1203" id="162" index="61" uid="6e2bcd61-2589-49cf-987a-b1221ae547d0" >
<father id="171" num="1" />
-<cdparam x="679" y="584" />
+<cdparam x="682" y="646" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="229" minY="-13" maxY="49" />
-<infoparam name="Primitive port" value="Channel vehicleDynamics" />
+<infoparam name="Primitive port" value="Channel rawData02" />
+<new d="false" />
<TGConnectingPoint num="0" id="161" />
<extraparam>
-<Prop commName="vehicleDynamics" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="rawData02" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -808,12 +876,13 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1202" id="182" >
+<COMPONENT type="1202" id="182" index="29" uid="a68283db-18ce-4354-89a9-6868767a400b" >
<cdparam x="613" y="720" />
<sizeparam width="215" height="61" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Primitive component" value="GetVehicleDynamics" />
+<new d="false" />
<TGConnectingPoint num="0" id="174" />
<TGConnectingPoint num="1" id="175" />
<TGConnectingPoint num="2" id="176" />
@@ -823,18 +892,20 @@
<TGConnectingPoint num="6" id="180" />
<TGConnectingPoint num="7" id="181" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="173" >
+<SUBCOMPONENT type="1203" id="173" index="62" uid="17de8a76-64b6-46b9-a2b0-cc92b371d7e8" >
<father id="182" num="0" />
<cdparam x="682" y="707" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="202" minY="-13" maxY="48" />
<infoparam name="Primitive port" value="Channel rawData02" />
+<new d="false" />
<TGConnectingPoint num="0" id="172" />
<extraparam>
-<Prop commName="rawData02" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="rawData02" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -843,12 +914,13 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1202" id="195" >
+<COMPONENT type="1202" id="195" index="30" uid="eebf6037-30eb-43c5-a881-b7ce64e68fd7" >
<cdparam x="1160" y="366" />
<sizeparam width="193" height="60" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Primitive component" value="BrakeManagement" />
+<new d="false" />
<TGConnectingPoint num="0" id="187" />
<TGConnectingPoint num="1" id="188" />
<TGConnectingPoint num="2" id="189" />
@@ -858,18 +930,20 @@
<TGConnectingPoint num="6" id="193" />
<TGConnectingPoint num="7" id="194" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="184" >
+<SUBCOMPONENT type="1203" id="184" index="63" uid="d53545ad-cdd5-4cf3-8e5c-9a5b816cc360" >
<father id="195" num="0" />
-<cdparam x="1147" y="382" />
+<cdparam x="1340" y="380" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="180" minY="-13" maxY="47" />
-<infoparam name="Primitive port" value="Event brakeCommand" />
+<infoparam name="Primitive port" value="Event brake" />
+<new d="false" />
<TGConnectingPoint num="0" id="183" />
<extraparam>
-<Prop commName="brakeCommand" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="brake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -877,16 +951,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="186" >
+<SUBCOMPONENT type="1203" id="186" index="64" uid="08bab362-d591-40c3-8512-03b5ad3daabf" >
<father id="195" num="1" />
-<cdparam x="1340" y="380" />
+<cdparam x="1147" y="382" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="180" minY="-13" maxY="47" />
-<infoparam name="Primitive port" value="Event brake" />
+<infoparam name="Primitive port" value="Event brakeCommand" />
+<new d="false" />
<TGConnectingPoint num="0" id="185" />
<extraparam>
-<Prop commName="brake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="brakeCommand" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -895,12 +970,13 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1202" id="214" >
+<COMPONENT type="1202" id="214" index="31" uid="1c758216-0022-4656-914f-a82c45219a97" >
<cdparam x="977" y="492" />
<sizeparam width="200" height="76" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Primitive component" value="DangerAvoidanceStrategy" />
+<new d="false" />
<TGConnectingPoint num="0" id="206" />
<TGConnectingPoint num="1" id="207" />
<TGConnectingPoint num="2" id="208" />
@@ -910,18 +986,20 @@
<TGConnectingPoint num="6" id="212" />
<TGConnectingPoint num="7" id="213" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="197" >
+<SUBCOMPONENT type="1203" id="197" index="65" uid="5f37bff9-1ebe-476b-8984-95b770797669" >
<father id="214" num="0" />
-<cdparam x="1005" y="479" />
+<cdparam x="1125" y="555" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="63" />
-<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
+<infoparam name="Primitive port" value="Event drivingPowerReduction" />
+<new d="false" />
<TGConnectingPoint num="0" id="196" />
<extraparam>
-<Prop commName="sendEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="drivingPowerReduction" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -929,16 +1007,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="199" >
+<SUBCOMPONENT type="1203" id="199" index="66" uid="93b9ad90-bda5-4dc6-891f-541d5d58488a" >
<father id="214" num="1" />
-<cdparam x="964" y="518" />
+<cdparam x="1164" y="519" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="63" />
-<infoparam name="Primitive port" value="Event emergencyBrake" />
+<infoparam name="Primitive port" value="Event infoEmergencyBraking" />
+<new d="false" />
<TGConnectingPoint num="0" id="198" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="infoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -946,16 +1025,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="201" >
+<SUBCOMPONENT type="1203" id="201" index="67" uid="94822f8f-8e64-4c98-b263-2abef41fb978" >
<father id="214" num="2" />
<cdparam x="1067" y="479" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="63" />
<infoparam name="Primitive port" value="Event brakeCommand" />
+<new d="false" />
<TGConnectingPoint num="0" id="200" />
<extraparam>
-<Prop commName="brakeCommand" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="brakeCommand" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -963,16 +1043,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="203" >
+<SUBCOMPONENT type="1203" id="203" index="68" uid="2fbe0a79-31ad-40d4-8541-85cbfcfb819a" >
<father id="214" num="3" />
-<cdparam x="1164" y="519" />
+<cdparam x="964" y="518" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="63" />
-<infoparam name="Primitive port" value="Event infoEmergencyBraking" />
+<infoparam name="Primitive port" value="Event emergencyBrake" />
+<new d="false" />
<TGConnectingPoint num="0" id="202" />
<extraparam>
-<Prop commName="infoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -980,16 +1061,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="205" >
+<SUBCOMPONENT type="1203" id="205" index="69" uid="6637a31d-e989-4fb7-af0f-5a8a49354a69" >
<father id="214" num="4" />
-<cdparam x="1125" y="555" />
+<cdparam x="1005" y="479" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="63" />
-<infoparam name="Primitive port" value="Event drivingPowerReduction" />
+<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
+<new d="false" />
<TGConnectingPoint num="0" id="204" />
<extraparam>
-<Prop commName="drivingPowerReduction" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="sendEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -998,12 +1080,13 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1202" id="229" >
+<COMPONENT type="1202" id="229" index="32" uid="a92a0125-2586-4d92-b973-5d4bdc9d228a" >
<cdparam x="37" y="72" />
<sizeparam width="158" height="149" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Primitive component" value="DSRCRxTx" />
+<new d="false" />
<TGConnectingPoint num="0" id="221" />
<TGConnectingPoint num="1" id="222" />
<TGConnectingPoint num="2" id="223" />
@@ -1013,18 +1096,20 @@
<TGConnectingPoint num="6" id="227" />
<TGConnectingPoint num="7" id="228" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="216" >
+<SUBCOMPONENT type="1203" id="216" index="70" uid="31e71809-4a5d-400d-b4bf-9240cc82c1af" >
<father id="229" num="0" />
-<cdparam x="182" y="81" />
+<cdparam x="182" y="125" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="145" minY="-13" maxY="136" />
-<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
+<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
+<new d="false" />
<TGConnectingPoint num="0" id="215" />
<extraparam>
-<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="DSRCEmergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -1032,16 +1117,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="218" >
+<SUBCOMPONENT type="1203" id="218" index="71" uid="20455afc-728f-4d80-9fd0-e9fdb4d92ea9" >
<father id="229" num="1" />
<cdparam x="182" y="174" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="145" minY="-13" maxY="136" />
<infoparam name="Primitive port" value="Channel neighbourhoodData" />
+<new d="false" />
<TGConnectingPoint num="0" id="217" />
<extraparam>
-<Prop commName="neighbourhoodData" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="neighbourhoodData" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -1049,16 +1135,17 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="220" >
+<SUBCOMPONENT type="1203" id="220" index="72" uid="36a3a717-3bc0-47c1-80c0-6aad3e780839" >
<father id="229" num="2" />
-<cdparam x="182" y="125" />
+<cdparam x="182" y="81" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="145" minY="-13" maxY="136" />
-<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
+<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
+<new d="false" />
<TGConnectingPoint num="0" id="219" />
<extraparam>
-<Prop commName="DSRCEmergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -1067,12 +1154,13 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1200" id="238" >
+<COMPONENT type="1200" id="238" index="33" uid="1e7befc8-1cbb-4422-a075-01e53180b3c9" >
<cdparam x="30" y="44" />
<sizeparam width="498" height="184" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="1419" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="1418" />
<infoparam name="Composite component" value="DSRCTask" />
+<new d="false" />
<TGConnectingPoint num="0" id="230" />
<TGConnectingPoint num="1" id="231" />
<TGConnectingPoint num="2" id="232" />
@@ -1089,195 +1177,210 @@
</TMLComponentTaskDiagramPanel>
-<TMLActivityDiagramPanel name="DSRCManagement" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1000" id="240" >
+<TMLActivityDiagramPanel name="DSRCManagement" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1000" id="240" index="0" uid="c6fbe406-efd9-4f89-91c7-c0084ec97e5e" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="239" />
</COMPONENT>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="doReduceDrivingPower" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1000" id="242" >
+<TMLActivityDiagramPanel name="doReduceDrivingPower" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1000" id="242" index="0" uid="17a9a506-eb4e-4dcb-b5f5-8b21fbd25f84" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="241" />
</COMPONENT>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="DrivingPowerReductionstrategy" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1000" id="244" >
+<TMLActivityDiagramPanel name="DrivingPowerReductionstrategy" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1000" id="244" index="0" uid="fbaedfea-8c10-4425-8941-da2abd1afccd" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="243" />
</COMPONENT>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="DoBrake" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1000" id="246" >
+<TMLActivityDiagramPanel name="DoBrake" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1000" id="246" index="0" uid="75599451-6bbd-4b3a-b6ca-1c0c5fe82499" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="245" />
</COMPONENT>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="GPSReception" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1000" id="248" >
+<TMLActivityDiagramPanel name="GPSReception" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1000" id="248" index="0" uid="37a116bf-df15-4595-9211-d667a9eda97c" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="247" />
</COMPONENT>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="NeighbourhoodTableManagement" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1000" id="250" >
+<TMLActivityDiagramPanel name="NeighbourhoodTableManagement" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1000" id="250" index="0" uid="5f86ff1c-c983-49d0-a9dc-c11e4fa9987b" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="249" />
</COMPONENT>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="CorrectnessChecking" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1000" id="252" >
+<TMLActivityDiagramPanel name="CorrectnessChecking" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1000" id="252" index="0" uid="c761ded2-180e-4205-9c82-3a17f4b4e543" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="251" />
</COMPONENT>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="GetEnvironmentInformation" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1000" id="254" >
+<TMLActivityDiagramPanel name="GetEnvironmentInformation" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1000" id="254" index="0" uid="96bbbe26-7d1d-44f8-a0f4-8ff078ff682f" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="253" />
</COMPONENT>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="PlausibilityCheck" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1000" id="256" >
+<TMLActivityDiagramPanel name="PlausibilityCheck" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1000" id="256" index="0" uid="ab08d5f6-f866-472f-b817-43435d27f2f3" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="255" />
</COMPONENT>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="ObjectListManagement" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1000" id="258" >
+<TMLActivityDiagramPanel name="ObjectListManagement" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1000" id="258" index="0" uid="c5a68273-25a3-4f17-802a-803e0e1898d3" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="257" />
</COMPONENT>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="VehicleDynamicsManagement" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1000" id="260" >
+<TMLActivityDiagramPanel name="VehicleDynamicsManagement" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1000" id="260" index="0" uid="791c3671-6eed-464b-a126-468ca3774e20" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="259" />
</COMPONENT>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="GetVehicleDynamics" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1000" id="262" >
+<TMLActivityDiagramPanel name="GetVehicleDynamics" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1000" id="262" index="0" uid="f3688c79-23c7-4356-82a7-1e9d55da6134" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="261" />
</COMPONENT>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="BrakeManagement" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1000" id="264" >
+<TMLActivityDiagramPanel name="BrakeManagement" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1000" id="264" index="0" uid="172a2d95-06da-4c97-a8a3-8bb366fe6235" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="263" />
</COMPONENT>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="DangerAvoidanceStrategy" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1000" id="266" >
+<TMLActivityDiagramPanel name="DangerAvoidanceStrategy" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1000" id="266" index="0" uid="c1da7dc2-3106-4f6e-adf2-9aeb3d622975" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="265" />
</COMPONENT>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="DSRCRxTx" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1000" id="268" >
+<TMLActivityDiagramPanel name="DSRCRxTx" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1000" id="268" index="0" uid="67ab4ed4-0fe9-4d11-ba51-6c9b0199f7eb" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="267" />
</COMPONENT>
@@ -1290,13 +1393,14 @@
<Modeling type="TML Architecture" nameTab="Braking - MV" >
-<TMLArchiDiagramPanel name="DIPLODOCUS architecture and mapping Diagram" minX="10" maxX="2400" minY="10" maxY="1900" attributes="0" masterClockFrequency="200" >
-<COMPONENT type="1104" id="302" >
+<TMLArchiDiagramPanel name="DIPLODOCUS architecture and mapping Diagram" minX="10" maxX="2400" minY="10" maxY="1900" attributes="0" considerExecOperators="true" considerTimingOperators="true" masterClockFrequency="200" zoom="1.0" >
+<COMPONENT type="1104" id="302" index="0" uid="1cbf0f3d-e80f-4347-acca-54f5eaf95141" >
<cdparam x="1861" y="1201" />
<sizeparam width="187" height="116" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="BrakingControlDevice" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="278" />
<TGConnectingPoint num="1" id="279" />
<TGConnectingPoint num="2" id="280" />
@@ -1323,16 +1427,17 @@
<TGConnectingPoint num="23" id="301" />
<extraparam>
<info stereotype="HWA" nodeName="BrakingControlDevice" />
-<attributes byteDataSize="4" execiTime="1" clockRatio="1" />
+<attributes byteDataSize="4" execiTime="1" execcTime="1" clockRatio="1" operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="277" >
+<SUBCOMPONENT type="1101" id="277" index="55" uid="9eaaff40-98d6-4269-a8e0-ba259752a1a1" >
<father id="302" num="0" />
<cdparam x="1880" y="1259" />
-<sizeparam width="168" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="164" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="19" minY="0" maxY="66" />
+<cdrectangleparam minX="0" maxX="23" minY="0" maxY="66" />
<infoparam name="TGComponent" value="Braking - FV::DoBrake" />
+<new d="false" />
<TGConnectingPoint num="0" id="269" />
<TGConnectingPoint num="1" id="270" />
<TGConnectingPoint num="2" id="271" />
@@ -1342,16 +1447,17 @@
<TGConnectingPoint num="6" id="275" />
<TGConnectingPoint num="7" id="276" />
<extraparam>
-<info value="Braking - FV::DoBrake" taskName="DoBrake" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::DoBrake" taskName="DoBrake" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1105" id="327" >
+<COMPONENT type="1105" id="327" index="1" uid="a05b25fc-5d1b-4b07-85c3-83c13d5e8d12" >
<cdparam x="1544" y="1205" />
<sizeparam width="145" height="108" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="RAM_BCU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="303" />
<TGConnectingPoint num="1" id="304" />
<TGConnectingPoint num="2" id="305" />
@@ -1378,16 +1484,17 @@
<TGConnectingPoint num="23" id="326" />
<extraparam>
<info stereotype="MEMORY" nodeName="RAM_BCU" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="0" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="370" >
+<COMPONENT type="1100" id="370" index="2" uid="c7732bb4-626d-4fdb-b561-bbb94beaa6d8" >
<cdparam x="1432" y="971" />
<sizeparam width="262" height="172" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="CPU_BCU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="346" />
<TGConnectingPoint num="1" id="347" />
<TGConnectingPoint num="2" id="348" />
@@ -1414,16 +1521,17 @@
<TGConnectingPoint num="23" id="369" />
<extraparam>
<info stereotype="CPURR" nodeName="CPU_BCU" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="336" >
+<SUBCOMPONENT type="1101" id="336" index="56" uid="02251054-915a-4c56-9ca0-1d5b328b0ed7" >
<father id="370" num="0" />
-<cdparam x="1416" y="1017" />
-<sizeparam width="278" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1463" y="1073" />
+<sizeparam width="222" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-16" minY="0" maxY="122" />
-<infoparam name="TGComponent" value="Braking - FV::DangerAvoidanceStrategy" />
+<cdrectangleparam minX="0" maxX="40" minY="0" maxY="122" />
+<infoparam name="TGComponent" value="Braking - FV::BrakeManagement" />
+<new d="false" />
<TGConnectingPoint num="0" id="328" />
<TGConnectingPoint num="1" id="329" />
<TGConnectingPoint num="2" id="330" />
@@ -1433,16 +1541,17 @@
<TGConnectingPoint num="6" id="334" />
<TGConnectingPoint num="7" id="335" />
<extraparam>
-<info value="Braking - FV::DangerAvoidanceStrategy" taskName="DangerAvoidanceStrategy" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::BrakeManagement" taskName="BrakeManagement" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="345" >
+<SUBCOMPONENT type="1101" id="345" index="57" uid="edf76af6-ed71-40ba-b317-e35cced47278" >
<father id="370" num="1" />
-<cdparam x="1463" y="1073" />
-<sizeparam width="231" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1432" y="1017" />
+<sizeparam width="262" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="31" minY="0" maxY="122" />
-<infoparam name="TGComponent" value="Braking - FV::BrakeManagement" />
+<cdrectangleparam minX="0" maxX="0" minY="0" maxY="122" />
+<infoparam name="TGComponent" value="Braking - FV::DangerAvoidanceStrategy" />
+<new d="false" />
<TGConnectingPoint num="0" id="337" />
<TGConnectingPoint num="1" id="338" />
<TGConnectingPoint num="2" id="339" />
@@ -1452,16 +1561,17 @@
<TGConnectingPoint num="6" id="343" />
<TGConnectingPoint num="7" id="344" />
<extraparam>
-<info value="Braking - FV::BrakeManagement" taskName="BrakeManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::DangerAvoidanceStrategy" taskName="DangerAvoidanceStrategy" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1102" id="395" >
+<COMPONENT type="1102" id="395" index="3" uid="e5bd5983-457d-4959-b91b-b508582de3d7" >
<cdparam x="1733" y="956" />
<sizeparam width="100" height="404" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="CAN_BCU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="371" />
<TGConnectingPoint num="1" id="372" />
<TGConnectingPoint num="2" id="373" />
@@ -1488,16 +1598,17 @@
<TGConnectingPoint num="23" id="394" />
<extraparam>
<info stereotype="BUS-RR" nodeName="CAN_BCU" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1106" id="420" >
+<COMPONENT type="1106" id="420" index="4" uid="3ef205be-a629-4919-8085-700fad44fc30" >
<cdparam x="1262" y="812" />
<sizeparam width="250" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="BCU_to_CSCU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="396" />
<TGConnectingPoint num="1" id="397" />
<TGConnectingPoint num="2" id="398" />
@@ -1528,12 +1639,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="1104" id="454" >
+<COMPONENT type="1104" id="454" index="5" uid="651e2e31-dd4c-4f7e-80e7-5394103d186b" >
<cdparam x="1118" y="1178" />
<sizeparam width="278" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="EnvSensors" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="430" />
<TGConnectingPoint num="1" id="431" />
<TGConnectingPoint num="2" id="432" />
@@ -1560,16 +1672,17 @@
<TGConnectingPoint num="23" id="453" />
<extraparam>
<info stereotype="HWA" nodeName="EnvSensors" />
-<attributes byteDataSize="4" execiTime="1" clockRatio="1" />
+<attributes byteDataSize="4" execiTime="1" execcTime="1" clockRatio="1" operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="429" >
+<SUBCOMPONENT type="1101" id="429" index="58" uid="2fa2f184-dfa5-4e2f-810e-9977cc9c890f" >
<father id="454" num="0" />
-<cdparam x="1114" y="1221" />
-<sizeparam width="282" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1118" y="1221" />
+<sizeparam width="271" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-4" minY="0" maxY="50" />
+<cdrectangleparam minX="0" maxX="7" minY="0" maxY="50" />
<infoparam name="TGComponent" value="Braking - FV::GetEnvironmentInformation" />
+<new d="false" />
<TGConnectingPoint num="0" id="421" />
<TGConnectingPoint num="1" id="422" />
<TGConnectingPoint num="2" id="423" />
@@ -1579,16 +1692,17 @@
<TGConnectingPoint num="6" id="427" />
<TGConnectingPoint num="7" id="428" />
<extraparam>
-<info value="Braking - FV::GetEnvironmentInformation" taskName="GetEnvironmentInformation" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::GetEnvironmentInformation" taskName="GetEnvironmentInformation" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1104" id="488" >
+<COMPONENT type="1104" id="488" index="6" uid="5591b212-ca52-4e96-b10e-b3a363fd0143" >
<cdparam x="1119" y="1042" />
<sizeparam width="248" height="122" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="ChassisSensors" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="464" />
<TGConnectingPoint num="1" id="465" />
<TGConnectingPoint num="2" id="466" />
@@ -1615,16 +1729,17 @@
<TGConnectingPoint num="23" id="487" />
<extraparam>
<info stereotype="HWA" nodeName="ChassisSensors" />
-<attributes byteDataSize="4" execiTime="1" clockRatio="1" />
+<attributes byteDataSize="4" execiTime="1" execcTime="1" clockRatio="1" operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="463" >
+<SUBCOMPONENT type="1101" id="463" index="59" uid="adb5a626-466c-4378-956c-a054565254f8" >
<father id="488" num="0" />
<cdparam x="1126" y="1093" />
-<sizeparam width="241" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="231" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="7" minY="0" maxY="72" />
+<cdrectangleparam minX="0" maxX="17" minY="0" maxY="72" />
<infoparam name="TGComponent" value="Braking - FV::GetVehicleDynamics" />
+<new d="false" />
<TGConnectingPoint num="0" id="455" />
<TGConnectingPoint num="1" id="456" />
<TGConnectingPoint num="2" id="457" />
@@ -1634,16 +1749,17 @@
<TGConnectingPoint num="6" id="461" />
<TGConnectingPoint num="7" id="462" />
<extraparam>
-<info value="Braking - FV::GetVehicleDynamics" taskName="GetVehicleDynamics" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::GetVehicleDynamics" taskName="GetVehicleDynamics" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1105" id="513" >
+<COMPONENT type="1105" id="513" index="7" uid="a398ab33-9a0e-4547-8b1e-35e6dd200d20" >
<cdparam x="720" y="1137" />
<sizeparam width="200" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="RAM_CSCU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="489" />
<TGConnectingPoint num="1" id="490" />
<TGConnectingPoint num="2" id="491" />
@@ -1670,16 +1786,17 @@
<TGConnectingPoint num="23" id="512" />
<extraparam>
<info stereotype="MEMORY" nodeName="RAM_CSCU" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="0" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="565" >
+<COMPONENT type="1100" id="565" index="8" uid="4c9af45f-fc10-4312-bbd7-004e09069cec" >
<cdparam x="691" y="887" />
<sizeparam width="277" height="221" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="CPU_CSCU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="541" />
<TGConnectingPoint num="1" id="542" />
<TGConnectingPoint num="2" id="543" />
@@ -1706,16 +1823,17 @@
<TGConnectingPoint num="23" id="564" />
<extraparam>
<info stereotype="CPURR" nodeName="CPU_CSCU" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="522" >
+<SUBCOMPONENT type="1101" id="522" index="60" uid="9e3c7675-77ea-4ad2-a3db-3ee677659b03" >
<father id="565" num="0" />
-<cdparam x="711" y="927" />
-<sizeparam width="257" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="683" y="1047" />
+<sizeparam width="285" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="20" minY="0" maxY="171" />
-<infoparam name="TGComponent" value="Braking - FV::ObjectListManagement" />
+<cdrectangleparam minX="0" maxX="-8" minY="0" maxY="171" />
+<infoparam name="TGComponent" value="Braking - FV::VehicleDynamicsManagement" />
+<new d="false" />
<TGConnectingPoint num="0" id="514" />
<TGConnectingPoint num="1" id="515" />
<TGConnectingPoint num="2" id="516" />
@@ -1725,16 +1843,17 @@
<TGConnectingPoint num="6" id="520" />
<TGConnectingPoint num="7" id="521" />
<extraparam>
-<info value="Braking - FV::ObjectListManagement" taskName="ObjectListManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::VehicleDynamicsManagement" taskName="VehicleDynamicsManagement" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="531" >
+<SUBCOMPONENT type="1101" id="531" index="61" uid="c86a4fb6-0629-4663-869f-a0193702454f" >
<father id="565" num="1" />
<cdparam x="750" y="986" />
-<sizeparam width="218" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="210" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="59" minY="0" maxY="171" />
+<cdrectangleparam minX="0" maxX="67" minY="0" maxY="171" />
<infoparam name="TGComponent" value="Braking - FV::PlausibilityCheck" />
+<new d="false" />
<TGConnectingPoint num="0" id="523" />
<TGConnectingPoint num="1" id="524" />
<TGConnectingPoint num="2" id="525" />
@@ -1744,16 +1863,17 @@
<TGConnectingPoint num="6" id="529" />
<TGConnectingPoint num="7" id="530" />
<extraparam>
-<info value="Braking - FV::PlausibilityCheck" taskName="PlausibilityCheck" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::PlausibilityCheck" taskName="PlausibilityCheck" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="540" >
+<SUBCOMPONENT type="1101" id="540" index="62" uid="cac29275-2a41-4aab-bd3a-65ef589684cb" >
<father id="565" num="2" />
-<cdparam x="670" y="1047" />
-<sizeparam width="298" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="711" y="927" />
+<sizeparam width="246" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-21" minY="0" maxY="171" />
-<infoparam name="TGComponent" value="Braking - FV::VehicleDynamicsManagement" />
+<cdrectangleparam minX="0" maxX="31" minY="0" maxY="171" />
+<infoparam name="TGComponent" value="Braking - FV::ObjectListManagement" />
+<new d="false" />
<TGConnectingPoint num="0" id="532" />
<TGConnectingPoint num="1" id="533" />
<TGConnectingPoint num="2" id="534" />
@@ -1763,16 +1883,17 @@
<TGConnectingPoint num="6" id="538" />
<TGConnectingPoint num="7" id="539" />
<extraparam>
-<info value="Braking - FV::VehicleDynamicsManagement" taskName="VehicleDynamicsManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::ObjectListManagement" taskName="ObjectListManagement" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1102" id="590" >
+<COMPONENT type="1102" id="590" index="9" uid="b2f5e826-d7c6-4464-a79c-e142f07c4ed0" >
<cdparam x="90" y="646" />
<sizeparam width="1000" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="CAN" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="566" />
<TGConnectingPoint num="1" id="567" />
<TGConnectingPoint num="2" id="568" />
@@ -1799,16 +1920,17 @@
<TGConnectingPoint num="23" id="589" />
<extraparam>
<info stereotype="BUS-RR" nodeName="CAN" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1106" id="615" >
+<COMPONENT type="1106" id="615" index="10" uid="6ba165ed-6ee0-4620-923a-91f550a794e8" >
<cdparam x="540" y="515" />
<sizeparam width="100" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="CU_to_CAN" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="591" />
<TGConnectingPoint num="1" id="592" />
<TGConnectingPoint num="2" id="593" />
@@ -1839,12 +1961,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="640" >
+<COMPONENT type="1105" id="640" index="11" uid="a1db9ab2-1d56-461d-926c-6f776dd9adb7" >
<cdparam x="198" y="367" />
<sizeparam width="304" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="RAM_CU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="616" />
<TGConnectingPoint num="1" id="617" />
<TGConnectingPoint num="2" id="618" />
@@ -1871,16 +1994,17 @@
<TGConnectingPoint num="23" id="639" />
<extraparam>
<info stereotype="MEMORY" nodeName="RAM_CU" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="0" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1102" id="665" >
+<COMPONENT type="1102" id="665" index="12" uid="a2f9d3b7-7982-4e69-b915-1db9df6fc6f3" >
<cdparam x="540" y="168" />
<sizeparam width="100" height="319" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="CAN_CU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="641" />
<TGConnectingPoint num="1" id="642" />
<TGConnectingPoint num="2" id="643" />
@@ -1907,16 +2031,17 @@
<TGConnectingPoint num="23" id="664" />
<extraparam>
<info stereotype="BUS-RR" nodeName="CAN_CU" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="690" >
+<COMPONENT type="1105" id="690" index="13" uid="f0f7aa9e-c0be-4de2-aa24-832833afd83a" >
<cdparam x="681" y="54" />
<sizeparam width="111" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="Flash_CU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="666" />
<TGConnectingPoint num="1" id="667" />
<TGConnectingPoint num="2" id="668" />
@@ -1943,16 +2068,17 @@
<TGConnectingPoint num="23" id="689" />
<extraparam>
<info stereotype="MEMORY" nodeName="Flash_CU" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="0" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1104" id="724" >
+<COMPONENT type="1104" id="724" index="14" uid="5f9eca47-768d-4365-9423-21de397acd2c" >
<cdparam x="681" y="161" />
<sizeparam width="207" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="GPS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="700" />
<TGConnectingPoint num="1" id="701" />
<TGConnectingPoint num="2" id="702" />
@@ -1979,16 +2105,17 @@
<TGConnectingPoint num="23" id="723" />
<extraparam>
<info stereotype="HWA" nodeName="GPS" />
-<attributes byteDataSize="4" execiTime="1" clockRatio="1" />
+<attributes byteDataSize="4" execiTime="1" execcTime="1" clockRatio="1" operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="699" >
+<SUBCOMPONENT type="1101" id="699" index="63" uid="8c90ff05-0180-470a-92b6-d053e8018156" >
<father id="724" num="0" />
<cdparam x="684" y="197" />
-<sizeparam width="204" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="194" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="3" minY="0" maxY="50" />
+<cdrectangleparam minX="0" maxX="13" minY="0" maxY="50" />
<infoparam name="TGComponent" value="Braking - FV::GPSReception" />
+<new d="false" />
<TGConnectingPoint num="0" id="691" />
<TGConnectingPoint num="1" id="692" />
<TGConnectingPoint num="2" id="693" />
@@ -1998,16 +2125,17 @@
<TGConnectingPoint num="6" id="697" />
<TGConnectingPoint num="7" id="698" />
<extraparam>
-<info value="Braking - FV::GPSReception" taskName="GPSReception" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::GPSReception" taskName="GPSReception" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1104" id="758" >
+<COMPONENT type="1104" id="758" index="15" uid="b9678203-82fe-4488-b956-a59655000208" >
<cdparam x="684" y="384" />
<sizeparam width="198" height="115" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="DSRC" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="734" />
<TGConnectingPoint num="1" id="735" />
<TGConnectingPoint num="2" id="736" />
@@ -2034,16 +2162,17 @@
<TGConnectingPoint num="23" id="757" />
<extraparam>
<info stereotype="HWA" nodeName="DSRC" />
-<attributes byteDataSize="4" execiTime="1" clockRatio="1" />
+<attributes byteDataSize="4" execiTime="1" execcTime="1" clockRatio="1" operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="733" >
+<SUBCOMPONENT type="1101" id="733" index="64" uid="c4690b2c-22e2-494b-abea-da85ef7ff343" >
<father id="758" num="0" />
<cdparam x="699" y="427" />
-<sizeparam width="180" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="176" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="18" minY="0" maxY="65" />
+<cdrectangleparam minX="0" maxX="22" minY="0" maxY="65" />
<infoparam name="TGComponent" value="Braking - FV::DSRCRxTx" />
+<new d="false" />
<TGConnectingPoint num="0" id="725" />
<TGConnectingPoint num="1" id="726" />
<TGConnectingPoint num="2" id="727" />
@@ -2053,16 +2182,17 @@
<TGConnectingPoint num="6" id="731" />
<TGConnectingPoint num="7" id="732" />
<extraparam>
-<info value="Braking - FV::DSRCRxTx" taskName="DSRCRxTx" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::DSRCRxTx" taskName="DSRCRxTx" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1104" id="783" >
+<COMPONENT type="1104" id="783" index="16" uid="0a387339-29ba-45c9-9db7-c0cf201e2feb" >
<cdparam x="683" y="274" />
<sizeparam width="196" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="UMTS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="759" />
<TGConnectingPoint num="1" id="760" />
<TGConnectingPoint num="2" id="761" />
@@ -2089,16 +2219,17 @@
<TGConnectingPoint num="23" id="782" />
<extraparam>
<info stereotype="HWA" nodeName="UMTS" />
-<attributes byteDataSize="4" execiTime="1" clockRatio="1" />
+<attributes byteDataSize="4" execiTime="1" execcTime="1" clockRatio="1" operation="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="808" >
+<COMPONENT type="1105" id="808" index="17" uid="f9b4ec13-fa9c-411a-8cae-624a3bc2c067" >
<cdparam x="1861" y="1007" />
<sizeparam width="100" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="Flash_BCU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="784" />
<TGConnectingPoint num="1" id="785" />
<TGConnectingPoint num="2" id="786" />
@@ -2125,16 +2256,17 @@
<TGConnectingPoint num="23" id="807" />
<extraparam>
<info stereotype="MEMORY" nodeName="Flash_BCU" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="0" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="833" >
+<COMPONENT type="1105" id="833" index="18" uid="1e8dcc18-f6a5-4c30-aeb3-d89d3ef15849" >
<cdparam x="1118" y="921" />
<sizeparam width="100" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="Flash_CSCU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="809" />
<TGConnectingPoint num="1" id="810" />
<TGConnectingPoint num="2" id="811" />
@@ -2161,16 +2293,17 @@
<TGConnectingPoint num="23" id="832" />
<extraparam>
<info stereotype="MEMORY" nodeName="Flash_CSCU" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="0" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1106" id="858" >
+<COMPONENT type="1106" id="858" index="19" uid="ec848a0b-9f03-4eba-bae7-7fc5da00aefc" >
<cdparam x="285" y="747" />
<sizeparam width="110" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="PTC_to_CAN" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="834" />
<TGConnectingPoint num="1" id="835" />
<TGConnectingPoint num="2" id="836" />
@@ -2201,12 +2334,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="1106" id="883" >
+<COMPONENT type="1106" id="883" index="20" uid="b92b5b9a-ce83-4d63-840d-13c127697d1a" >
<cdparam x="993" y="748" />
<sizeparam width="110" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="CSCU_to_CAN" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="859" />
<TGConnectingPoint num="1" id="860" />
<TGConnectingPoint num="2" id="861" />
@@ -2237,12 +2371,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="1102" id="908" >
+<COMPONENT type="1102" id="908" index="21" uid="6f47ba70-79b4-4ba8-a76d-064b948374ec" >
<cdparam x="987" y="906" />
<sizeparam width="100" height="368" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="CAN_CSCU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="884" />
<TGConnectingPoint num="1" id="885" />
<TGConnectingPoint num="2" id="886" />
@@ -2269,16 +2404,17 @@
<TGConnectingPoint num="23" id="907" />
<extraparam>
<info stereotype="BUS-RR" nodeName="CAN_CSCU" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="933" >
+<COMPONENT type="1105" id="933" index="22" uid="d3021cd9-d218-4c84-bb0a-ae1e565a6cb0" >
<cdparam x="68" y="1071" />
<sizeparam width="209" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="RAM_PTC" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="909" />
<TGConnectingPoint num="1" id="910" />
<TGConnectingPoint num="2" id="911" />
@@ -2305,16 +2441,17 @@
<TGConnectingPoint num="23" id="932" />
<extraparam>
<info stereotype="MEMORY" nodeName="RAM_PTC" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="0" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1102" id="958" >
+<COMPONENT type="1102" id="958" index="23" uid="57ee7b15-355c-4207-a333-9f0c7910376a" >
<cdparam x="332" y="882" />
<sizeparam width="100" height="319" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="CAN_CU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="934" />
<TGConnectingPoint num="1" id="935" />
<TGConnectingPoint num="2" id="936" />
@@ -2341,16 +2478,17 @@
<TGConnectingPoint num="23" id="957" />
<extraparam>
<info stereotype="BUS-RR" nodeName="CAN_CU" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="983" >
+<COMPONENT type="1105" id="983" index="24" uid="ef99f122-e6ae-419b-82b1-3f98ab0b395b" >
<cdparam x="454" y="906" />
<sizeparam width="111" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="Flash_PTC" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="959" />
<TGConnectingPoint num="1" id="960" />
<TGConnectingPoint num="2" id="961" />
@@ -2377,16 +2515,17 @@
<TGConnectingPoint num="23" id="982" />
<extraparam>
<info stereotype="MEMORY" nodeName="Flash_PTC" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="0" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="1017" >
+<COMPONENT type="1100" id="1017" index="25" uid="76397b10-0748-4dc1-9e3b-fb3023d308cc" >
<cdparam x="21" y="904" />
<sizeparam width="295" height="138" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="CPU_PTC" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="993" />
<TGConnectingPoint num="1" id="994" />
<TGConnectingPoint num="2" id="995" />
@@ -2413,16 +2552,17 @@
<TGConnectingPoint num="23" id="1016" />
<extraparam>
<info stereotype="CPURR" nodeName="CPU_PTC" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="992" >
+<SUBCOMPONENT type="1101" id="992" index="65" uid="be1c8da7-0921-4dad-967f-128121970ac5" >
<father id="1017" num="0" />
-<cdparam x="5" y="952" />
-<sizeparam width="311" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="21" y="952" />
+<sizeparam width="293" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-16" minY="0" maxY="88" />
+<cdrectangleparam minX="0" maxX="2" minY="0" maxY="88" />
<infoparam name="TGComponent" value="Braking - FV::DrivingPowerReductionstrategy" />
+<new d="false" />
<TGConnectingPoint num="0" id="984" />
<TGConnectingPoint num="1" id="985" />
<TGConnectingPoint num="2" id="986" />
@@ -2432,16 +2572,17 @@
<TGConnectingPoint num="6" id="990" />
<TGConnectingPoint num="7" id="991" />
<extraparam>
-<info value="Braking - FV::DrivingPowerReductionstrategy" taskName="DrivingPowerReductionstrategy" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::DrivingPowerReductionstrategy" taskName="DrivingPowerReductionstrategy" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1104" id="1051" >
+<COMPONENT type="1104" id="1051" index="26" uid="3e3a2f00-9c2b-4027-a049-88ff957d52a5" >
<cdparam x="448" y="1130" />
<sizeparam width="243" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="PTC_Devices" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1027" />
<TGConnectingPoint num="1" id="1028" />
<TGConnectingPoint num="2" id="1029" />
@@ -2468,16 +2609,17 @@
<TGConnectingPoint num="23" id="1050" />
<extraparam>
<info stereotype="HWA" nodeName="PTC_Devices" />
-<attributes byteDataSize="4" execiTime="1" clockRatio="1" />
+<attributes byteDataSize="4" execiTime="1" execcTime="1" clockRatio="1" operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="1026" >
+<SUBCOMPONENT type="1101" id="1026" index="66" uid="b0c0914d-23ab-450c-9c0b-44638bd0e055" >
<father id="1051" num="0" />
-<cdparam x="432" y="1179" />
-<sizeparam width="259" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="443" y="1179" />
+<sizeparam width="248" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-16" minY="0" maxY="50" />
+<cdrectangleparam minX="0" maxX="-5" minY="0" maxY="50" />
<infoparam name="TGComponent" value="Braking - FV::doReduceDrivingPower" />
+<new d="false" />
<TGConnectingPoint num="0" id="1018" />
<TGConnectingPoint num="1" id="1019" />
<TGConnectingPoint num="2" id="1020" />
@@ -2487,16 +2629,17 @@
<TGConnectingPoint num="6" id="1024" />
<TGConnectingPoint num="7" id="1025" />
<extraparam>
-<info value="Braking - FV::doReduceDrivingPower" taskName="doReduceDrivingPower" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::doReduceDrivingPower" taskName="doReduceDrivingPower" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1100" id="1103" >
+<COMPONENT type="1100" id="1103" index="27" uid="33f20e2b-0cbf-4f0e-be5f-9998ab25a3e8" >
<cdparam x="196" y="135" />
<sizeparam width="306" height="215" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2400" minY="10" maxY="1900" />
<infoparam name="CPU_CU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1079" />
<TGConnectingPoint num="1" id="1080" />
<TGConnectingPoint num="2" id="1081" />
@@ -2523,16 +2666,17 @@
<TGConnectingPoint num="23" id="1102" />
<extraparam>
<info stereotype="CPURR" nodeName="CPU_CU" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="1060" >
+<SUBCOMPONENT type="1101" id="1060" index="67" uid="f9af19ef-0fc2-4bda-a47d-203651b3dce9" >
<father id="1103" num="0" />
-<cdparam x="204" y="285" />
-<sizeparam width="230" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="191" y="230" />
+<sizeparam width="311" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="76" minY="0" maxY="165" />
-<infoparam name="TGComponent" value="Braking - FV::DSRCManagement" />
+<cdrectangleparam minX="0" maxX="-5" minY="0" maxY="165" />
+<infoparam name="TGComponent" value="Braking - FV::NeighbourhoodTableManagement" />
+<new d="false" />
<TGConnectingPoint num="0" id="1052" />
<TGConnectingPoint num="1" id="1053" />
<TGConnectingPoint num="2" id="1054" />
@@ -2542,16 +2686,17 @@
<TGConnectingPoint num="6" id="1058" />
<TGConnectingPoint num="7" id="1059" />
<extraparam>
-<info value="Braking - FV::DSRCManagement" taskName="DSRCManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::NeighbourhoodTableManagement" taskName="NeighbourhoodTableManagement" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="1069" >
+<SUBCOMPONENT type="1101" id="1069" index="68" uid="dfcb87fb-8eec-4cf5-9194-beb2cda9d2d0" >
<father id="1103" num="1" />
<cdparam x="202" y="175" />
-<sizeparam width="247" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="235" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="59" minY="0" maxY="165" />
+<cdrectangleparam minX="0" maxX="71" minY="0" maxY="165" />
<infoparam name="TGComponent" value="Braking - FV::CorrectnessChecking" />
+<new d="false" />
<TGConnectingPoint num="0" id="1061" />
<TGConnectingPoint num="1" id="1062" />
<TGConnectingPoint num="2" id="1063" />
@@ -2561,16 +2706,17 @@
<TGConnectingPoint num="6" id="1067" />
<TGConnectingPoint num="7" id="1068" />
<extraparam>
-<info value="Braking - FV::CorrectnessChecking" taskName="CorrectnessChecking" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::CorrectnessChecking" taskName="CorrectnessChecking" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="1078" >
+<SUBCOMPONENT type="1101" id="1078" index="69" uid="d560ea80-62af-41b8-ba1e-5e49cd30bb68" >
<father id="1103" num="2" />
-<cdparam x="179" y="230" />
-<sizeparam width="323" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="204" y="285" />
+<sizeparam width="220" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-17" minY="0" maxY="165" />
-<infoparam name="TGComponent" value="Braking - FV::NeighbourhoodTableManagement" />
+<cdrectangleparam minX="0" maxX="86" minY="0" maxY="165" />
+<infoparam name="TGComponent" value="Braking - FV::DSRCManagement" />
+<new d="false" />
<TGConnectingPoint num="0" id="1070" />
<TGConnectingPoint num="1" id="1071" />
<TGConnectingPoint num="2" id="1072" />
@@ -2580,329 +2726,356 @@
<TGConnectingPoint num="6" id="1076" />
<TGConnectingPoint num="7" id="1077" />
<extraparam>
-<info value="Braking - FV::NeighbourhoodTableManagement" taskName="NeighbourhoodTableManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::DSRCManagement" taskName="DSRCManagement" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="125" id="1104" >
+<CONNECTOR type="125" id="1104" index="28" uid="f3205eee-d18f-4110-85ee-c7a22fbcf555" >
<cdparam x="302" y="849" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from PTC_to_CAN to CAN_CU" value="{info}" />
<P1 x="340" y="847" id="840" />
<P2 x="382" y="882" id="935" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1105" >
+<CONNECTOR type="125" id="1105" index="29" uid="d194a593-4738-409b-b7bd-1181e017d9ed" >
<cdparam x="211" y="742" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from PTC_to_CAN to CAN" value="{info}" />
<P1 x="340" y="747" id="835" />
<P2 x="340" y="696" id="580" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1106" >
+<CONNECTOR type="125" id="1106" index="30" uid="ce698c77-661d-4606-9595-e227c69846d8" >
<cdparam x="1932" y="1245" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from BrakingControlDevice to CAN_BCU" value="{info}" />
<P1 x="1861" y="1259" id="281" />
<P2 x="1833" y="1259" id="384" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1107" >
+<CONNECTOR type="125" id="1107" index="31" uid="35b222a3-5e31-4ca5-997d-f7cffee00b4d" >
<cdparam x="1899" y="1013" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Flash_CSCU to CAN_BCU" value="{info}" />
<P1 x="1861" y="1057" id="787" />
<P2 x="1833" y="1057" id="382" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1108" >
+<CONNECTOR type="125" id="1108" index="32" uid="d080b057-ff19-4ec4-a113-2de87d5a12cc" >
<cdparam x="1653" y="1311" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from RAM_BCU to CAN_BCU" value="{info}" />
<P1 x="1689" y="1259" id="307" />
<P2 x="1733" y="1259" id="383" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1109" >
+<CONNECTOR type="125" id="1109" index="33" uid="c88c8e5f-37e2-4ff8-b7cc-c43d4e1820d2" >
<cdparam x="1684" y="1069" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from CPU_BCU to CAN_BCU" value="{info}" />
<P1 x="1694" y="1057" id="350" />
<P2 x="1733" y="1057" id="381" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1110" >
+<CONNECTOR type="125" id="1110" index="34" uid="5042c3ef-4295-4818-8e8a-dd0fbf88912d" >
<cdparam x="1374" y="897" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from BCU_to_CSCU to CAN_BCU" value="{info}" />
<P1 x="1512" y="862" id="400" />
<P2 x="1733" y="956" id="371" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1111" >
+<CONNECTOR type="125" id="1111" index="35" uid="daff75e0-23e6-4533-8314-40368947ac4a" >
<cdparam x="1135" y="901" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from BCU_to_CSCU to Bus0" value="{info}" />
<P1 x="1262" y="862" id="399" />
<P2 x="1087" y="906" id="886" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1112" >
+<CONNECTOR type="125" id="1112" index="36" uid="4d7c08c9-795d-4d23-ba59-b1e3c6aa3f43" >
<cdparam x="1141" y="1262" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from EnvSensors to Bus0" value="{info}" />
<P1 x="1118" y="1203" id="440" />
<P2 x="1087" y="1182" id="897" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1113" >
+<CONNECTOR type="125" id="1113" index="37" uid="ed8e7a29-49cb-49ef-9b12-8ba7a1c29faf" >
<cdparam x="1136" y="1181" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from ChassisSensors to Bus0" value="{info}" />
<P1 x="1119" y="1103" id="467" />
<P2 x="1087" y="1090" id="888" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1114" >
+<CONNECTOR type="125" id="1114" index="38" uid="1cad888a-ba40-480f-a0b2-3577917d1e28" >
<cdparam x="1148" y="968" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Flash_CSCU to Bus0" value="{info}" />
<P1 x="1118" y="971" id="812" />
<P2 x="1087" y="998" id="895" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1115" >
+<CONNECTOR type="125" id="1115" index="39" uid="eab0e473-4b86-4965-b912-440e14d9a8e8" >
<cdparam x="859" y="1198" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Memory0 to Bus0" value="{info}" />
<P1 x="920" y="1187" id="493" />
<P2 x="987" y="1182" id="896" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1116" >
+<CONNECTOR type="125" id="1116" index="40" uid="ff07a6ad-ada5-4fb1-a3a9-65e4ae422bc3" >
<cdparam x="894" y="1009" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from CCPU_CSCU to Bus0" value="{info}" />
<P1 x="968" y="997" id="545" />
<P2 x="987" y="998" id="894" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1117" >
+<CONNECTOR type="125" id="1117" index="41" uid="e0309fcb-da0a-45eb-9768-89bd39498472" >
<cdparam x="1011" y="844" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from CSCU_to_CAN to Bus0" value="{info}" />
<P1 x="1048" y="848" id="865" />
<P2 x="1037" y="906" id="885" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1118" >
+<CONNECTOR type="125" id="1118" index="42" uid="5c7e3387-de5b-4bfb-bd09-7b51c5fcd3dd" >
<cdparam x="653" y="754" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from CSCU_to_CAN to CAN" value="{info}" />
<P1 x="1048" y="748" id="860" />
<P2 x="840" y="696" id="581" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1119" >
+<CONNECTOR type="125" id="1119" index="43" uid="f74ce999-04a0-407c-bf5c-d1ff9ef20367" >
<cdparam x="454" y="636" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from CU_to_CAN to CAN" value="{info}" />
<P1 x="590" y="615" id="597" />
<P2 x="590" y="646" id="567" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1120" >
+<CONNECTOR type="125" id="1120" index="44" uid="eadc212d-acc1-46b3-abef-c64199441738" >
<cdparam x="590" y="534" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from CU_to_CAN to CAN_CU" value="{info}" />
<P1 x="590" y="515" id="592" />
<P2 x="590" y="487" id="647" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1121" >
+<CONNECTOR type="125" id="1121" index="45" uid="611d38ed-70bf-464e-9f51-133b7e5439a9" >
<cdparam x="705" y="461" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from DSRC to CAN_CU" value="{info}" />
<P1 x="684" y="441" id="737" />
<P2 x="640" y="407" id="654" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1122" >
+<CONNECTOR type="125" id="1122" index="46" uid="fe6cd890-cd9a-4521-8b59-8d3a3fe5773b" >
<cdparam x="705" y="336" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from UMTS to CAN_CU" value="{info}" />
<P1 x="683" y="324" id="762" />
<P2 x="640" y="327" id="645" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1123" >
+<CONNECTOR type="125" id="1123" index="47" uid="ad45b946-ddc1-4d97-a2ed-3d3e03a36e63" >
<cdparam x="706" y="223" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from GPS to CAN_CU" value="{info}" />
<P1 x="681" y="211" id="703" />
<P2 x="640" y="247" id="652" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1124" >
+<CONNECTOR type="125" id="1124" index="48" uid="6699c1e8-4388-4af2-8499-a5b54305188c" >
<cdparam x="707" y="101" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Flash_CU to CAN_CU" value="{info}" />
<P1 x="681" y="104" id="669" />
<P2 x="640" y="168" id="643" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1125" >
+<CONNECTOR type="125" id="1125" index="49" uid="fc580794-f8c3-49c7-a8f8-588ec755181d" >
<cdparam x="462" y="291" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from RAM_CU to CAN_CU" value="{info}" />
<P1 x="502" y="417" id="620" />
<P2 x="540" y="407" id="653" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1126" >
+<CONNECTOR type="125" id="1126" index="50" uid="83d637b8-3794-4d42-9a30-bb258bb427f0" >
<cdparam x="463" y="124" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from CCPU_CU to CAN_CU" value="{info}" />
<P1 x="502" y="242" id="1083" />
<P2 x="540" y="247" id="651" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1127" >
+<CONNECTOR type="125" id="1127" index="51" uid="66e68c24-8d2c-42c5-92d5-466c1449850e" >
<cdparam x="538" y="1173" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from GPS to CAN_CU" value="{info}" />
<P1 x="448" y="1180" id="1030" />
<P2 x="432" y="1121" id="947" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1128" >
+<CONNECTOR type="125" id="1128" index="52" uid="82445f6c-81e1-4009-ae85-1706b8243193" >
<cdparam x="539" y="1051" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Flash_CU to CAN_CU" value="{info}" />
<P1 x="454" y="956" id="962" />
<P2 x="432" y="961" id="945" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1129" >
+<CONNECTOR type="125" id="1129" index="53" uid="247e54dd-3903-487b-a183-362df692a3ac" >
<cdparam x="294" y="1241" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from RAM_CU to CAN_CU" value="{info}" />
<P1 x="277" y="1121" id="913" />
<P2 x="332" y="1121" id="946" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="1130" >
+<CONNECTOR type="125" id="1130" index="54" uid="48a67e99-07c4-4812-bba2-cce73bdeab2b" >
<cdparam x="295" y="1074" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from CCPU_CU to CAN_CU" value="{info}" />
<P1 x="316" y="973" id="997" />
<P2 x="332" y="961" id="944" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
@@ -2918,12 +3091,13 @@
<Modeling type="Requirement" nameTab="General Requirements" >
<TRequirementDiagramPanel name="AvailabilityRequirements" minX="10" maxX="1919" minY="10" maxY="919" zoom="1.0000000000000002" >
-<COMPONENT type="900" id="1162" >
+<COMPONENT type="900" id="1162" index="0" uid="4d5d1781-e5a1-4a5b-b441-1779f638274a" >
<cdparam x="470" y="532" />
<sizeparam width="333" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="317" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="919" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="918" />
<infoparam name="Requirement" value="EnsureHighestAvalabilityForHighestPriorityFunctions" />
+<new d="false" />
<TGConnectingPoint num="0" id="1131" />
<TGConnectingPoint num="1" id="1132" />
<TGConnectingPoint num="2" id="1133" />
@@ -2969,12 +3143,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1194" >
+<COMPONENT type="900" id="1194" index="1" uid="998c4812-4cdf-4973-8ae6-78874b315448" >
<cdparam x="196" y="535" />
<sizeparam width="213" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="196" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="919" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="918" />
<infoparam name="Requirement" value="EnsureAvailabilityRadioMedium" />
+<new d="false" />
<TGConnectingPoint num="0" id="1163" />
<TGConnectingPoint num="1" id="1164" />
<TGConnectingPoint num="2" id="1165" />
@@ -3020,12 +3195,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1226" >
+<COMPONENT type="900" id="1226" index="2" uid="0cda41fc-b1d4-44ef-8f71-322bf1be2b18" >
<cdparam x="764" y="331" />
<sizeparam width="310" height="102" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="288" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="919" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="918" />
<infoparam name="Requirement" value="EnsureExternalCommunicationDeviceAvailability" />
+<new d="false" />
<TGConnectingPoint num="0" id="1195" />
<TGConnectingPoint num="1" id="1196" />
<TGConnectingPoint num="2" id="1197" />
@@ -3070,12 +3246,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1258" >
+<COMPONENT type="900" id="1258" index="3" uid="3f7d8679-e7cb-4e9c-bd4b-5473a4a2ea98" >
<cdparam x="527" y="329" />
<sizeparam width="181" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="144" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="919" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="918" />
<infoparam name="Requirement" value="EnsureRAMAvailability" />
+<new d="false" />
<TGConnectingPoint num="0" id="1227" />
<TGConnectingPoint num="1" id="1228" />
<TGConnectingPoint num="2" id="1229" />
@@ -3121,12 +3298,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1290" >
+<COMPONENT type="900" id="1290" index="4" uid="c269cf60-882d-4fa9-87f6-a4bdfae657c7" >
<cdparam x="303" y="331" />
<sizeparam width="181" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="145" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="919" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="918" />
<infoparam name="Requirement" value="EnsureCPUAvailability" />
+<new d="false" />
<TGConnectingPoint num="0" id="1259" />
<TGConnectingPoint num="1" id="1260" />
<TGConnectingPoint num="2" id="1261" />
@@ -3172,12 +3350,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1322" >
+<COMPONENT type="900" id="1322" index="5" uid="dda76e5a-9657-45d7-b8b7-6f5d2dfe0db0" >
<cdparam x="72" y="334" />
<sizeparam width="181" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="141" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="919" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="918" />
<infoparam name="Requirement" value="EnsureBusAvailability" />
+<new d="false" />
<TGConnectingPoint num="0" id="1291" />
<TGConnectingPoint num="1" id="1292" />
<TGConnectingPoint num="2" id="1293" />
@@ -3223,12 +3402,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1354" >
+<COMPONENT type="900" id="1354" index="6" uid="84b737fe-d837-4457-a925-babc8ab810a9" >
<cdparam x="467" y="123" />
<sizeparam width="181" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="164" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1919" minY="10" maxY="919" />
+<cdrectangleparam minX="9" maxX="1918" minY="9" maxY="918" />
<infoparam name="Requirement" value="EnsureAvailabilityOfECUs" />
+<new d="false" />
<TGConnectingPoint num="0" id="1323" />
<TGConnectingPoint num="1" id="1324" />
<TGConnectingPoint num="2" id="1325" />
@@ -3274,48 +3454,53 @@
</extraparam>
</COMPONENT>
-<CONNECTOR type="129" id="1355" >
+<CONNECTOR type="129" id="1355" index="7" uid="55b1d85e-4f1f-41b5-9194-bd0e769b4875" >
<cdparam x="889" y="343" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
<P1 x="841" y="331" id="1201" />
<P2 x="557" y="237" id="1349" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="129" id="1356" >
+<CONNECTOR type="129" id="1356" index="8" uid="1dd6842d-cf3d-4632-af3f-e0b4b4f54e70" >
<cdparam x="669" y="337" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
<P1 x="617" y="329" id="1234" />
<P2 x="557" y="237" id="1348" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="129" id="1357" >
+<CONNECTOR type="129" id="1357" index="9" uid="8c722598-8221-441a-9638-eb992987d8a4" >
<cdparam x="440" y="335" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
<P1 x="393" y="331" id="1266" />
<P2 x="557" y="237" id="1333" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="129" id="1358" >
+<CONNECTOR type="129" id="1358" index="10" uid="12685dfa-e98b-4243-9d05-0d2a7288de8c" >
<cdparam x="160" y="332" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
<P1 x="162" y="334" id="1298" />
<P2 x="557" y="237" id="1347" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</TRequirementDiagramPanel>
<TRequirementDiagramPanel name="Privacy requirements" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
-<COMPONENT type="901" id="1374" >
+<COMPONENT type="901" id="1374" index="0" uid="28bd8d4e-212a-4e02-a1db-c126966bfa8a" >
<cdparam x="799" y="707" />
<sizeparam width="566" height="120" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="197" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="RequirementObserver" value="PreventOrderingEcallMessages" />
+<new d="false" />
<TGConnectingPoint num="0" id="1359" />
<TGConnectingPoint num="1" id="1360" />
<TGConnectingPoint num="2" id="1361" />
@@ -3337,12 +3522,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1406" >
+<COMPONENT type="900" id="1406" index="1" uid="4b58f099-0be9-43a8-b811-086364eb7060" >
<cdparam x="942" y="96" />
<sizeparam width="345" height="150" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="259" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Requirement" value="ControlledAccessToEServiceMessageData" />
+<new d="false" />
<TGConnectingPoint num="0" id="1375" />
<TGConnectingPoint num="1" id="1376" />
<TGConnectingPoint num="2" id="1377" />
@@ -3392,12 +3578,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1438" >
+<COMPONENT type="900" id="1438" index="2" uid="a23cfff6-55c6-4731-b32b-09036a77fe75" >
<cdparam x="560" y="493" />
<sizeparam width="338" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="271" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Requirement" value="UnlikableDriverIdentificationBetweenServices" />
+<new d="false" />
<TGConnectingPoint num="0" id="1407" />
<TGConnectingPoint num="1" id="1408" />
<TGConnectingPoint num="2" id="1409" />
@@ -3443,12 +3630,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1470" >
+<COMPONENT type="900" id="1470" index="3" uid="2b083a92-0a66-43ba-bee8-d6bb8516aaf8" >
<cdparam x="93" y="152" />
<sizeparam width="270" height="126" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="155" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Requirement" value="UserDrivenPrivacyPolicy" />
+<new d="false" />
<TGConnectingPoint num="0" id="1439" />
<TGConnectingPoint num="1" id="1440" />
<TGConnectingPoint num="2" id="1441" />
@@ -3495,12 +3683,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1502" >
+<COMPONENT type="900" id="1502" index="4" uid="f533b2a3-0919-4191-a5c1-6b2c3ebdd288" >
<cdparam x="984" y="531" />
<sizeparam width="306" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="228" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Requirement" value="UnlinkableTimeOrderingOfMessages" />
+<new d="false" />
<TGConnectingPoint num="0" id="1471" />
<TGConnectingPoint num="1" id="1472" />
<TGConnectingPoint num="2" id="1473" />
@@ -3546,12 +3735,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1534" >
+<COMPONENT type="900" id="1534" index="5" uid="bd1fd652-accc-4cb8-bcad-770c5ff3ff32" >
<cdparam x="616" y="298" />
<sizeparam width="339" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="219" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Requirement" value="EServiceCriticalMessageUnlikability" />
+<new d="false" />
<TGConnectingPoint num="0" id="1503" />
<TGConnectingPoint num="1" id="1504" />
<TGConnectingPoint num="2" id="1505" />
@@ -3599,12 +3789,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="901" id="1550" >
+<COMPONENT type="901" id="1550" index="6" uid="0d262c36-eea3-46f1-90f0-f4067cd55ec8" >
<cdparam x="98" y="658" />
<sizeparam width="577" height="66" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="284" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="RequirementObserver" value="PreventAttackersFromGatheringDriversBehavior" />
+<new d="false" />
<TGConnectingPoint num="0" id="1535" />
<TGConnectingPoint num="1" id="1536" />
<TGConnectingPoint num="2" id="1537" />
@@ -3626,12 +3817,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1582" >
+<COMPONENT type="900" id="1582" index="7" uid="73b80160-75a7-4890-8fad-be75e642ec07" >
<cdparam x="157" y="463" />
<sizeparam width="303" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="163" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Requirement" value="Car2XMessageAnonymity" />
+<new d="false" />
<TGConnectingPoint num="0" id="1551" />
<TGConnectingPoint num="1" id="1552" />
<TGConnectingPoint num="2" id="1553" />
@@ -3679,12 +3871,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1614" >
+<COMPONENT type="900" id="1614" index="8" uid="817abb12-bde7-4e62-80f6-bfe4987bf974" >
<cdparam x="565" y="90" />
<sizeparam width="183" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="131" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Requirement" value="ProtectDriverPrivacy" />
+<new d="false" />
<TGConnectingPoint num="0" id="1583" />
<TGConnectingPoint num="1" id="1584" />
<TGConnectingPoint num="2" id="1585" />
@@ -3730,80 +3923,89 @@
</extraparam>
</COMPONENT>
-<CONNECTOR type="120" id="1615" >
+<CONNECTOR type="120" id="1615" index="9" uid="58dc93b5-8160-4d2a-b3a4-4655170c000a" >
<cdparam x="1007" y="710" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from RequirementObserver to Requirement" value="<<verify>>" />
<P1 x="1082" y="707" id="1366" />
<P2 x="1137" y="645" id="1493" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="119" id="1616" >
+<CONNECTOR type="119" id="1616" index="10" uid="fa54ac69-e709-4d58-b6e8-8aed3e8474b8" >
<cdparam x="363" y="246" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<deriveReqt>>" />
<P1 x="363" y="215" id="1443" />
<P2 x="565" y="147" id="1584" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="119" id="1617" >
+<CONNECTOR type="119" id="1617" index="11" uid="cac14987-bc67-47b3-a03b-43105dbb627b" >
<cdparam x="1000" y="427" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<deriveReqt>>" />
<P1 x="700" y="298" id="1509" />
<P2 x="702" y="204" id="1594" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="119" id="1618" >
+<CONNECTOR type="119" id="1618" index="12" uid="d9ca453a-950c-49e0-b0af-40ebf85c5dce" >
<cdparam x="1053" y="247" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<deriveReqt>>" />
<P1 x="942" y="171" id="1376" />
<P2 x="748" y="147" id="1587" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="119" id="1619" >
+<CONNECTOR type="119" id="1619" index="13" uid="7ec29496-c044-4ebd-ba92-ef5504f78ab0" >
<cdparam x="734" y="399" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<deriveReqt>>" />
<P1 x="729" y="493" id="1414" />
<P2 x="700" y="412" id="1512" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="119" id="1620" >
+<CONNECTOR type="119" id="1620" index="14" uid="5c359de8-9f08-4775-bd5e-fc5302712b20" >
<cdparam x="1077" y="281" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<deriveReqt>>" />
<P1 x="1137" y="531" id="1478" />
<P2 x="870" y="412" id="1514" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="120" id="1621" >
+<CONNECTOR type="120" id="1621" index="15" uid="a51aa11a-541b-4236-8a42-227614b5a6ed" >
<cdparam x="759" y="578" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from RequirementObserver to Requirement" value="<<verify>>" />
<P1 x="386" y="658" id="1542" />
<P2 x="384" y="577" id="1574" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="119" id="1622" >
+<CONNECTOR type="119" id="1622" index="16" uid="4967397b-724c-47d3-9411-01c5c146175e" >
<cdparam x="539" y="358" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<deriveReqt>>" />
<P1 x="308" y="463" id="1558" />
<P2 x="616" y="355" id="1504" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</TRequirementDiagramPanel>
<TRequirementDiagramPanel name="Fake commands requirements" minX="10" maxX="1900" minY="10" maxY="900" zoom="1.0" >
-<COMPONENT type="901" id="1638" >
+<COMPONENT type="901" id="1638" index="0" uid="d2cf77e3-1012-412f-9f15-720f88b79037" >
<cdparam x="81" y="711" />
<sizeparam width="436" height="66" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="165" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="RequirementObserver" value="PreventHeadUnitSpoofing" />
+<new d="false" />
<TGConnectingPoint num="0" id="1623" />
<TGConnectingPoint num="1" id="1624" />
<TGConnectingPoint num="2" id="1625" />
@@ -3825,12 +4027,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1670" >
+<COMPONENT type="900" id="1670" index="1" uid="9e5b1aab-69a0-49b1-9fc8-82deea3c2621" >
<cdparam x="1347" y="524" />
<sizeparam width="201" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="190" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="FlashingCommandFreshness" />
+<new d="false" />
<TGConnectingPoint num="0" id="1639" />
<TGConnectingPoint num="1" id="1640" />
<TGConnectingPoint num="2" id="1641" />
@@ -3876,12 +4079,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1702" >
+<COMPONENT type="900" id="1702" index="2" uid="af8877f5-c35a-4ee3-9cb2-45a5ad66f56e" >
<cdparam x="1144" y="521" />
<sizeparam width="181" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="95" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="CodeIntegrity" />
+<new d="false" />
<TGConnectingPoint num="0" id="1671" />
<TGConnectingPoint num="1" id="1672" />
<TGConnectingPoint num="2" id="1673" />
@@ -3927,12 +4131,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1734" >
+<COMPONENT type="900" id="1734" index="3" uid="1e373c09-6327-4d35-a7d8-d1d27fbae5b5" >
<cdparam x="939" y="521" />
<sizeparam width="181" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="163" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="CodeOriginAuthentication" />
+<new d="false" />
<TGConnectingPoint num="0" id="1703" />
<TGConnectingPoint num="1" id="1704" />
<TGConnectingPoint num="2" id="1705" />
@@ -3978,12 +4183,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1766" >
+<COMPONENT type="900" id="1766" index="4" uid="fb75aa94-30bf-487c-ae1b-dbce245697b8" >
<cdparam x="1136" y="301" />
<sizeparam width="196" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="181" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="ProtectECUFlashingProcess" />
+<new d="false" />
<TGConnectingPoint num="0" id="1735" />
<TGConnectingPoint num="1" id="1736" />
<TGConnectingPoint num="2" id="1737" />
@@ -4029,12 +4235,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1798" >
+<COMPONENT type="900" id="1798" index="5" uid="fdb22f35-a66e-4743-a6b4-4a7c6f006415" >
<cdparam x="13" y="517" />
<sizeparam width="285" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="194" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="AuthenticationOfFunctionalPath" />
+<new d="false" />
<TGConnectingPoint num="0" id="1767" />
<TGConnectingPoint num="1" id="1768" />
<TGConnectingPoint num="2" id="1769" />
@@ -4080,12 +4287,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1830" >
+<COMPONENT type="900" id="1830" index="6" uid="2c87bcf7-0b8b-4010-99c8-48b941784fa4" >
<cdparam x="690" y="295" />
<sizeparam width="290" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="272" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="PreventReplacementOfChipsOnLocalBusses" />
+<new d="false" />
<TGConnectingPoint num="0" id="1799" />
<TGConnectingPoint num="1" id="1800" />
<TGConnectingPoint num="2" id="1801" />
@@ -4131,12 +4339,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1862" >
+<COMPONENT type="900" id="1862" index="7" uid="59e8a93f-19cb-4037-8d88-a55ad3cd90a9" >
<cdparam x="332" y="317" />
<sizeparam width="211" height="102" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="186" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="PreventManInTheMiddleAttack" />
+<new d="false" />
<TGConnectingPoint num="0" id="1831" />
<TGConnectingPoint num="1" id="1832" />
<TGConnectingPoint num="2" id="1833" />
@@ -4181,12 +4390,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1894" >
+<COMPONENT type="900" id="1894" index="8" uid="0a2c68e4-ce96-47c8-a03f-106e709163d2" >
<cdparam x="305" y="518" />
<sizeparam width="271" height="117" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="247" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="MessageFreshnessAlongFunctionalPath" />
+<new d="false" />
<TGConnectingPoint num="0" id="1863" />
<TGConnectingPoint num="1" id="1864" />
<TGConnectingPoint num="2" id="1865" />
@@ -4232,12 +4442,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1926" >
+<COMPONENT type="900" id="1926" index="9" uid="5ff25dd6-c7d3-48e0-a9e0-852de29d0d55" >
<cdparam x="584" y="518" />
<sizeparam width="319" height="116" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="292" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="IntegrityOfMessageAttributesAlongFunctionalPath" />
+<new d="false" />
<TGConnectingPoint num="0" id="1895" />
<TGConnectingPoint num="1" id="1896" />
<TGConnectingPoint num="2" id="1897" />
@@ -4283,12 +4494,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="1958" >
+<COMPONENT type="900" id="1958" index="10" uid="7b0a8e45-3c73-48a4-ba59-a79760a7922d" >
<cdparam x="693" y="73" />
<sizeparam width="278" height="113" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="196" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="PreventSendingFakeCommand" />
+<new d="false" />
<TGConnectingPoint num="0" id="1927" />
<TGConnectingPoint num="1" id="1928" />
<TGConnectingPoint num="2" id="1929" />
@@ -4333,7 +4545,7 @@
</extraparam>
</COMPONENT>
-<CONNECTOR type="129" id="1960" >
+<CONNECTOR type="129" id="1960" index="11" uid="8f9239b7-6fbe-41ce-9f76-e4d06f4c1a56" >
<cdparam x="448" y="293" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
@@ -4341,16 +4553,18 @@
<P2 x="832" y="186" id="1952" />
<Point x="832" y="223" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1959" >
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1959" index="21" uid="5bf31181-c167-4ee5-af13-c8c5cfec457e" >
<father id="1960" num="0" />
<cdparam x="832" y="223" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="129" id="1962" >
+<CONNECTOR type="129" id="1962" index="12" uid="67bc849b-d781-4d6d-a506-424eaae908cd" >
<cdparam x="1166" y="296" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
@@ -4358,89 +4572,100 @@
<P2 x="832" y="186" id="1951" />
<Point x="836" y="224" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1961" >
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1961" index="22" uid="8e26dc8a-4c5f-4ebf-9759-721a0df79909" >
<father id="1962" num="0" />
<cdparam x="836" y="224" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="120" id="1963" >
+<CONNECTOR type="120" id="1963" index="13" uid="118d7936-1ce4-43c7-adda-bd36ce786ff4" >
<cdparam x="248" y="736" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from RequirementObserver to Requirement" value="<<verify>>" />
<P1 x="190" y="711" id="1629" />
<P2 x="155" y="631" id="1789" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="129" id="1964" >
+<CONNECTOR type="129" id="1964" index="14" uid="c9de322c-4b02-4c31-ab6a-a93c155dd1b4" >
<cdparam x="1334" y="520" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
<P1 x="1397" y="524" id="1645" />
<P2 x="1283" y="415" id="1746" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="129" id="1965" >
+<CONNECTOR type="129" id="1965" index="15" uid="d118da2d-74d2-41d5-b109-13d4d437a89f" >
<cdparam x="1147" y="520" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
<P1 x="1234" y="521" id="1678" />
<P2 x="1234" y="415" id="1745" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="129" id="1966" >
+<CONNECTOR type="129" id="1966" index="16" uid="7dcca780-500d-4242-bcf6-f0f6bab572c3" >
<cdparam x="917" y="520" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
<P1 x="1029" y="521" id="1710" />
<P2 x="1185" y="415" id="1744" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="129" id="1967" >
+<CONNECTOR type="129" id="1967" index="17" uid="559e39e1-9f6b-420e-a902-faf4b3398989" >
<cdparam x="837" y="296" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
<P1 x="835" y="295" id="1806" />
<P2 x="832" y="186" id="1937" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="129" id="1968" >
+<CONNECTOR type="129" id="1968" index="18" uid="f47129f4-e766-4cef-a713-029cafe3106d" >
<cdparam x="622" y="521" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
<P1 x="663" y="518" id="1901" />
<P2 x="437" y="419" id="1855" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="129" id="1969" >
+<CONNECTOR type="129" id="1969" index="19" uid="31515a9a-59e0-49ea-8530-ba49c11d1391" >
<cdparam x="448" y="522" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
<P1 x="440" y="518" id="1870" />
<P2 x="437" y="419" id="1841" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="129" id="1970" >
+<CONNECTOR type="129" id="1970" index="20" uid="3178c9b0-8b8e-4443-adb9-af2dd90e8838" >
<cdparam x="216" y="520" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
<P1 x="155" y="517" id="1774" />
<P2 x="437" y="419" id="1856" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</TRequirementDiagramPanel>
<TRequirementDiagramPanel name="Environment related requirements" minX="10" maxX="1900" minY="10" maxY="900" zoom="1.0" >
-<COMPONENT type="901" id="1986" >
+<COMPONENT type="901" id="1986" index="0" uid="a933f460-0616-49a0-8f4c-153621976653" >
<cdparam x="416" y="834" />
<sizeparam width="654" height="66" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="264" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="RequirementObserver" value="PreventionOfWronglySignedFakeNotification" />
+<new d="false" />
<TGConnectingPoint num="0" id="1971" />
<TGConnectingPoint num="1" id="1972" />
<TGConnectingPoint num="2" id="1973" />
@@ -4462,12 +4687,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2018" >
+<COMPONENT type="900" id="2018" index="1" uid="85eaf2c6-ee90-451d-8ef3-09cb466cd456" >
<cdparam x="1197" y="294" />
<sizeparam width="297" height="150" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="221" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="EnvironmentRelatedDataFreshness" />
+<new d="false" />
<TGConnectingPoint num="0" id="1987" />
<TGConnectingPoint num="1" id="1988" />
<TGConnectingPoint num="2" id="1989" />
@@ -4516,12 +4742,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="901" id="2034" >
+<COMPONENT type="901" id="2034" index="2" uid="90f58384-528b-418b-a873-6009e8df8561" >
<cdparam x="561" y="490" />
<sizeparam width="367" height="66" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="249" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="RequirementObserver" value="MajorityVoteBetweenNeighbourhoodCars" />
+<new d="false" />
<TGConnectingPoint num="0" id="2019" />
<TGConnectingPoint num="1" id="2020" />
<TGConnectingPoint num="2" id="2021" />
@@ -4543,12 +4770,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="901" id="2050" >
+<COMPONENT type="901" id="2050" index="3" uid="8e2a2185-eaf9-4fe4-a988-9aa7f6df7b43" >
<cdparam x="173" y="556" />
<sizeparam width="298" height="66" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="246" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="RequirementObserver" value="RoadsideUnitMessageReplayPrevention" />
+<new d="false" />
<TGConnectingPoint num="0" id="2035" />
<TGConnectingPoint num="1" id="2036" />
<TGConnectingPoint num="2" id="2037" />
@@ -4570,12 +4798,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2082" >
+<COMPONENT type="900" id="2082" index="4" uid="d8bc7e44-d5e1-46f8-8f61-4f9739c8c2c0" >
<cdparam x="24" y="305" />
<sizeparam width="181" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="135" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="IntegrityOfMessages" />
+<new d="false" />
<TGConnectingPoint num="0" id="2051" />
<TGConnectingPoint num="1" id="2052" />
<TGConnectingPoint num="2" id="2053" />
@@ -4621,12 +4850,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2114" >
+<COMPONENT type="900" id="2114" index="5" uid="c0d4dec7-4912-47b0-af96-63a7643a09c6" >
<cdparam x="327" y="274" />
<sizeparam width="287" height="174" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="211" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="EnvironmentInformationAttestation" />
+<new d="false" />
<TGConnectingPoint num="0" id="2083" />
<TGConnectingPoint num="1" id="2084" />
<TGConnectingPoint num="2" id="2085" />
@@ -4677,12 +4907,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2146" >
+<COMPONENT type="900" id="2146" index="6" uid="5aa51546-e1c4-4cd9-95f8-5c9c0b1fa409" >
<cdparam x="846" y="276" />
<sizeparam width="283" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="197" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="AuthenticatingMessageSources" />
+<new d="false" />
<TGConnectingPoint num="0" id="2115" />
<TGConnectingPoint num="1" id="2116" />
<TGConnectingPoint num="2" id="2117" />
@@ -4728,12 +4959,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2178" >
+<COMPONENT type="900" id="2178" index="7" uid="7252d6a6-4797-415b-a513-13bff8d9899d" >
<cdparam x="525" y="30" />
<sizeparam width="405" height="126" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="379" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="PreventMaliciousModificationsOnTheEnvironmentRepresentation" />
+<new d="false" />
<TGConnectingPoint num="0" id="2147" />
<TGConnectingPoint num="1" id="2148" />
<TGConnectingPoint num="2" id="2149" />
@@ -4780,12 +5012,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2210" >
+<COMPONENT type="900" id="2210" index="8" uid="13f7cd86-f07a-4ad7-9357-8fbf52bc5dc4" >
<cdparam x="10" y="674" />
<sizeparam width="315" height="183" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="209" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="EnforceTrustedIntegrityVerification" />
+<new d="false" />
<TGConnectingPoint num="0" id="2179" />
<TGConnectingPoint num="1" id="2180" />
<TGConnectingPoint num="2" id="2181" />
@@ -4832,12 +5065,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2242" >
+<COMPONENT type="900" id="2242" index="9" uid="750c6e10-56d3-4fa5-97a5-34f4e0920df2" >
<cdparam x="374" y="639" />
<sizeparam width="384" height="120" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="222" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="EnforceTrustedSourcesOfAttestation" />
+<new d="false" />
<TGConnectingPoint num="0" id="2211" />
<TGConnectingPoint num="1" id="2212" />
<TGConnectingPoint num="2" id="2213" />
@@ -4883,12 +5117,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2274" >
+<COMPONENT type="900" id="2274" index="10" uid="ec2a04f4-fe81-4f02-9ebf-ac60e25349eb" >
<cdparam x="800" y="585" />
<sizeparam width="375" height="120" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="184" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="EnforceTrustedAuthentication" />
+<new d="false" />
<TGConnectingPoint num="0" id="2243" />
<TGConnectingPoint num="1" id="2244" />
<TGConnectingPoint num="2" id="2245" />
@@ -4934,12 +5169,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2306" >
+<COMPONENT type="900" id="2306" index="11" uid="b1580111-88a3-4778-91d9-77af4c531c6b" >
<cdparam x="1202" y="544" />
<sizeparam width="275" height="121" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="240" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="Requirement" value="EnforceCorrectAndUpdatedTimeSource" />
+<new d="false" />
<TGConnectingPoint num="0" id="2275" />
<TGConnectingPoint num="1" id="2276" />
<TGConnectingPoint num="2" id="2277" />
@@ -4985,47 +5221,52 @@
</extraparam>
</COMPONENT>
-<CONNECTOR type="119" id="2307" >
+<CONNECTOR type="119" id="2307" index="12" uid="c1228119-df36-4b73-916a-7fb495de0f16" >
<cdparam x="1421" y="551" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<deriveReqt>>" />
<P1 x="1339" y="544" id="2282" />
<P2 x="1345" y="444" id="1997" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="120" id="2308" >
+<CONNECTOR type="120" id="2308" index="13" uid="f4c5f659-37a7-42f5-a627-b6dd6b8751f7" >
<cdparam x="511" y="867" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from RequirementObserver to Requirement" value="<<verify>>" />
<P1 x="416" y="867" id="1972" />
<P2 x="325" y="765" id="2195" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="119" id="2309" >
+<CONNECTOR type="119" id="2309" index="14" uid="9b10d8b3-9a12-4938-b4b5-cdf6b92a97f6" >
<cdparam x="961" y="514" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<deriveReqt>>" />
<P1 x="987" y="585" id="2250" />
<P2 x="987" y="390" id="2125" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="119" id="2310" >
+<CONNECTOR type="119" id="2310" index="15" uid="64622446-0b89-4ba8-822e-c8e088101569" >
<cdparam x="584" y="660" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<deriveReqt>>" />
<P1 x="566" y="639" id="2218" />
<P2 x="470" y="448" id="2093" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="119" id="2311" >
+<CONNECTOR type="119" id="2311" index="16" uid="a05cada9-b7a3-4b29-9400-85584cb20835" >
<cdparam x="194" y="700" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<deriveReqt>>" />
<P1 x="167" y="674" id="2186" />
<P2 x="114" y="419" id="2061" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="129" id="2314" >
+<CONNECTOR type="129" id="2314" index="17" uid="4554bd7d-7651-4ccc-8f9c-e16e61ff5912" >
<cdparam x="180" y="367" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
@@ -5034,24 +5275,27 @@
<Point x="114" y="262" />
<Point x="727" y="195" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="2312" >
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="2312" index="23" uid="294c0e9c-d639-4fc3-b25d-0a967b490c10" >
<father id="2314" num="0" />
<cdparam x="114" y="262" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="2313" >
+<SUBCOMPONENT type="-1" id="2313" index="24" uid="81dc8556-1425-4e7c-b774-e85f6a9f5858" >
<father id="2314" num="1" />
<cdparam x="727" y="195" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="129" id="2317" >
+<CONNECTOR type="129" id="2317" index="18" uid="dfb36e14-1aff-408e-bd50-768e113968a8" >
<cdparam x="932" y="366" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
@@ -5060,24 +5304,27 @@
<Point x="987" y="250" />
<Point x="729" y="194" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="2315" >
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="2315" index="25" uid="28a83847-c002-4f2c-a97d-efc4caed54b5" >
<father id="2317" num="0" />
<cdparam x="987" y="250" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="2316" >
+<SUBCOMPONENT type="-1" id="2316" index="26" uid="65d59284-6606-49e7-b89c-77a7d188ea88" >
<father id="2317" num="1" />
<cdparam x="729" y="194" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="129" id="2320" >
+<CONNECTOR type="129" id="2320" index="19" uid="0bb260ce-ac48-471d-93a2-590839df96dc" >
<cdparam x="1192" y="279" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
@@ -5086,24 +5333,27 @@
<Point x="1345" y="241" />
<Point x="725" y="193" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="2318" >
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="2318" index="27" uid="1de6e6a5-a482-4fcd-b7a6-caa20df0c135" >
<father id="2320" num="0" />
<cdparam x="1345" y="241" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="2319" >
+<SUBCOMPONENT type="-1" id="2319" index="28" uid="a3cf0a96-0561-4b3f-a7b5-3920ceea835b" >
<father id="2320" num="1" />
<cdparam x="725" y="193" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="129" id="2323" >
+<CONNECTOR type="129" id="2323" index="20" uid="45c2a732-0b6f-420f-bcd5-940437ea8df3" >
<cdparam x="505" y="296" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
@@ -5112,38 +5362,43 @@
<Point x="470" y="244" />
<Point x="727" y="197" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="2321" >
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="2321" index="29" uid="a3ed90fc-7127-498c-b900-81e34731b386" >
<father id="2323" num="0" />
<cdparam x="470" y="244" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="2322" >
+<SUBCOMPONENT type="-1" id="2322" index="30" uid="bf3e6315-19b0-4ad5-ab85-12f30c611d74" >
<father id="2323" num="1" />
<cdparam x="727" y="197" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="120" id="2324" >
+<CONNECTOR type="120" id="2324" index="21" uid="2e440f0d-1a6d-42ce-8075-167a660eae5a" >
<cdparam x="764" y="656" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from RequirementObserver to Requirement" value="<<verify>>" />
<P1 x="744" y="490" id="2026" />
<P2 x="542" y="448" id="2106" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="120" id="2325" >
+<CONNECTOR type="120" id="2325" index="22" uid="42a1bf79-c31e-4f02-a104-f99e3ae3d067" >
<cdparam x="551" y="632" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from RequirementObserver to Requirement" value="<<verify>>" />
<P1 x="322" y="556" id="2042" />
<P2 x="398" y="448" id="2104" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</TRequirementDiagramPanel>
@@ -5155,12 +5410,13 @@
<Modeling type="Requirement" nameTab="Reqs of Braking Use Case" >
<TRequirementDiagramPanel name="Prevent sending fake Brake commands requirements" minX="10" maxX="1900" minY="10" maxY="1400" zoom="1.0" >
-<COMPONENT type="901" id="2341" >
+<COMPONENT type="901" id="2341" index="0" uid="2a455eac-da6a-4ae3-9110-d0141e129e9d" >
<cdparam x="184" y="170" />
<sizeparam width="955" height="120" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="221" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="RequirementObserver" value="PreventSendFakeBrakingCommand" />
+<new d="false" />
<TGConnectingPoint num="0" id="2326" />
<TGConnectingPoint num="1" id="2327" />
<TGConnectingPoint num="2" id="2328" />
@@ -5182,12 +5438,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="901" id="2357" >
+<COMPONENT type="901" id="2357" index="1" uid="f8321e74-2b9c-4d59-a0a4-821db62c21de" >
<cdparam x="315" y="510" />
<sizeparam width="436" height="66" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="165" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="RequirementObserver" value="PreventHeadUnitSpoofing" />
+<new d="false" />
<TGConnectingPoint num="0" id="2342" />
<TGConnectingPoint num="1" id="2343" />
<TGConnectingPoint num="2" id="2344" />
@@ -5209,12 +5466,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2389" >
+<COMPONENT type="900" id="2389" index="2" uid="334a982f-55c4-4dd8-bb65-fbd55bcb0781" >
<cdparam x="282" y="335" />
<sizeparam width="285" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="194" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="Requirement" value="AuthenticationOfFunctionalPath" />
+<new d="false" />
<TGConnectingPoint num="0" id="2358" />
<TGConnectingPoint num="1" id="2359" />
<TGConnectingPoint num="2" id="2360" />
@@ -5260,12 +5518,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2421" >
+<COMPONENT type="900" id="2421" index="3" uid="b22a46cd-97d4-42b7-ad68-ff6749bc297a" >
<cdparam x="614" y="63" />
<sizeparam width="282" height="64" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="196" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="Requirement" value="PreventSendingFakeCommand" />
+<new d="false" />
<TGConnectingPoint num="0" id="2390" />
<TGConnectingPoint num="1" id="2391" />
<TGConnectingPoint num="2" id="2392" />
@@ -5311,32 +5570,35 @@
</extraparam>
</COMPONENT>
-<CONNECTOR type="120" id="2422" >
+<CONNECTOR type="120" id="2422" index="4" uid="11266c98-4418-4ee5-834f-cbef45f850b2" >
<cdparam x="778" y="246" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from RequirementObserver to Requirement" value="<<verify>>" />
<P1 x="661" y="170" id="2333" />
<P2 x="755" y="127" id="2412" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="120" id="2423" >
+<CONNECTOR type="120" id="2423" index="5" uid="86b78388-d5c8-48f7-a95a-527659b64934" >
<cdparam x="246" y="735" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from RequirementObserver to Requirement" value="<<verify>>" />
<P1 x="424" y="510" id="2348" />
<P2 x="424" y="449" id="2380" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</TRequirementDiagramPanel>
<TRequirementDiagramPanel name="DoS requirements" minX="10" maxX="1900" minY="10" maxY="1400" zoom="1.0" >
-<COMPONENT type="900" id="2455" >
+<COMPONENT type="900" id="2455" index="0" uid="1981d778-c346-4fea-ab2c-1fe2e15f6f0a" >
<cdparam x="345" y="379" />
<sizeparam width="330" height="51" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="318" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="Requirement" value="PreventBroadcastBrakeDoSWhenEmergencySituation" />
+<new d="false" />
<TGConnectingPoint num="0" id="2424" />
<TGConnectingPoint num="1" id="2425" />
<TGConnectingPoint num="2" id="2426" />
@@ -5382,12 +5644,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2487" >
+<COMPONENT type="900" id="2487" index="1" uid="54156e36-bfaa-4b92-b770-a09fa5677335" >
<cdparam x="344" y="111" />
<sizeparam width="274" height="49" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="262" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="Requirement" value="PreventBrakeDoSWhenEmergencySituation" />
+<new d="false" />
<TGConnectingPoint num="0" id="2456" />
<TGConnectingPoint num="1" id="2457" />
<TGConnectingPoint num="2" id="2458" />
@@ -5433,12 +5696,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="901" id="2503" >
+<COMPONENT type="901" id="2503" index="2" uid="795c70d5-fe4c-4b51-815e-c64142d0bbbd" >
<cdparam x="179" y="304" />
<sizeparam width="263" height="66" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="246" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="RequirementObserver" value="DoSAttackOn_CU_And_CSC_Prevention" />
+<new d="false" />
<TGConnectingPoint num="0" id="2488" />
<TGConnectingPoint num="1" id="2489" />
<TGConnectingPoint num="2" id="2490" />
@@ -5460,12 +5724,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2535" >
+<COMPONENT type="900" id="2535" index="3" uid="73fb5e67-6d23-41a1-a4cf-773e70035857" >
<cdparam x="251" y="460" />
<sizeparam width="269" height="95" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="192" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="Requirement" value="BroadcastTotalResponseTime" />
+<new d="false" />
<TGConnectingPoint num="0" id="2504" />
<TGConnectingPoint num="1" id="2505" />
<TGConnectingPoint num="2" id="2506" />
@@ -5512,12 +5777,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2567" >
+<COMPONENT type="900" id="2567" index="4" uid="45868885-9b84-4d19-905b-dfa22c6c529d" >
<cdparam x="170" y="185" />
<sizeparam width="280" height="94" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="168" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="Requirement" value="BrakeTotalResponseTime" />
+<new d="false" />
<TGConnectingPoint num="0" id="2536" />
<TGConnectingPoint num="1" id="2537" />
<TGConnectingPoint num="2" id="2538" />
@@ -5564,12 +5830,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2599" >
+<COMPONENT type="900" id="2599" index="5" uid="b94d3461-fe0b-45ba-a229-e849c52044b7" >
<cdparam x="469" y="275" />
<sizeparam width="295" height="85" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="274" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="Requirement" value="EnsureCorrectDecisionOfEmergencySituation" />
+<new d="false" />
<TGConnectingPoint num="0" id="2568" />
<TGConnectingPoint num="1" id="2569" />
<TGConnectingPoint num="2" id="2570" />
@@ -5615,12 +5882,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2631" >
+<COMPONENT type="900" id="2631" index="6" uid="a5eef8e0-efe1-4e57-9581-fddaa55dbb79" >
<cdparam x="545" y="468" />
<sizeparam width="343" height="86" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="321" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="Requirement" value="Shared_EnsureCorrectDecisionOfEmergencySituation" />
+<new d="false" />
<TGConnectingPoint num="0" id="2600" />
<TGConnectingPoint num="1" id="2601" />
<TGConnectingPoint num="2" id="2602" />
@@ -5666,12 +5934,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="900" id="2663" >
+<COMPONENT type="900" id="2663" index="7" uid="b89d1ff9-68f4-4374-b1e9-eba934cb92ff" >
<cdparam x="456" y="191" />
<sizeparam width="329" height="48" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="321" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="Requirement" value="Shared_EnsureCorrectDecisionOfEmergencySituation" />
+<new d="false" />
<TGConnectingPoint num="0" id="2632" />
<TGConnectingPoint num="1" id="2633" />
<TGConnectingPoint num="2" id="2634" />
@@ -5717,61 +5986,68 @@
</extraparam>
</COMPONENT>
-<CONNECTOR type="129" id="2664" >
+<CONNECTOR type="129" id="2664" index="8" uid="7f97583a-1b11-4701-bf54-d27e157c7e47" >
<cdparam x="737" y="313" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
<P1 x="620" y="191" id="2639" />
<P2 x="481" y="160" id="2466" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="129" id="2665" >
+<CONNECTOR type="129" id="2665" index="9" uid="4f56fb7d-b99c-401f-b74e-e1e675bab0d7" >
<cdparam x="284" y="319" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
<P1 x="310" y="185" id="2543" />
<P2 x="481" y="160" id="2480" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="129" id="2666" >
+<CONNECTOR type="129" id="2666" index="10" uid="bc7a7d4d-deda-4768-859f-d75289db7b70" >
<cdparam x="1732" y="317" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
<P1 x="385" y="460" id="2511" />
<P2 x="510" y="430" id="2448" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="129" id="2667" >
+<CONNECTOR type="129" id="2667" index="11" uid="8ed02d23-ec93-4794-9132-c2a3fc3d5128" >
<cdparam x="1279" y="311" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<composition>>" />
<P1 x="716" y="468" id="2607" />
<P2 x="510" y="430" id="2434" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="128" id="2668" >
+<CONNECTOR type="128" id="2668" index="12" uid="47c30594-8841-422c-aaa7-d8e4bfd698d4" >
<cdparam x="737" y="423" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<copy>>" />
<P1 x="620" y="239" id="2642" />
<P2 x="616" y="275" id="2575" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="128" id="2669" >
+<CONNECTOR type="128" id="2669" index="13" uid="c191fc2e-ff33-43af-b532-c913f6d9282a" >
<cdparam x="1162" y="412" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Requirement to Requirement" value="<<copy>>" />
<P1 x="802" y="468" id="2608" />
<P2 x="764" y="317" id="2572" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="120" id="2670" >
+<CONNECTOR type="120" id="2670" index="14" uid="4bf9571a-7207-445d-a8bd-2387443e2416" >
<cdparam x="302" y="539" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from RequirementObserver to Requirement" value="<<verify>>" />
<P1 x="310" y="304" id="2495" />
<P2 x="310" y="279" id="2558" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</TRequirementDiagramPanel>
@@ -5781,270 +6057,291 @@
-<Modeling type="AVATAR Design" nameTab="AVATAR Design" >
-<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="1900" minY="10" maxY="2400" >
+<Modeling type="AVATAR Design" nameTab="AVATAR Design" tabs="Block Diagram$TestBench$Communication$PTC$BCU$CSCU$EmergencySimulator$CarPositionSimulator$GPSSensor$RadarSensor$SpeedSensor$CorrectnessChecking$NeighbourhoodTableManagement$DSRSC_Management$DrivingPowerReductionStrategy$BrakeManagement$DangerAvoidanceStrategy$VehiculeDynamicsManagement$PlausibilityCheck$ObjectListManagement" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="1900" minY="10" maxY="2400" zoom="1.0" >
<MainCode value="void __user_init() {"/>
<MainCode value="}"/>
<Optimized value="true" />
+<considerTimingOperators value="true" />
<Validated value="" />
<Ignored value="" />
-<CONNECTOR type="5002" id="2676" >
+<CONNECTOR type="5002" id="2676" index="0" uid="2f827999-4f32-45ff-8ac2-6b97a8441bbd" >
<cdparam x="140" y="429" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2673" />
<TGConnectingPoint num="1" id="2674" />
<TGConnectingPoint num="2" id="2675" />
-<P1 x="168" y="553" id="2933" />
-<P2 x="465" y="1085" id="3062" />
+<P1 x="168" y="553" id="2979" />
+<P2 x="465" y="1085" id="3229" />
<Point x="367" y="632" />
<Point x="367" y="915" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<iso value="in broadcastEmergencyBrakingMessage(int id, int position)" />
<osd value="out forwardEmergency(int myID, int currentPosition)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
</extraparam>
-</CONNECTOR><SUBCOMPONENT type="-1" id="2671" >
+</CONNECTOR><SUBCOMPONENT type="-1" id="2671" index="22" uid="2521790f-66fe-47ee-a092-36295e0d76eb" >
<father id="2676" num="0" />
<cdparam x="367" y="632" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="2672" >
+<SUBCOMPONENT type="-1" id="2672" index="23" uid="150b990f-8bae-42d0-93db-22012e40a264" >
<father id="2676" num="1" />
<cdparam x="367" y="915" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="5002" id="2678" >
+<CONNECTOR type="5002" id="2678" index="1" uid="43a942b3-2c56-4c29-8cf1-4291b3ae504b" >
<cdparam x="365" y="417" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2677" />
-<P1 x="457" y="545" id="2908" />
-<P2 x="466" y="695" id="3135" />
+<P1 x="457" y="545" id="3020" />
+<P2 x="466" y="695" id="3391" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<isd value="in getNodeList(NodeList list)" />
<oso value="out sendTable(int currentPosition, NodeList list)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5002" id="2680" >
+<CONNECTOR type="5002" id="2680" index="2" uid="f7982160-b24f-430d-a71e-c9c354ded268" >
<cdparam x="388" y="891" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2679" />
-<P1 x="465" y="1210" id="3064" />
-<P2 x="362" y="1208" id="2990" />
+<P1 x="465" y="1210" id="3231" />
+<P2 x="362" y="1208" id="3150" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<isd value="in getReducePowerOrder(int value)" />
<oso value="out reducePower(int value)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5002" id="2682" >
+<CONNECTOR type="5002" id="2682" index="3" uid="7f086bd2-c82f-4300-89a3-cdbe88a839ac" >
<cdparam x="638" y="941" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2681" />
-<P1 x="777" y="1148" id="3056" />
-<P2 x="825" y="1148" id="3030" />
+<P1 x="777" y="1148" id="3223" />
+<P2 x="825" y="1148" id="3263" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<isd value="in brake(int value)" />
<oso value="out brakePower(int value)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5002" id="2684" >
+<CONNECTOR type="5002" id="2684" index="4" uid="562b1981-6c58-41f5-b42e-a3eedd5ae937" >
<cdparam x="293" y="688" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2683" />
-<P1 x="621" y="1023" id="3053" />
-<P2 x="527" y="862" id="3133" />
+<P1 x="621" y="1023" id="3220" />
+<P2 x="527" y="862" id="3389" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<iso value="in brake(int speed, int currentPosition, int position)" />
<osd value="out brake(int speed, int currentPosition, int position)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5002" id="2690" >
+<CONNECTOR type="5002" id="2690" index="5" uid="96589dc6-801e-44b6-a606-5580da2a22a1" >
<cdparam x="518" y="775" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2687" />
<TGConnectingPoint num="1" id="2688" />
<TGConnectingPoint num="2" id="2689" />
-<P1 x="587" y="862" id="3142" />
-<P2 x="973" y="855" id="3116" />
+<P1 x="587" y="862" id="3398" />
+<P2 x="973" y="855" id="3438" />
<Point x="587" y="895" />
<Point x="971" y="895" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<iso value="in getInfoOnSpeed(int speed)" />
<osd value="out getInfoOnSpeed(int speed)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
</extraparam>
-</CONNECTOR><SUBCOMPONENT type="-1" id="2685" >
+</CONNECTOR><SUBCOMPONENT type="-1" id="2685" index="24" uid="5b96cf73-0bdb-47d5-b77e-769450d4a61b" >
<father id="2690" num="0" />
<cdparam x="587" y="895" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="2686" >
+<SUBCOMPONENT type="-1" id="2686" index="25" uid="fee8424a-2b7b-4ae9-8222-ffc01e352e50" >
<father id="2690" num="1" />
<cdparam x="971" y="895" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="5002" id="2692" >
+<CONNECTOR type="5002" id="2692" index="6" uid="193fae69-6da6-484d-be33-2abee87ccd81" >
<cdparam x="858" y="209" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2691" />
-<P1 x="1057" y="276" id="2833" />
-<P2 x="973" y="707" id="3110" />
+<P1 x="1057" y="276" id="2733" />
+<P2 x="973" y="707" id="3432" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<isd value="in updateOnSpeed(int speed)" />
<oso value="out updateOnSpeed(int speed)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5002" id="2694" >
+<CONNECTOR type="5002" id="2694" index="7" uid="ccbae8c9-e612-45f9-9a15-c0bd1386c63f" >
<cdparam x="568" y="727" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2693" />
-<P1 x="648" y="820" id="3140" />
-<P2 x="670" y="821" id="3164" />
+<P1 x="648" y="820" id="3396" />
+<P2 x="670" y="821" id="3354" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<iso value="in getInfoOnObstacle(int obstacle)" />
<osd value="out getInfoOnObstacle(int info)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5002" id="2696" >
+<CONNECTOR type="5002" id="2696" index="8" uid="7e32759e-95e1-4085-bdb6-ec4e07c6cd91" >
<cdparam x="841" y="206" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2695" />
-<P1 x="883" y="276" id="2817" />
-<P2 x="835" y="704" id="3161" />
+<P1 x="883" y="276" id="2783" />
+<P2 x="835" y="704" id="3351" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<isd value="in isObstacleAhead(int info)" />
<oso value="out obstacleAhead(int info)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5002" id="2698" >
+<CONNECTOR type="5002" id="2698" index="9" uid="c008b2e9-a754-4d22-b21c-8c032a2f1b77" >
<cdparam x="690" y="514" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2697" />
-<P1 x="749" y="555" id="2892" />
-<P2 x="527" y="695" id="3128" />
+<P1 x="749" y="555" id="3070" />
+<P2 x="527" y="695" id="3384" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<isd value="in getEmergencyMessageToVerify(int id, int position)" />
<oso value="out toPlausibityCheckMessage(int id, int position)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5002" id="2700" >
+<CONNECTOR type="5002" id="2700" index="10" uid="e5f79b65-3a46-40fc-9375-42bb4d3e72ff" >
<cdparam x="330" y="465" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2699" />
-<P1 x="297" y="553" id="2934" />
-<P2 x="596" y="555" id="2882" />
+<P1 x="297" y="553" id="2980" />
+<P2 x="596" y="555" id="3060" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<isd value="in getEmergencyBrakingMessage(int id, int position)" />
<oso value="out forwardEmergencyBrakingMessage(int id, int position)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5002" id="2702" >
+<CONNECTOR type="5002" id="2702" index="11" uid="0fc61bc5-5991-4d49-b256-3f7484e5fa9f" >
<cdparam x="330" y="415" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2701" />
-<P1 x="297" y="460" id="2931" />
-<P2 x="329" y="464" id="2905" />
+<P1 x="297" y="460" id="2977" />
+<P2 x="329" y="464" id="3017" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<isd value="in addANode(int id, int position)" />
<oso value="out setCarPosition(int id, int position)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5002" id="2704" >
+<CONNECTOR type="5002" id="2704" index="12" uid="c78d3e13-25e8-4a0b-92e8-3320de9e2986" >
<cdparam x="113" y="213" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2703" />
-<P1 x="128" y="282" id="2758" />
-<P2 x="168" y="368" id="2928" />
+<P1 x="128" y="282" id="2856" />
+<P2 x="168" y="368" id="2974" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<isd value="in carPosition(int id, int position)" />
<oso value="out carPosition(int id, int position)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5002" id="2706" >
+<CONNECTOR type="5002" id="2706" index="13" uid="461cdff0-7485-49a1-9d3c-7d59ac9edf59" >
<cdparam x="281" y="213" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2705" />
-<P1 x="284" y="282" id="2741" />
-<P2 x="232" y="368" id="2936" />
+<P1 x="284" y="282" id="2905" />
+<P2 x="232" y="368" id="2982" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<isd value="in obstacleDetected(int id, int position)" />
<oso value="out obstacleDetected(int id, int position)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5002" id="2708" >
+<CONNECTOR type="5002" id="2708" index="14" uid="b036ae05-a811-457f-a98e-83bf3de29ca7" >
<cdparam x="493" y="208" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2707" />
-<P1 x="563" y="275" id="2783" />
-<P2 x="457" y="383" id="2903" />
+<P1 x="563" y="275" id="2815" />
+<P2 x="457" y="383" id="3015" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<isd value="in setPosition(int currentPosition)" />
<oso value="out setPosition(int currentPosition)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
</extraparam>
</CONNECTOR>
-<COMPONENT type="5003" id="2717" >
+<COMPONENT type="5003" id="2717" index="15" uid="8d2edee0-685e-4ea8-8496-6bc9299b994f" >
<cdparam x="34" y="609" />
<sizeparam width="196" height="178" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="2400" />
<infoparam name="DataType0" value="CarInfo" />
+<new d="false" />
<TGConnectingPoint num="0" id="2709" />
<TGConnectingPoint num="1" id="2710" />
<TGConnectingPoint num="2" id="2711" />
@@ -6054,22 +6351,23 @@
<TGConnectingPoint num="6" id="2715" />
<TGConnectingPoint num="7" id="2716" />
<extraparam>
-<Attribute access="0" id="minID" value="1" type="8" typeOther="" />
-<Attribute access="0" id="maxID" value="5" type="8" typeOther="" />
-<Attribute access="0" id="minPosition" value="3" type="8" typeOther="" />
-<Attribute access="0" id="maxPosition" value="10" type="8" typeOther="" />
-<Attribute access="0" id="minSpeed" value="1" type="8" typeOther="" />
-<Attribute access="0" id="maxSpeed" value="10" type="8" typeOther="" />
-<Attribute access="0" id="myID" value="11" type="8" typeOther="" />
+<Attribute access="0" var="0" id="minID" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="maxID" value="5" type="8" typeOther="" />
+<Attribute access="0" var="0" id="minPosition" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="maxPosition" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="minSpeed" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="maxSpeed" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="myID" value="11" type="8" typeOther="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5003" id="2726" >
+<COMPONENT type="5003" id="2726" index="16" uid="41d4e396-b41d-4be1-b659-d1c272b5053b" >
<cdparam x="35" y="803" />
<sizeparam width="185" height="175" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="2400" />
<infoparam name="DataType0" value="NodeList" />
+<new d="false" />
<TGConnectingPoint num="0" id="2718" />
<TGConnectingPoint num="1" id="2719" />
<TGConnectingPoint num="2" id="2720" />
@@ -6079,56 +6377,75 @@
<TGConnectingPoint num="6" id="2724" />
<TGConnectingPoint num="7" id="2725" />
<extraparam>
-<Attribute access="0" id="id0" value="" type="8" typeOther="" />
-<Attribute access="0" id="id1" value="" type="8" typeOther="" />
-<Attribute access="0" id="id2" value="" type="8" typeOther="" />
-<Attribute access="0" id="position0" value="" type="8" typeOther="" />
-<Attribute access="0" id="position1" value="" type="8" typeOther="" />
-<Attribute access="0" id="position2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="id0" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="id1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="id2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="position0" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="position1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="position2" value="" type="8" typeOther="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5000" id="2876" >
+<COMPONENT type="5000" id="2972" index="17" uid="b05c071e-5995-4294-8b4a-dee3a226d69e" >
<cdparam x="26" y="43" />
<sizeparam width="1146" height="250" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="2400" />
<infoparam name="Block0" value="TestBench" />
-<TGConnectingPoint num="0" id="2852" />
-<TGConnectingPoint num="1" id="2853" />
-<TGConnectingPoint num="2" id="2854" />
-<TGConnectingPoint num="3" id="2855" />
-<TGConnectingPoint num="4" id="2856" />
-<TGConnectingPoint num="5" id="2857" />
-<TGConnectingPoint num="6" id="2858" />
-<TGConnectingPoint num="7" id="2859" />
-<TGConnectingPoint num="8" id="2860" />
-<TGConnectingPoint num="9" id="2861" />
-<TGConnectingPoint num="10" id="2862" />
-<TGConnectingPoint num="11" id="2863" />
-<TGConnectingPoint num="12" id="2864" />
-<TGConnectingPoint num="13" id="2865" />
-<TGConnectingPoint num="14" id="2866" />
-<TGConnectingPoint num="15" id="2867" />
-<TGConnectingPoint num="16" id="2868" />
-<TGConnectingPoint num="17" id="2869" />
-<TGConnectingPoint num="18" id="2870" />
-<TGConnectingPoint num="19" id="2871" />
-<TGConnectingPoint num="20" id="2872" />
-<TGConnectingPoint num="21" id="2873" />
-<TGConnectingPoint num="22" id="2874" />
-<TGConnectingPoint num="23" id="2875" />
-<extraparam>
+<new d="false" />
+<TGConnectingPoint num="0" id="2932" />
+<TGConnectingPoint num="1" id="2933" />
+<TGConnectingPoint num="2" id="2934" />
+<TGConnectingPoint num="3" id="2935" />
+<TGConnectingPoint num="4" id="2936" />
+<TGConnectingPoint num="5" id="2937" />
+<TGConnectingPoint num="6" id="2938" />
+<TGConnectingPoint num="7" id="2939" />
+<TGConnectingPoint num="8" id="2940" />
+<TGConnectingPoint num="9" id="2941" />
+<TGConnectingPoint num="10" id="2942" />
+<TGConnectingPoint num="11" id="2943" />
+<TGConnectingPoint num="12" id="2944" />
+<TGConnectingPoint num="13" id="2945" />
+<TGConnectingPoint num="14" id="2946" />
+<TGConnectingPoint num="15" id="2947" />
+<TGConnectingPoint num="16" id="2948" />
+<TGConnectingPoint num="17" id="2949" />
+<TGConnectingPoint num="18" id="2950" />
+<TGConnectingPoint num="19" id="2951" />
+<TGConnectingPoint num="20" id="2952" />
+<TGConnectingPoint num="21" id="2953" />
+<TGConnectingPoint num="22" id="2954" />
+<TGConnectingPoint num="23" id="2955" />
+<TGConnectingPoint num="24" id="2956" />
+<TGConnectingPoint num="25" id="2957" />
+<TGConnectingPoint num="26" id="2958" />
+<TGConnectingPoint num="27" id="2959" />
+<TGConnectingPoint num="28" id="2960" />
+<TGConnectingPoint num="29" id="2961" />
+<TGConnectingPoint num="30" id="2962" />
+<TGConnectingPoint num="31" id="2963" />
+<TGConnectingPoint num="32" id="2964" />
+<TGConnectingPoint num="33" id="2965" />
+<TGConnectingPoint num="34" id="2966" />
+<TGConnectingPoint num="35" id="2967" />
+<TGConnectingPoint num="36" id="2968" />
+<TGConnectingPoint num="37" id="2969" />
+<TGConnectingPoint num="38" id="2970" />
+<TGConnectingPoint num="39" id="2971" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="5000" id="2751" >
-<father id="2876" num="0" />
-<cdparam x="237" y="98" />
-<sizeparam width="190" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5000" id="2767" index="26" uid="6a27e680-9104-4989-b5ca-3336de5154b6" >
+<father id="2972" num="0" />
+<cdparam x="959" y="98" />
+<sizeparam width="196" height="178" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="956" minY="0" maxY="66" />
-<infoparam name="Block0" value="EmergencySimulator" />
+<cdrectangleparam minX="0" maxX="950" minY="0" maxY="72" />
+<infoparam name="Block0" value="SpeedSensor" />
+<new d="false" />
<TGConnectingPoint num="0" id="2727" />
<TGConnectingPoint num="1" id="2728" />
<TGConnectingPoint num="2" id="2729" />
@@ -6153,3992 +6470,5046 @@
<TGConnectingPoint num="21" id="2748" />
<TGConnectingPoint num="22" id="2749" />
<TGConnectingPoint num="23" id="2750" />
-<extraparam>
+<TGConnectingPoint num="24" id="2751" />
+<TGConnectingPoint num="25" id="2752" />
+<TGConnectingPoint num="26" id="2753" />
+<TGConnectingPoint num="27" id="2754" />
+<TGConnectingPoint num="28" id="2755" />
+<TGConnectingPoint num="29" id="2756" />
+<TGConnectingPoint num="30" id="2757" />
+<TGConnectingPoint num="31" id="2758" />
+<TGConnectingPoint num="32" id="2759" />
+<TGConnectingPoint num="33" id="2760" />
+<TGConnectingPoint num="34" id="2761" />
+<TGConnectingPoint num="35" id="2762" />
+<TGConnectingPoint num="36" id="2763" />
+<TGConnectingPoint num="37" id="2764" />
+<TGConnectingPoint num="38" id="2765" />
+<TGConnectingPoint num="39" id="2766" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="minEmergencyInterval" value="1000" type="8" typeOther="" />
-<Attribute access="0" id="maxEmergencyInterval" value="1000" type="8" typeOther="" />
-<Attribute access="0" id="carid" value="" type="5" typeOther="CarInfo" />
-<Attribute access="0" id="id" value="" type="8" typeOther="" />
-<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Signal value="out obstacleDetected(int id, int position)" />
+<Attribute access="0" var="0" id="minSpeedUpdate" value="150" type="8" typeOther="" />
+<Attribute access="0" var="0" id="maxSpeedUpdate" value="150" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
+<Signal value="out updateOnSpeed(int speed)" attached="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="2776" >
-<father id="2876" num="1" />
-<cdparam x="32" y="98" />
-<sizeparam width="193" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5000" id="2808" index="27" uid="21c64e15-ffed-461f-b35a-f4a6fe2ddd4b" >
+<father id="2972" num="1" />
+<cdparam x="701" y="100" />
+<sizeparam width="243" height="176" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="953" minY="0" maxY="66" />
-<infoparam name="Block0" value="CarPositionSimulator" />
-<TGConnectingPoint num="0" id="2752" />
-<TGConnectingPoint num="1" id="2753" />
-<TGConnectingPoint num="2" id="2754" />
-<TGConnectingPoint num="3" id="2755" />
-<TGConnectingPoint num="4" id="2756" />
-<TGConnectingPoint num="5" id="2757" />
-<TGConnectingPoint num="6" id="2758" />
-<TGConnectingPoint num="7" id="2759" />
-<TGConnectingPoint num="8" id="2760" />
-<TGConnectingPoint num="9" id="2761" />
-<TGConnectingPoint num="10" id="2762" />
-<TGConnectingPoint num="11" id="2763" />
-<TGConnectingPoint num="12" id="2764" />
-<TGConnectingPoint num="13" id="2765" />
-<TGConnectingPoint num="14" id="2766" />
-<TGConnectingPoint num="15" id="2767" />
-<TGConnectingPoint num="16" id="2768" />
-<TGConnectingPoint num="17" id="2769" />
-<TGConnectingPoint num="18" id="2770" />
-<TGConnectingPoint num="19" id="2771" />
-<TGConnectingPoint num="20" id="2772" />
-<TGConnectingPoint num="21" id="2773" />
-<TGConnectingPoint num="22" id="2774" />
-<TGConnectingPoint num="23" id="2775" />
-<extraparam>
+<cdrectangleparam minX="0" maxX="903" minY="0" maxY="74" />
+<infoparam name="Block0" value="RadarSensor" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2768" />
+<TGConnectingPoint num="1" id="2769" />
+<TGConnectingPoint num="2" id="2770" />
+<TGConnectingPoint num="3" id="2771" />
+<TGConnectingPoint num="4" id="2772" />
+<TGConnectingPoint num="5" id="2773" />
+<TGConnectingPoint num="6" id="2774" />
+<TGConnectingPoint num="7" id="2775" />
+<TGConnectingPoint num="8" id="2776" />
+<TGConnectingPoint num="9" id="2777" />
+<TGConnectingPoint num="10" id="2778" />
+<TGConnectingPoint num="11" id="2779" />
+<TGConnectingPoint num="12" id="2780" />
+<TGConnectingPoint num="13" id="2781" />
+<TGConnectingPoint num="14" id="2782" />
+<TGConnectingPoint num="15" id="2783" />
+<TGConnectingPoint num="16" id="2784" />
+<TGConnectingPoint num="17" id="2785" />
+<TGConnectingPoint num="18" id="2786" />
+<TGConnectingPoint num="19" id="2787" />
+<TGConnectingPoint num="20" id="2788" />
+<TGConnectingPoint num="21" id="2789" />
+<TGConnectingPoint num="22" id="2790" />
+<TGConnectingPoint num="23" id="2791" />
+<TGConnectingPoint num="24" id="2792" />
+<TGConnectingPoint num="25" id="2793" />
+<TGConnectingPoint num="26" id="2794" />
+<TGConnectingPoint num="27" id="2795" />
+<TGConnectingPoint num="28" id="2796" />
+<TGConnectingPoint num="29" id="2797" />
+<TGConnectingPoint num="30" id="2798" />
+<TGConnectingPoint num="31" id="2799" />
+<TGConnectingPoint num="32" id="2800" />
+<TGConnectingPoint num="33" id="2801" />
+<TGConnectingPoint num="34" id="2802" />
+<TGConnectingPoint num="35" id="2803" />
+<TGConnectingPoint num="36" id="2804" />
+<TGConnectingPoint num="37" id="2805" />
+<TGConnectingPoint num="38" id="2806" />
+<TGConnectingPoint num="39" id="2807" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="carid" value="" type="5" typeOther="CarInfo" />
-<Attribute access="0" id="minCarPositionInterval" value="200" type="8" typeOther="" />
-<Attribute access="0" id="maxCarPositionInterval" value="250" type="8" typeOther="" />
-<Attribute access="0" id="id" value="" type="8" typeOther="" />
-<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Signal value="out carPosition(int id, int position)" />
+<Attribute access="0" var="0" id="minRadarUpdate" value="100" type="8" typeOther="" />
+<Attribute access="0" var="0" id="maxRadarUpdate" value="150" type="8" typeOther="" />
+<Attribute access="0" var="0" id="obstacleAhead" value="" type="8" typeOther="" />
+<Signal value="out obstacleAhead(int info)" attached="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="2801" >
-<father id="2876" num="2" />
+<SUBCOMPONENT type="5000" id="2849" index="28" uid="aa2aa6cc-ee4a-492d-a87e-6b0f4c201b24" >
+<father id="2972" num="2" />
<cdparam x="442" y="100" />
<sizeparam width="242" height="175" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="904" minY="0" maxY="75" />
<infoparam name="Block0" value="GPSSensor" />
-<TGConnectingPoint num="0" id="2777" />
-<TGConnectingPoint num="1" id="2778" />
-<TGConnectingPoint num="2" id="2779" />
-<TGConnectingPoint num="3" id="2780" />
-<TGConnectingPoint num="4" id="2781" />
-<TGConnectingPoint num="5" id="2782" />
-<TGConnectingPoint num="6" id="2783" />
-<TGConnectingPoint num="7" id="2784" />
-<TGConnectingPoint num="8" id="2785" />
-<TGConnectingPoint num="9" id="2786" />
-<TGConnectingPoint num="10" id="2787" />
-<TGConnectingPoint num="11" id="2788" />
-<TGConnectingPoint num="12" id="2789" />
-<TGConnectingPoint num="13" id="2790" />
-<TGConnectingPoint num="14" id="2791" />
-<TGConnectingPoint num="15" id="2792" />
-<TGConnectingPoint num="16" id="2793" />
-<TGConnectingPoint num="17" id="2794" />
-<TGConnectingPoint num="18" id="2795" />
-<TGConnectingPoint num="19" id="2796" />
-<TGConnectingPoint num="20" id="2797" />
-<TGConnectingPoint num="21" id="2798" />
-<TGConnectingPoint num="22" id="2799" />
-<TGConnectingPoint num="23" id="2800" />
-<extraparam>
+<new d="false" />
+<TGConnectingPoint num="0" id="2809" />
+<TGConnectingPoint num="1" id="2810" />
+<TGConnectingPoint num="2" id="2811" />
+<TGConnectingPoint num="3" id="2812" />
+<TGConnectingPoint num="4" id="2813" />
+<TGConnectingPoint num="5" id="2814" />
+<TGConnectingPoint num="6" id="2815" />
+<TGConnectingPoint num="7" id="2816" />
+<TGConnectingPoint num="8" id="2817" />
+<TGConnectingPoint num="9" id="2818" />
+<TGConnectingPoint num="10" id="2819" />
+<TGConnectingPoint num="11" id="2820" />
+<TGConnectingPoint num="12" id="2821" />
+<TGConnectingPoint num="13" id="2822" />
+<TGConnectingPoint num="14" id="2823" />
+<TGConnectingPoint num="15" id="2824" />
+<TGConnectingPoint num="16" id="2825" />
+<TGConnectingPoint num="17" id="2826" />
+<TGConnectingPoint num="18" id="2827" />
+<TGConnectingPoint num="19" id="2828" />
+<TGConnectingPoint num="20" id="2829" />
+<TGConnectingPoint num="21" id="2830" />
+<TGConnectingPoint num="22" id="2831" />
+<TGConnectingPoint num="23" id="2832" />
+<TGConnectingPoint num="24" id="2833" />
+<TGConnectingPoint num="25" id="2834" />
+<TGConnectingPoint num="26" id="2835" />
+<TGConnectingPoint num="27" id="2836" />
+<TGConnectingPoint num="28" id="2837" />
+<TGConnectingPoint num="29" id="2838" />
+<TGConnectingPoint num="30" id="2839" />
+<TGConnectingPoint num="31" id="2840" />
+<TGConnectingPoint num="32" id="2841" />
+<TGConnectingPoint num="33" id="2842" />
+<TGConnectingPoint num="34" id="2843" />
+<TGConnectingPoint num="35" id="2844" />
+<TGConnectingPoint num="36" id="2845" />
+<TGConnectingPoint num="37" id="2846" />
+<TGConnectingPoint num="38" id="2847" />
+<TGConnectingPoint num="39" id="2848" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="minGPSUpdate" value="100" type="8" typeOther="" />
-<Attribute access="0" id="maxGPSUpdate" value="100" type="8" typeOther="" />
-<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Attribute access="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
-<Signal value="out setPosition(int currentPosition)" />
+<Attribute access="0" var="0" id="minGPSUpdate" value="100" type="8" typeOther="" />
+<Attribute access="0" var="0" id="maxGPSUpdate" value="100" type="8" typeOther="" />
+<Attribute access="0" var="0" id="position" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
+<Signal value="out setPosition(int currentPosition)" attached="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="2826" >
-<father id="2876" num="3" />
-<cdparam x="701" y="100" />
-<sizeparam width="243" height="176" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5000" id="2890" index="29" uid="fdc1267c-3498-4aee-a710-f7f9588714b2" >
+<father id="2972" num="3" />
+<cdparam x="32" y="98" />
+<sizeparam width="193" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="903" minY="0" maxY="74" />
-<infoparam name="Block0" value="RadarSensor" />
-<TGConnectingPoint num="0" id="2802" />
-<TGConnectingPoint num="1" id="2803" />
-<TGConnectingPoint num="2" id="2804" />
-<TGConnectingPoint num="3" id="2805" />
-<TGConnectingPoint num="4" id="2806" />
-<TGConnectingPoint num="5" id="2807" />
-<TGConnectingPoint num="6" id="2808" />
-<TGConnectingPoint num="7" id="2809" />
-<TGConnectingPoint num="8" id="2810" />
-<TGConnectingPoint num="9" id="2811" />
-<TGConnectingPoint num="10" id="2812" />
-<TGConnectingPoint num="11" id="2813" />
-<TGConnectingPoint num="12" id="2814" />
-<TGConnectingPoint num="13" id="2815" />
-<TGConnectingPoint num="14" id="2816" />
-<TGConnectingPoint num="15" id="2817" />
-<TGConnectingPoint num="16" id="2818" />
-<TGConnectingPoint num="17" id="2819" />
-<TGConnectingPoint num="18" id="2820" />
-<TGConnectingPoint num="19" id="2821" />
-<TGConnectingPoint num="20" id="2822" />
-<TGConnectingPoint num="21" id="2823" />
-<TGConnectingPoint num="22" id="2824" />
-<TGConnectingPoint num="23" id="2825" />
-<extraparam>
+<cdrectangleparam minX="0" maxX="953" minY="0" maxY="66" />
+<infoparam name="Block0" value="CarPositionSimulator" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2850" />
+<TGConnectingPoint num="1" id="2851" />
+<TGConnectingPoint num="2" id="2852" />
+<TGConnectingPoint num="3" id="2853" />
+<TGConnectingPoint num="4" id="2854" />
+<TGConnectingPoint num="5" id="2855" />
+<TGConnectingPoint num="6" id="2856" />
+<TGConnectingPoint num="7" id="2857" />
+<TGConnectingPoint num="8" id="2858" />
+<TGConnectingPoint num="9" id="2859" />
+<TGConnectingPoint num="10" id="2860" />
+<TGConnectingPoint num="11" id="2861" />
+<TGConnectingPoint num="12" id="2862" />
+<TGConnectingPoint num="13" id="2863" />
+<TGConnectingPoint num="14" id="2864" />
+<TGConnectingPoint num="15" id="2865" />
+<TGConnectingPoint num="16" id="2866" />
+<TGConnectingPoint num="17" id="2867" />
+<TGConnectingPoint num="18" id="2868" />
+<TGConnectingPoint num="19" id="2869" />
+<TGConnectingPoint num="20" id="2870" />
+<TGConnectingPoint num="21" id="2871" />
+<TGConnectingPoint num="22" id="2872" />
+<TGConnectingPoint num="23" id="2873" />
+<TGConnectingPoint num="24" id="2874" />
+<TGConnectingPoint num="25" id="2875" />
+<TGConnectingPoint num="26" id="2876" />
+<TGConnectingPoint num="27" id="2877" />
+<TGConnectingPoint num="28" id="2878" />
+<TGConnectingPoint num="29" id="2879" />
+<TGConnectingPoint num="30" id="2880" />
+<TGConnectingPoint num="31" id="2881" />
+<TGConnectingPoint num="32" id="2882" />
+<TGConnectingPoint num="33" id="2883" />
+<TGConnectingPoint num="34" id="2884" />
+<TGConnectingPoint num="35" id="2885" />
+<TGConnectingPoint num="36" id="2886" />
+<TGConnectingPoint num="37" id="2887" />
+<TGConnectingPoint num="38" id="2888" />
+<TGConnectingPoint num="39" id="2889" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="minRadarUpdate" value="100" type="8" typeOther="" />
-<Attribute access="0" id="maxRadarUpdate" value="150" type="8" typeOther="" />
-<Attribute access="0" id="obstacleAhead" value="" type="8" typeOther="" />
-<Signal value="out obstacleAhead(int info)" />
+<Attribute access="0" var="0" id="carid" value="" type="5" typeOther="CarInfo" />
+<Attribute access="0" var="0" id="minCarPositionInterval" value="200" type="8" typeOther="" />
+<Attribute access="0" var="0" id="maxCarPositionInterval" value="250" type="8" typeOther="" />
+<Attribute access="0" var="0" id="id" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="position" value="" type="8" typeOther="" />
+<Signal value="out carPosition(int id, int position)" attached="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="2851" >
-<father id="2876" num="4" />
-<cdparam x="959" y="98" />
-<sizeparam width="196" height="178" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5000" id="2931" index="30" uid="bb9bd005-9c9c-46d1-aa1c-65300285b60b" >
+<father id="2972" num="4" />
+<cdparam x="237" y="98" />
+<sizeparam width="190" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="950" minY="0" maxY="72" />
-<infoparam name="Block0" value="SpeedSensor" />
-<TGConnectingPoint num="0" id="2827" />
-<TGConnectingPoint num="1" id="2828" />
-<TGConnectingPoint num="2" id="2829" />
-<TGConnectingPoint num="3" id="2830" />
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-<TGConnectingPoint num="5" id="2832" />
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-<TGConnectingPoint num="7" id="2834" />
-<TGConnectingPoint num="8" id="2835" />
-<TGConnectingPoint num="9" id="2836" />
-<TGConnectingPoint num="10" id="2837" />
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-<TGConnectingPoint num="12" id="2839" />
-<TGConnectingPoint num="13" id="2840" />
-<TGConnectingPoint num="14" id="2841" />
-<TGConnectingPoint num="15" id="2842" />
-<TGConnectingPoint num="16" id="2843" />
-<TGConnectingPoint num="17" id="2844" />
-<TGConnectingPoint num="18" id="2845" />
-<TGConnectingPoint num="19" id="2846" />
-<TGConnectingPoint num="20" id="2847" />
-<TGConnectingPoint num="21" id="2848" />
-<TGConnectingPoint num="22" id="2849" />
-<TGConnectingPoint num="23" id="2850" />
-<extraparam>
+<cdrectangleparam minX="0" maxX="956" minY="0" maxY="66" />
+<infoparam name="Block0" value="EmergencySimulator" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2891" />
+<TGConnectingPoint num="1" id="2892" />
+<TGConnectingPoint num="2" id="2893" />
+<TGConnectingPoint num="3" id="2894" />
+<TGConnectingPoint num="4" id="2895" />
+<TGConnectingPoint num="5" id="2896" />
+<TGConnectingPoint num="6" id="2897" />
+<TGConnectingPoint num="7" id="2898" />
+<TGConnectingPoint num="8" id="2899" />
+<TGConnectingPoint num="9" id="2900" />
+<TGConnectingPoint num="10" id="2901" />
+<TGConnectingPoint num="11" id="2902" />
+<TGConnectingPoint num="12" id="2903" />
+<TGConnectingPoint num="13" id="2904" />
+<TGConnectingPoint num="14" id="2905" />
+<TGConnectingPoint num="15" id="2906" />
+<TGConnectingPoint num="16" id="2907" />
+<TGConnectingPoint num="17" id="2908" />
+<TGConnectingPoint num="18" id="2909" />
+<TGConnectingPoint num="19" id="2910" />
+<TGConnectingPoint num="20" id="2911" />
+<TGConnectingPoint num="21" id="2912" />
+<TGConnectingPoint num="22" id="2913" />
+<TGConnectingPoint num="23" id="2914" />
+<TGConnectingPoint num="24" id="2915" />
+<TGConnectingPoint num="25" id="2916" />
+<TGConnectingPoint num="26" id="2917" />
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+<TGConnectingPoint num="28" id="2919" />
+<TGConnectingPoint num="29" id="2920" />
+<TGConnectingPoint num="30" id="2921" />
+<TGConnectingPoint num="31" id="2922" />
+<TGConnectingPoint num="32" id="2923" />
+<TGConnectingPoint num="33" id="2924" />
+<TGConnectingPoint num="34" id="2925" />
+<TGConnectingPoint num="35" id="2926" />
+<TGConnectingPoint num="36" id="2927" />
+<TGConnectingPoint num="37" id="2928" />
+<TGConnectingPoint num="38" id="2929" />
+<TGConnectingPoint num="39" id="2930" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="minSpeedUpdate" value="150" type="8" typeOther="" />
-<Attribute access="0" id="maxSpeedUpdate" value="150" type="8" typeOther="" />
-<Attribute access="0" id="speed" value="" type="8" typeOther="" />
-<Attribute access="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
-<Signal value="out updateOnSpeed(int speed)" />
+<Attribute access="0" var="0" id="minEmergencyInterval" value="1000" type="8" typeOther="" />
+<Attribute access="0" var="0" id="maxEmergencyInterval" value="1000" type="8" typeOther="" />
+<Attribute access="0" var="0" id="carid" value="" type="5" typeOther="CarInfo" />
+<Attribute access="0" var="0" id="id" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="position" value="" type="8" typeOther="" />
+<Signal value="out obstacleDetected(int id, int position)" attached="false" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5000" id="2976" >
+<COMPONENT type="5000" id="3136" index="18" uid="0e303c96-0360-4d5e-a56d-10af17028b03" >
<cdparam x="28" y="317" />
<sizeparam width="790" height="268" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="2400" />
<infoparam name="Block0" value="Communication" />
-<TGConnectingPoint num="0" id="2952" />
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-<TGConnectingPoint num="2" id="2954" />
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-<TGConnectingPoint num="21" id="2973" />
-<TGConnectingPoint num="22" id="2974" />
-<TGConnectingPoint num="23" id="2975" />
-<extraparam>
+<new d="false" />
+<TGConnectingPoint num="0" id="3096" />
+<TGConnectingPoint num="1" id="3097" />
+<TGConnectingPoint num="2" id="3098" />
+<TGConnectingPoint num="3" id="3099" />
+<TGConnectingPoint num="4" id="3100" />
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+<TGConnectingPoint num="7" id="3103" />
+<TGConnectingPoint num="8" id="3104" />
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+<TGConnectingPoint num="10" id="3106" />
+<TGConnectingPoint num="11" id="3107" />
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+<TGConnectingPoint num="14" id="3110" />
+<TGConnectingPoint num="15" id="3111" />
+<TGConnectingPoint num="16" id="3112" />
+<TGConnectingPoint num="17" id="3113" />
+<TGConnectingPoint num="18" id="3114" />
+<TGConnectingPoint num="19" id="3115" />
+<TGConnectingPoint num="20" id="3116" />
+<TGConnectingPoint num="21" id="3117" />
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+<TGConnectingPoint num="23" id="3119" />
+<TGConnectingPoint num="24" id="3120" />
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+<TGConnectingPoint num="27" id="3123" />
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+<TGConnectingPoint num="30" id="3126" />
+<TGConnectingPoint num="31" id="3127" />
+<TGConnectingPoint num="32" id="3128" />
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+<TGConnectingPoint num="36" id="3132" />
+<TGConnectingPoint num="37" id="3133" />
+<TGConnectingPoint num="38" id="3134" />
+<TGConnectingPoint num="39" id="3135" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="5000" id="2901" >
-<father id="2976" num="0" />
-<cdparam x="596" y="371" />
-<sizeparam width="204" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5000" id="3013" index="31" uid="90c14eb2-3681-4db9-b33e-6d0ba4b278b5" >
+<father id="3136" num="0" />
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<hidden value="false" />
-<cdrectangleparam minX="0" maxX="586" minY="0" maxY="84" />
-<infoparam name="Block0" value="CorrectnessChecking" />
-<TGConnectingPoint num="0" id="2877" />
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-<TGConnectingPoint num="21" id="2898" />
-<TGConnectingPoint num="22" id="2899" />
-<TGConnectingPoint num="23" id="2900" />
-<extraparam>
+<cdrectangleparam minX="0" maxX="533" minY="0" maxY="83" />
+<infoparam name="Block0" value="DSRSC_Management" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2973" />
+<TGConnectingPoint num="1" id="2974" />
+<TGConnectingPoint num="2" id="2975" />
+<TGConnectingPoint num="3" id="2976" />
+<TGConnectingPoint num="4" id="2977" />
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+<TGConnectingPoint num="11" id="2984" />
+<TGConnectingPoint num="12" id="2985" />
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+<TGConnectingPoint num="15" id="2988" />
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+<TGConnectingPoint num="17" id="2990" />
+<TGConnectingPoint num="18" id="2991" />
+<TGConnectingPoint num="19" id="2992" />
+<TGConnectingPoint num="20" id="2993" />
+<TGConnectingPoint num="21" id="2994" />
+<TGConnectingPoint num="22" id="2995" />
+<TGConnectingPoint num="23" id="2996" />
+<TGConnectingPoint num="24" id="2997" />
+<TGConnectingPoint num="25" id="2998" />
+<TGConnectingPoint num="26" id="2999" />
+<TGConnectingPoint num="27" id="3000" />
+<TGConnectingPoint num="28" id="3001" />
+<TGConnectingPoint num="29" id="3002" />
+<TGConnectingPoint num="30" id="3003" />
+<TGConnectingPoint num="31" id="3004" />
+<TGConnectingPoint num="32" id="3005" />
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+<TGConnectingPoint num="37" id="3010" />
+<TGConnectingPoint num="38" id="3011" />
+<TGConnectingPoint num="39" id="3012" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="id" value="" type="8" typeOther="" />
-<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Attribute access="0" id="canHaveInvalid" value="false" type="4" typeOther="" />
-<Method value="checkingMessage()" />
-<Method value="invalidMessage()" />
-<Method value="validMessage()" />
-<Signal value="in getEmergencyBrakingMessage(int id, int position)" />
-<Signal value="out toPlausibityCheckMessage(int id, int position)" />
+<Attribute access="0" var="0" id="id" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="position" value="" type="8" typeOther="" />
+<Method value="sendMessage(int id, int position)" />
+<Signal value="in obstacleDetected(int id, int position)" attached="false" />
+<Signal value="in carPosition(int id, int position)" attached="false" />
+<Signal value="out setCarPosition(int id, int position)" attached="false" />
+<Signal value="out forwardEmergencyBrakingMessage(int id, int position)" attached="false" />
+<Signal value="in broadcastEmergencyBrakingMessage(int id, int position)" attached="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="2926" >
-<father id="2976" num="1" />
+<SUBCOMPONENT type="5000" id="3054" index="32" uid="3eee3382-19f4-4e55-8a33-37e070e853fb" >
+<father id="3136" num="1" />
<cdparam x="329" y="383" />
<sizeparam width="257" height="162" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="533" minY="0" maxY="106" />
<infoparam name="Block0" value="NeighbourhoodTableManagement" />
-<TGConnectingPoint num="0" id="2902" />
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-<TGConnectingPoint num="2" id="2904" />
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-<TGConnectingPoint num="21" id="2923" />
-<TGConnectingPoint num="22" id="2924" />
-<TGConnectingPoint num="23" id="2925" />
-<extraparam>
+<new d="false" />
+<TGConnectingPoint num="0" id="3014" />
+<TGConnectingPoint num="1" id="3015" />
+<TGConnectingPoint num="2" id="3016" />
+<TGConnectingPoint num="3" id="3017" />
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+<TGConnectingPoint num="6" id="3020" />
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+<TGConnectingPoint num="10" id="3024" />
+<TGConnectingPoint num="11" id="3025" />
+<TGConnectingPoint num="12" id="3026" />
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+<TGConnectingPoint num="14" id="3028" />
+<TGConnectingPoint num="15" id="3029" />
+<TGConnectingPoint num="16" id="3030" />
+<TGConnectingPoint num="17" id="3031" />
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+<TGConnectingPoint num="19" id="3033" />
+<TGConnectingPoint num="20" id="3034" />
+<TGConnectingPoint num="21" id="3035" />
+<TGConnectingPoint num="22" id="3036" />
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+<TGConnectingPoint num="25" id="3039" />
+<TGConnectingPoint num="26" id="3040" />
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+<TGConnectingPoint num="30" id="3044" />
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+<TGConnectingPoint num="37" id="3051" />
+<TGConnectingPoint num="38" id="3052" />
+<TGConnectingPoint num="39" id="3053" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="id" value="" type="8" typeOther="" />
-<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Attribute access="0" id="time_id" value="" type="8" typeOther="" />
-<Attribute access="0" id="listOfNodes" value="" type="5" typeOther="NodeList" />
-<Attribute access="0" id="currentPosition" value="" type="8" typeOther="" />
-<Signal value="in addANode(int id, int position)" />
-<Signal value="in setPosition(int currentPosition)" />
-<Signal value="out sendTable(int currentPosition, NodeList list)" />
-</extraparam>
-</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="2951" >
-<father id="2976" num="2" />
-<cdparam x="40" y="368" />
-<sizeparam width="257" height="185" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<Attribute access="0" var="0" id="id" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="position" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="time_id" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="listOfNodes" value="" type="5" typeOther="NodeList" />
+<Attribute access="0" var="0" id="currentPosition" value="" type="8" typeOther="" />
+<Signal value="in addANode(int id, int position)" attached="false" />
+<Signal value="in setPosition(int currentPosition)" attached="false" />
+<Signal value="out sendTable(int currentPosition, NodeList list)" attached="false" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="5000" id="3095" index="33" uid="bad3249c-cd7f-4155-a373-e23a8c817935" >
+<father id="3136" num="2" />
+<cdparam x="596" y="371" />
+<sizeparam width="204" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="533" minY="0" maxY="83" />
-<infoparam name="Block0" value="DSRSC_Management" />
-<TGConnectingPoint num="0" id="2927" />
-<TGConnectingPoint num="1" id="2928" />
-<TGConnectingPoint num="2" id="2929" />
-<TGConnectingPoint num="3" id="2930" />
-<TGConnectingPoint num="4" id="2931" />
-<TGConnectingPoint num="5" id="2932" />
-<TGConnectingPoint num="6" id="2933" />
-<TGConnectingPoint num="7" id="2934" />
-<TGConnectingPoint num="8" id="2935" />
-<TGConnectingPoint num="9" id="2936" />
-<TGConnectingPoint num="10" id="2937" />
-<TGConnectingPoint num="11" id="2938" />
-<TGConnectingPoint num="12" id="2939" />
-<TGConnectingPoint num="13" id="2940" />
-<TGConnectingPoint num="14" id="2941" />
-<TGConnectingPoint num="15" id="2942" />
-<TGConnectingPoint num="16" id="2943" />
-<TGConnectingPoint num="17" id="2944" />
-<TGConnectingPoint num="18" id="2945" />
-<TGConnectingPoint num="19" id="2946" />
-<TGConnectingPoint num="20" id="2947" />
-<TGConnectingPoint num="21" id="2948" />
-<TGConnectingPoint num="22" id="2949" />
-<TGConnectingPoint num="23" id="2950" />
-<extraparam>
+<cdrectangleparam minX="0" maxX="586" minY="0" maxY="84" />
+<infoparam name="Block0" value="CorrectnessChecking" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3055" />
+<TGConnectingPoint num="1" id="3056" />
+<TGConnectingPoint num="2" id="3057" />
+<TGConnectingPoint num="3" id="3058" />
+<TGConnectingPoint num="4" id="3059" />
+<TGConnectingPoint num="5" id="3060" />
+<TGConnectingPoint num="6" id="3061" />
+<TGConnectingPoint num="7" id="3062" />
+<TGConnectingPoint num="8" id="3063" />
+<TGConnectingPoint num="9" id="3064" />
+<TGConnectingPoint num="10" id="3065" />
+<TGConnectingPoint num="11" id="3066" />
+<TGConnectingPoint num="12" id="3067" />
+<TGConnectingPoint num="13" id="3068" />
+<TGConnectingPoint num="14" id="3069" />
+<TGConnectingPoint num="15" id="3070" />
+<TGConnectingPoint num="16" id="3071" />
+<TGConnectingPoint num="17" id="3072" />
+<TGConnectingPoint num="18" id="3073" />
+<TGConnectingPoint num="19" id="3074" />
+<TGConnectingPoint num="20" id="3075" />
+<TGConnectingPoint num="21" id="3076" />
+<TGConnectingPoint num="22" id="3077" />
+<TGConnectingPoint num="23" id="3078" />
+<TGConnectingPoint num="24" id="3079" />
+<TGConnectingPoint num="25" id="3080" />
+<TGConnectingPoint num="26" id="3081" />
+<TGConnectingPoint num="27" id="3082" />
+<TGConnectingPoint num="28" id="3083" />
+<TGConnectingPoint num="29" id="3084" />
+<TGConnectingPoint num="30" id="3085" />
+<TGConnectingPoint num="31" id="3086" />
+<TGConnectingPoint num="32" id="3087" />
+<TGConnectingPoint num="33" id="3088" />
+<TGConnectingPoint num="34" id="3089" />
+<TGConnectingPoint num="35" id="3090" />
+<TGConnectingPoint num="36" id="3091" />
+<TGConnectingPoint num="37" id="3092" />
+<TGConnectingPoint num="38" id="3093" />
+<TGConnectingPoint num="39" id="3094" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="id" value="" type="8" typeOther="" />
-<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Method value="sendMessage(int id, int position)" />
-<Signal value="in obstacleDetected(int id, int position)" />
-<Signal value="in carPosition(int id, int position)" />
-<Signal value="out setCarPosition(int id, int position)" />
-<Signal value="out forwardEmergencyBrakingMessage(int id, int position)" />
-<Signal value="in broadcastEmergencyBrakingMessage(int id, int position)" />
+<Attribute access="0" var="0" id="id" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="position" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="canHaveInvalid" value="false" type="4" typeOther="" />
+<Method value="checkingMessage()" />
+<Method value="invalidMessage()" />
+<Method value="validMessage()" />
+<Signal value="in getEmergencyBrakingMessage(int id, int position)" attached="false" />
+<Signal value="out toPlausibityCheckMessage(int id, int position)" attached="false" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5000" id="3026" >
+<COMPONENT type="5000" id="3218" index="19" uid="223bf1ae-0dfe-4745-a066-8fe91ba1d381" >
<cdparam x="25" y="996" />
<sizeparam width="385" height="289" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="2400" />
<infoparam name="Block0" value="PTC" />
-<TGConnectingPoint num="0" id="3002" />
-<TGConnectingPoint num="1" id="3003" />
-<TGConnectingPoint num="2" id="3004" />
-<TGConnectingPoint num="3" id="3005" />
-<TGConnectingPoint num="4" id="3006" />
-<TGConnectingPoint num="5" id="3007" />
-<TGConnectingPoint num="6" id="3008" />
-<TGConnectingPoint num="7" id="3009" />
-<TGConnectingPoint num="8" id="3010" />
-<TGConnectingPoint num="9" id="3011" />
-<TGConnectingPoint num="10" id="3012" />
-<TGConnectingPoint num="11" id="3013" />
-<TGConnectingPoint num="12" id="3014" />
-<TGConnectingPoint num="13" id="3015" />
-<TGConnectingPoint num="14" id="3016" />
-<TGConnectingPoint num="15" id="3017" />
-<TGConnectingPoint num="16" id="3018" />
-<TGConnectingPoint num="17" id="3019" />
-<TGConnectingPoint num="18" id="3020" />
-<TGConnectingPoint num="19" id="3021" />
-<TGConnectingPoint num="20" id="3022" />
-<TGConnectingPoint num="21" id="3023" />
-<TGConnectingPoint num="22" id="3024" />
-<TGConnectingPoint num="23" id="3025" />
-<extraparam>
+<new d="false" />
+<TGConnectingPoint num="0" id="3178" />
+<TGConnectingPoint num="1" id="3179" />
+<TGConnectingPoint num="2" id="3180" />
+<TGConnectingPoint num="3" id="3181" />
+<TGConnectingPoint num="4" id="3182" />
+<TGConnectingPoint num="5" id="3183" />
+<TGConnectingPoint num="6" id="3184" />
+<TGConnectingPoint num="7" id="3185" />
+<TGConnectingPoint num="8" id="3186" />
+<TGConnectingPoint num="9" id="3187" />
+<TGConnectingPoint num="10" id="3188" />
+<TGConnectingPoint num="11" id="3189" />
+<TGConnectingPoint num="12" id="3190" />
+<TGConnectingPoint num="13" id="3191" />
+<TGConnectingPoint num="14" id="3192" />
+<TGConnectingPoint num="15" id="3193" />
+<TGConnectingPoint num="16" id="3194" />
+<TGConnectingPoint num="17" id="3195" />
+<TGConnectingPoint num="18" id="3196" />
+<TGConnectingPoint num="19" id="3197" />
+<TGConnectingPoint num="20" id="3198" />
+<TGConnectingPoint num="21" id="3199" />
+<TGConnectingPoint num="22" id="3200" />
+<TGConnectingPoint num="23" id="3201" />
+<TGConnectingPoint num="24" id="3202" />
+<TGConnectingPoint num="25" id="3203" />
+<TGConnectingPoint num="26" id="3204" />
+<TGConnectingPoint num="27" id="3205" />
+<TGConnectingPoint num="28" id="3206" />
+<TGConnectingPoint num="29" id="3207" />
+<TGConnectingPoint num="30" id="3208" />
+<TGConnectingPoint num="31" id="3209" />
+<TGConnectingPoint num="32" id="3210" />
+<TGConnectingPoint num="33" id="3211" />
+<TGConnectingPoint num="34" id="3212" />
+<TGConnectingPoint num="35" id="3213" />
+<TGConnectingPoint num="36" id="3214" />
+<TGConnectingPoint num="37" id="3215" />
+<TGConnectingPoint num="38" id="3216" />
+<TGConnectingPoint num="39" id="3217" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="5000" id="3001" >
-<father id="3026" num="0" />
+<SUBCOMPONENT type="5000" id="3177" index="34" uid="810e68e4-cb5c-4722-a143-fe1e31f598a6" >
+<father id="3218" num="0" />
<cdparam x="50" y="1054" />
<sizeparam width="312" height="206" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="73" minY="0" maxY="83" />
<infoparam name="Block0" value="DrivingPowerReductionStrategy" />
-<TGConnectingPoint num="0" id="2977" />
-<TGConnectingPoint num="1" id="2978" />
-<TGConnectingPoint num="2" id="2979" />
-<TGConnectingPoint num="3" id="2980" />
-<TGConnectingPoint num="4" id="2981" />
-<TGConnectingPoint num="5" id="2982" />
-<TGConnectingPoint num="6" id="2983" />
-<TGConnectingPoint num="7" id="2984" />
-<TGConnectingPoint num="8" id="2985" />
-<TGConnectingPoint num="9" id="2986" />
-<TGConnectingPoint num="10" id="2987" />
-<TGConnectingPoint num="11" id="2988" />
-<TGConnectingPoint num="12" id="2989" />
-<TGConnectingPoint num="13" id="2990" />
-<TGConnectingPoint num="14" id="2991" />
-<TGConnectingPoint num="15" id="2992" />
-<TGConnectingPoint num="16" id="2993" />
-<TGConnectingPoint num="17" id="2994" />
-<TGConnectingPoint num="18" id="2995" />
-<TGConnectingPoint num="19" id="2996" />
-<TGConnectingPoint num="20" id="2997" />
-<TGConnectingPoint num="21" id="2998" />
-<TGConnectingPoint num="22" id="2999" />
-<TGConnectingPoint num="23" id="3000" />
-<extraparam>
+<new d="false" />
+<TGConnectingPoint num="0" id="3137" />
+<TGConnectingPoint num="1" id="3138" />
+<TGConnectingPoint num="2" id="3139" />
+<TGConnectingPoint num="3" id="3140" />
+<TGConnectingPoint num="4" id="3141" />
+<TGConnectingPoint num="5" id="3142" />
+<TGConnectingPoint num="6" id="3143" />
+<TGConnectingPoint num="7" id="3144" />
+<TGConnectingPoint num="8" id="3145" />
+<TGConnectingPoint num="9" id="3146" />
+<TGConnectingPoint num="10" id="3147" />
+<TGConnectingPoint num="11" id="3148" />
+<TGConnectingPoint num="12" id="3149" />
+<TGConnectingPoint num="13" id="3150" />
+<TGConnectingPoint num="14" id="3151" />
+<TGConnectingPoint num="15" id="3152" />
+<TGConnectingPoint num="16" id="3153" />
+<TGConnectingPoint num="17" id="3154" />
+<TGConnectingPoint num="18" id="3155" />
+<TGConnectingPoint num="19" id="3156" />
+<TGConnectingPoint num="20" id="3157" />
+<TGConnectingPoint num="21" id="3158" />
+<TGConnectingPoint num="22" id="3159" />
+<TGConnectingPoint num="23" id="3160" />
+<TGConnectingPoint num="24" id="3161" />
+<TGConnectingPoint num="25" id="3162" />
+<TGConnectingPoint num="26" id="3163" />
+<TGConnectingPoint num="27" id="3164" />
+<TGConnectingPoint num="28" id="3165" />
+<TGConnectingPoint num="29" id="3166" />
+<TGConnectingPoint num="30" id="3167" />
+<TGConnectingPoint num="31" id="3168" />
+<TGConnectingPoint num="32" id="3169" />
+<TGConnectingPoint num="33" id="3170" />
+<TGConnectingPoint num="34" id="3171" />
+<TGConnectingPoint num="35" id="3172" />
+<TGConnectingPoint num="36" id="3173" />
+<TGConnectingPoint num="37" id="3174" />
+<TGConnectingPoint num="38" id="3175" />
+<TGConnectingPoint num="39" id="3176" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="value" value="" type="8" typeOther="" />
-<Attribute access="0" id="minReducePowerTime" value="10" type="8" typeOther="" />
-<Attribute access="0" id="maxReducePowerTime" value="20" type="8" typeOther="" />
+<Attribute access="0" var="0" id="value" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="minReducePowerTime" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="maxReducePowerTime" value="20" type="8" typeOther="" />
<Method value="applyReducePower(int value)" />
<Method value="reducePowerDone()" />
-<Signal value="in getReducePowerOrder(int value)" />
+<Signal value="in getReducePowerOrder(int value)" attached="false" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5000" id="3101" >
+<COMPONENT type="5000" id="3341" index="20" uid="3af59a0d-6edb-43a9-bc5d-34398adc4124" >
<cdparam x="456" y="973" />
<sizeparam width="704" height="310" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="2400" />
<infoparam name="Block0" value="BCU" />
-<TGConnectingPoint num="0" id="3077" />
-<TGConnectingPoint num="1" id="3078" />
-<TGConnectingPoint num="2" id="3079" />
-<TGConnectingPoint num="3" id="3080" />
-<TGConnectingPoint num="4" id="3081" />
-<TGConnectingPoint num="5" id="3082" />
-<TGConnectingPoint num="6" id="3083" />
-<TGConnectingPoint num="7" id="3084" />
-<TGConnectingPoint num="8" id="3085" />
-<TGConnectingPoint num="9" id="3086" />
-<TGConnectingPoint num="10" id="3087" />
-<TGConnectingPoint num="11" id="3088" />
-<TGConnectingPoint num="12" id="3089" />
-<TGConnectingPoint num="13" id="3090" />
-<TGConnectingPoint num="14" id="3091" />
-<TGConnectingPoint num="15" id="3092" />
-<TGConnectingPoint num="16" id="3093" />
-<TGConnectingPoint num="17" id="3094" />
-<TGConnectingPoint num="18" id="3095" />
-<TGConnectingPoint num="19" id="3096" />
-<TGConnectingPoint num="20" id="3097" />
-<TGConnectingPoint num="21" id="3098" />
-<TGConnectingPoint num="22" id="3099" />
-<TGConnectingPoint num="23" id="3100" />
-<extraparam>
+<new d="false" />
+<TGConnectingPoint num="0" id="3301" />
+<TGConnectingPoint num="1" id="3302" />
+<TGConnectingPoint num="2" id="3303" />
+<TGConnectingPoint num="3" id="3304" />
+<TGConnectingPoint num="4" id="3305" />
+<TGConnectingPoint num="5" id="3306" />
+<TGConnectingPoint num="6" id="3307" />
+<TGConnectingPoint num="7" id="3308" />
+<TGConnectingPoint num="8" id="3309" />
+<TGConnectingPoint num="9" id="3310" />
+<TGConnectingPoint num="10" id="3311" />
+<TGConnectingPoint num="11" id="3312" />
+<TGConnectingPoint num="12" id="3313" />
+<TGConnectingPoint num="13" id="3314" />
+<TGConnectingPoint num="14" id="3315" />
+<TGConnectingPoint num="15" id="3316" />
+<TGConnectingPoint num="16" id="3317" />
+<TGConnectingPoint num="17" id="3318" />
+<TGConnectingPoint num="18" id="3319" />
+<TGConnectingPoint num="19" id="3320" />
+<TGConnectingPoint num="20" id="3321" />
+<TGConnectingPoint num="21" id="3322" />
+<TGConnectingPoint num="22" id="3323" />
+<TGConnectingPoint num="23" id="3324" />
+<TGConnectingPoint num="24" id="3325" />
+<TGConnectingPoint num="25" id="3326" />
+<TGConnectingPoint num="26" id="3327" />
+<TGConnectingPoint num="27" id="3328" />
+<TGConnectingPoint num="28" id="3329" />
+<TGConnectingPoint num="29" id="3330" />
+<TGConnectingPoint num="30" id="3331" />
+<TGConnectingPoint num="31" id="3332" />
+<TGConnectingPoint num="32" id="3333" />
+<TGConnectingPoint num="33" id="3334" />
+<TGConnectingPoint num="34" id="3335" />
+<TGConnectingPoint num="35" id="3336" />
+<TGConnectingPoint num="36" id="3337" />
+<TGConnectingPoint num="37" id="3338" />
+<TGConnectingPoint num="38" id="3339" />
+<TGConnectingPoint num="39" id="3340" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="5000" id="3051" >
-<father id="3101" num="0" />
+<SUBCOMPONENT type="5000" id="3259" index="35" uid="2886ebda-b3b0-4aca-9fcf-1f69a8a00e2d" >
+<father id="3341" num="0" />
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+<sizeparam width="312" height="250" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="392" minY="0" maxY="60" />
+<infoparam name="Block0" value="DangerAvoidanceStrategy" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3219" />
+<TGConnectingPoint num="1" id="3220" />
+<TGConnectingPoint num="2" id="3221" />
+<TGConnectingPoint num="3" id="3222" />
+<TGConnectingPoint num="4" id="3223" />
+<TGConnectingPoint num="5" id="3224" />
+<TGConnectingPoint num="6" id="3225" />
+<TGConnectingPoint num="7" id="3226" />
+<TGConnectingPoint num="8" id="3227" />
+<TGConnectingPoint num="9" id="3228" />
+<TGConnectingPoint num="10" id="3229" />
+<TGConnectingPoint num="11" id="3230" />
+<TGConnectingPoint num="12" id="3231" />
+<TGConnectingPoint num="13" id="3232" />
+<TGConnectingPoint num="14" id="3233" />
+<TGConnectingPoint num="15" id="3234" />
+<TGConnectingPoint num="16" id="3235" />
+<TGConnectingPoint num="17" id="3236" />
+<TGConnectingPoint num="18" id="3237" />
+<TGConnectingPoint num="19" id="3238" />
+<TGConnectingPoint num="20" id="3239" />
+<TGConnectingPoint num="21" id="3240" />
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+<TGConnectingPoint num="23" id="3242" />
+<TGConnectingPoint num="24" id="3243" />
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+<TGConnectingPoint num="30" id="3249" />
+<TGConnectingPoint num="31" id="3250" />
+<TGConnectingPoint num="32" id="3251" />
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+<TGConnectingPoint num="37" id="3256" />
+<TGConnectingPoint num="38" id="3257" />
+<TGConnectingPoint num="39" id="3258" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="position" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="currentPosition" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
+<Attribute access="0" var="0" id="value" value="" type="8" typeOther="" />
+<Signal value="in brake(int speed, int currentPosition, int position)" attached="false" />
+<Signal value="out reducePower(int value)" attached="false" />
+<Signal value="out brakePower(int value)" attached="false" />
+<Signal value="out forwardEmergency(int myID, int currentPosition)" attached="false" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="5000" id="3300" index="36" uid="c5e04c09-543e-4406-aeb0-0e22e6451cbf" >
+<father id="3341" num="1" />
<cdparam x="825" y="1023" />
<sizeparam width="312" height="250" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="392" minY="0" maxY="60" />
<infoparam name="Block0" value="BrakeManagement" />
-<TGConnectingPoint num="0" id="3027" />
-<TGConnectingPoint num="1" id="3028" />
-<TGConnectingPoint num="2" id="3029" />
-<TGConnectingPoint num="3" id="3030" />
-<TGConnectingPoint num="4" id="3031" />
-<TGConnectingPoint num="5" id="3032" />
-<TGConnectingPoint num="6" id="3033" />
-<TGConnectingPoint num="7" id="3034" />
-<TGConnectingPoint num="8" id="3035" />
-<TGConnectingPoint num="9" id="3036" />
-<TGConnectingPoint num="10" id="3037" />
-<TGConnectingPoint num="11" id="3038" />
-<TGConnectingPoint num="12" id="3039" />
-<TGConnectingPoint num="13" id="3040" />
-<TGConnectingPoint num="14" id="3041" />
-<TGConnectingPoint num="15" id="3042" />
-<TGConnectingPoint num="16" id="3043" />
-<TGConnectingPoint num="17" id="3044" />
-<TGConnectingPoint num="18" id="3045" />
-<TGConnectingPoint num="19" id="3046" />
-<TGConnectingPoint num="20" id="3047" />
-<TGConnectingPoint num="21" id="3048" />
-<TGConnectingPoint num="22" id="3049" />
-<TGConnectingPoint num="23" id="3050" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3260" />
+<TGConnectingPoint num="1" id="3261" />
+<TGConnectingPoint num="2" id="3262" />
+<TGConnectingPoint num="3" id="3263" />
+<TGConnectingPoint num="4" id="3264" />
+<TGConnectingPoint num="5" id="3265" />
+<TGConnectingPoint num="6" id="3266" />
+<TGConnectingPoint num="7" id="3267" />
+<TGConnectingPoint num="8" id="3268" />
+<TGConnectingPoint num="9" id="3269" />
+<TGConnectingPoint num="10" id="3270" />
+<TGConnectingPoint num="11" id="3271" />
+<TGConnectingPoint num="12" id="3272" />
+<TGConnectingPoint num="13" id="3273" />
+<TGConnectingPoint num="14" id="3274" />
+<TGConnectingPoint num="15" id="3275" />
+<TGConnectingPoint num="16" id="3276" />
+<TGConnectingPoint num="17" id="3277" />
+<TGConnectingPoint num="18" id="3278" />
+<TGConnectingPoint num="19" id="3279" />
+<TGConnectingPoint num="20" id="3280" />
+<TGConnectingPoint num="21" id="3281" />
+<TGConnectingPoint num="22" id="3282" />
+<TGConnectingPoint num="23" id="3283" />
+<TGConnectingPoint num="24" id="3284" />
+<TGConnectingPoint num="25" id="3285" />
+<TGConnectingPoint num="26" id="3286" />
+<TGConnectingPoint num="27" id="3287" />
+<TGConnectingPoint num="28" id="3288" />
+<TGConnectingPoint num="29" id="3289" />
+<TGConnectingPoint num="30" id="3290" />
+<TGConnectingPoint num="31" id="3291" />
+<TGConnectingPoint num="32" id="3292" />
+<TGConnectingPoint num="33" id="3293" />
+<TGConnectingPoint num="34" id="3294" />
+<TGConnectingPoint num="35" id="3295" />
+<TGConnectingPoint num="36" id="3296" />
+<TGConnectingPoint num="37" id="3297" />
+<TGConnectingPoint num="38" id="3298" />
+<TGConnectingPoint num="39" id="3299" />
<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="value" value="" type="8" typeOther="" />
-<Attribute access="0" id="deltaBrake" value="0" type="8" typeOther="" />
-<Attribute access="0" id="brakeMaxDuration" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="value" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="deltaBrake" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="brakeMaxDuration" value="" type="8" typeOther="" />
<Method value="applyBraking(int value)" />
<Method value="brakingDone()" />
-<Signal value="in brake(int value)" />
-</extraparam>
-</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="3076" >
-<father id="3101" num="1" />
-<cdparam x="465" y="1023" />
-<sizeparam width="312" height="250" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="392" minY="0" maxY="60" />
-<infoparam name="Block0" value="DangerAvoidanceStrategy" />
-<TGConnectingPoint num="0" id="3052" />
-<TGConnectingPoint num="1" id="3053" />
-<TGConnectingPoint num="2" id="3054" />
-<TGConnectingPoint num="3" id="3055" />
-<TGConnectingPoint num="4" id="3056" />
-<TGConnectingPoint num="5" id="3057" />
-<TGConnectingPoint num="6" id="3058" />
-<TGConnectingPoint num="7" id="3059" />
-<TGConnectingPoint num="8" id="3060" />
-<TGConnectingPoint num="9" id="3061" />
-<TGConnectingPoint num="10" id="3062" />
-<TGConnectingPoint num="11" id="3063" />
-<TGConnectingPoint num="12" id="3064" />
-<TGConnectingPoint num="13" id="3065" />
-<TGConnectingPoint num="14" id="3066" />
-<TGConnectingPoint num="15" id="3067" />
-<TGConnectingPoint num="16" id="3068" />
-<TGConnectingPoint num="17" id="3069" />
-<TGConnectingPoint num="18" id="3070" />
-<TGConnectingPoint num="19" id="3071" />
-<TGConnectingPoint num="20" id="3072" />
-<TGConnectingPoint num="21" id="3073" />
-<TGConnectingPoint num="22" id="3074" />
-<TGConnectingPoint num="23" id="3075" />
-<extraparam>
-<CryptoBlock value="false" />
-<Attribute access="0" id="speed" value="" type="8" typeOther="" />
-<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Attribute access="0" id="currentPosition" value="" type="8" typeOther="" />
-<Attribute access="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
-<Attribute access="0" id="value" value="" type="8" typeOther="" />
-<Signal value="in brake(int speed, int currentPosition, int position)" />
-<Signal value="out reducePower(int value)" />
-<Signal value="out brakePower(int value)" />
-<Signal value="out forwardEmergency(int myID, int currentPosition)" />
+<Signal value="in brake(int value)" attached="false" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5000" id="3201" >
+<COMPONENT type="5000" id="3505" index="21" uid="59f90daf-53b6-43ae-b98a-c548b00c70b1" >
<cdparam x="396" y="650" />
<sizeparam width="798" height="289" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="2400" />
<infoparam name="Block0" value="CSCU" />
-<TGConnectingPoint num="0" id="3177" />
-<TGConnectingPoint num="1" id="3178" />
-<TGConnectingPoint num="2" id="3179" />
-<TGConnectingPoint num="3" id="3180" />
-<TGConnectingPoint num="4" id="3181" />
-<TGConnectingPoint num="5" id="3182" />
-<TGConnectingPoint num="6" id="3183" />
-<TGConnectingPoint num="7" id="3184" />
-<TGConnectingPoint num="8" id="3185" />
-<TGConnectingPoint num="9" id="3186" />
-<TGConnectingPoint num="10" id="3187" />
-<TGConnectingPoint num="11" id="3188" />
-<TGConnectingPoint num="12" id="3189" />
-<TGConnectingPoint num="13" id="3190" />
-<TGConnectingPoint num="14" id="3191" />
-<TGConnectingPoint num="15" id="3192" />
-<TGConnectingPoint num="16" id="3193" />
-<TGConnectingPoint num="17" id="3194" />
-<TGConnectingPoint num="18" id="3195" />
-<TGConnectingPoint num="19" id="3196" />
-<TGConnectingPoint num="20" id="3197" />
-<TGConnectingPoint num="21" id="3198" />
-<TGConnectingPoint num="22" id="3199" />
-<TGConnectingPoint num="23" id="3200" />
-<extraparam>
+<new d="false" />
+<TGConnectingPoint num="0" id="3465" />
+<TGConnectingPoint num="1" id="3466" />
+<TGConnectingPoint num="2" id="3467" />
+<TGConnectingPoint num="3" id="3468" />
+<TGConnectingPoint num="4" id="3469" />
+<TGConnectingPoint num="5" id="3470" />
+<TGConnectingPoint num="6" id="3471" />
+<TGConnectingPoint num="7" id="3472" />
+<TGConnectingPoint num="8" id="3473" />
+<TGConnectingPoint num="9" id="3474" />
+<TGConnectingPoint num="10" id="3475" />
+<TGConnectingPoint num="11" id="3476" />
+<TGConnectingPoint num="12" id="3477" />
+<TGConnectingPoint num="13" id="3478" />
+<TGConnectingPoint num="14" id="3479" />
+<TGConnectingPoint num="15" id="3480" />
+<TGConnectingPoint num="16" id="3481" />
+<TGConnectingPoint num="17" id="3482" />
+<TGConnectingPoint num="18" id="3483" />
+<TGConnectingPoint num="19" id="3484" />
+<TGConnectingPoint num="20" id="3485" />
+<TGConnectingPoint num="21" id="3486" />
+<TGConnectingPoint num="22" id="3487" />
+<TGConnectingPoint num="23" id="3488" />
+<TGConnectingPoint num="24" id="3489" />
+<TGConnectingPoint num="25" id="3490" />
+<TGConnectingPoint num="26" id="3491" />
+<TGConnectingPoint num="27" id="3492" />
+<TGConnectingPoint num="28" id="3493" />
+<TGConnectingPoint num="29" id="3494" />
+<TGConnectingPoint num="30" id="3495" />
+<TGConnectingPoint num="31" id="3496" />
+<TGConnectingPoint num="32" id="3497" />
+<TGConnectingPoint num="33" id="3498" />
+<TGConnectingPoint num="34" id="3499" />
+<TGConnectingPoint num="35" id="3500" />
+<TGConnectingPoint num="36" id="3501" />
+<TGConnectingPoint num="37" id="3502" />
+<TGConnectingPoint num="38" id="3503" />
+<TGConnectingPoint num="39" id="3504" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="5000" id="3126" >
-<father id="3201" num="0" />
-<cdparam x="903" y="707" />
-<sizeparam width="281" height="148" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5000" id="3382" index="37" uid="4cebba6a-9421-4edf-9cbc-a418848bb13e" >
+<father id="3505" num="0" />
+<cdparam x="670" y="704" />
+<sizeparam width="220" height="156" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="517" minY="0" maxY="141" />
-<infoparam name="Block0" value="VehiculeDynamicsManagement" />
-<TGConnectingPoint num="0" id="3102" />
-<TGConnectingPoint num="1" id="3103" />
-<TGConnectingPoint num="2" id="3104" />
-<TGConnectingPoint num="3" id="3105" />
-<TGConnectingPoint num="4" id="3106" />
-<TGConnectingPoint num="5" id="3107" />
-<TGConnectingPoint num="6" id="3108" />
-<TGConnectingPoint num="7" id="3109" />
-<TGConnectingPoint num="8" id="3110" />
-<TGConnectingPoint num="9" id="3111" />
-<TGConnectingPoint num="10" id="3112" />
-<TGConnectingPoint num="11" id="3113" />
-<TGConnectingPoint num="12" id="3114" />
-<TGConnectingPoint num="13" id="3115" />
-<TGConnectingPoint num="14" id="3116" />
-<TGConnectingPoint num="15" id="3117" />
-<TGConnectingPoint num="16" id="3118" />
-<TGConnectingPoint num="17" id="3119" />
-<TGConnectingPoint num="18" id="3120" />
-<TGConnectingPoint num="19" id="3121" />
-<TGConnectingPoint num="20" id="3122" />
-<TGConnectingPoint num="21" id="3123" />
-<TGConnectingPoint num="22" id="3124" />
-<TGConnectingPoint num="23" id="3125" />
-<extraparam>
+<cdrectangleparam minX="0" maxX="578" minY="0" maxY="133" />
+<infoparam name="Block0" value="ObjectListManagement" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3342" />
+<TGConnectingPoint num="1" id="3343" />
+<TGConnectingPoint num="2" id="3344" />
+<TGConnectingPoint num="3" id="3345" />
+<TGConnectingPoint num="4" id="3346" />
+<TGConnectingPoint num="5" id="3347" />
+<TGConnectingPoint num="6" id="3348" />
+<TGConnectingPoint num="7" id="3349" />
+<TGConnectingPoint num="8" id="3350" />
+<TGConnectingPoint num="9" id="3351" />
+<TGConnectingPoint num="10" id="3352" />
+<TGConnectingPoint num="11" id="3353" />
+<TGConnectingPoint num="12" id="3354" />
+<TGConnectingPoint num="13" id="3355" />
+<TGConnectingPoint num="14" id="3356" />
+<TGConnectingPoint num="15" id="3357" />
+<TGConnectingPoint num="16" id="3358" />
+<TGConnectingPoint num="17" id="3359" />
+<TGConnectingPoint num="18" id="3360" />
+<TGConnectingPoint num="19" id="3361" />
+<TGConnectingPoint num="20" id="3362" />
+<TGConnectingPoint num="21" id="3363" />
+<TGConnectingPoint num="22" id="3364" />
+<TGConnectingPoint num="23" id="3365" />
+<TGConnectingPoint num="24" id="3366" />
+<TGConnectingPoint num="25" id="3367" />
+<TGConnectingPoint num="26" id="3368" />
+<TGConnectingPoint num="27" id="3369" />
+<TGConnectingPoint num="28" id="3370" />
+<TGConnectingPoint num="29" id="3371" />
+<TGConnectingPoint num="30" id="3372" />
+<TGConnectingPoint num="31" id="3373" />
+<TGConnectingPoint num="32" id="3374" />
+<TGConnectingPoint num="33" id="3375" />
+<TGConnectingPoint num="34" id="3376" />
+<TGConnectingPoint num="35" id="3377" />
+<TGConnectingPoint num="36" id="3378" />
+<TGConnectingPoint num="37" id="3379" />
+<TGConnectingPoint num="38" id="3380" />
+<TGConnectingPoint num="39" id="3381" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="speed" value="" type="8" typeOther="" />
-<Signal value="in updateOnSpeed(int speed)" />
-<Signal value="out getInfoOnSpeed(int speed)" />
+<Attribute access="0" var="0" id="obstacle" value="0" type="8" typeOther="" />
+<Signal value="in isObstacleAhead(int info)" attached="false" />
+<Signal value="out getInfoOnObstacle(int info)" attached="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="3151" >
-<father id="3201" num="1" />
+<SUBCOMPONENT type="5000" id="3423" index="38" uid="b1a8c2b8-106d-41a3-a675-01e5ad04e000" >
+<father id="3505" num="1" />
<cdparam x="406" y="695" />
<sizeparam width="242" height="167" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="556" minY="0" maxY="122" />
<infoparam name="Block0" value="PlausibilityCheck" />
-<TGConnectingPoint num="0" id="3127" />
-<TGConnectingPoint num="1" id="3128" />
-<TGConnectingPoint num="2" id="3129" />
-<TGConnectingPoint num="3" id="3130" />
-<TGConnectingPoint num="4" id="3131" />
-<TGConnectingPoint num="5" id="3132" />
-<TGConnectingPoint num="6" id="3133" />
-<TGConnectingPoint num="7" id="3134" />
-<TGConnectingPoint num="8" id="3135" />
-<TGConnectingPoint num="9" id="3136" />
-<TGConnectingPoint num="10" id="3137" />
-<TGConnectingPoint num="11" id="3138" />
-<TGConnectingPoint num="12" id="3139" />
-<TGConnectingPoint num="13" id="3140" />
-<TGConnectingPoint num="14" id="3141" />
-<TGConnectingPoint num="15" id="3142" />
-<TGConnectingPoint num="16" id="3143" />
-<TGConnectingPoint num="17" id="3144" />
-<TGConnectingPoint num="18" id="3145" />
-<TGConnectingPoint num="19" id="3146" />
-<TGConnectingPoint num="20" id="3147" />
-<TGConnectingPoint num="21" id="3148" />
-<TGConnectingPoint num="22" id="3149" />
-<TGConnectingPoint num="23" id="3150" />
-<extraparam>
+<new d="false" />
+<TGConnectingPoint num="0" id="3383" />
+<TGConnectingPoint num="1" id="3384" />
+<TGConnectingPoint num="2" id="3385" />
+<TGConnectingPoint num="3" id="3386" />
+<TGConnectingPoint num="4" id="3387" />
+<TGConnectingPoint num="5" id="3388" />
+<TGConnectingPoint num="6" id="3389" />
+<TGConnectingPoint num="7" id="3390" />
+<TGConnectingPoint num="8" id="3391" />
+<TGConnectingPoint num="9" id="3392" />
+<TGConnectingPoint num="10" id="3393" />
+<TGConnectingPoint num="11" id="3394" />
+<TGConnectingPoint num="12" id="3395" />
+<TGConnectingPoint num="13" id="3396" />
+<TGConnectingPoint num="14" id="3397" />
+<TGConnectingPoint num="15" id="3398" />
+<TGConnectingPoint num="16" id="3399" />
+<TGConnectingPoint num="17" id="3400" />
+<TGConnectingPoint num="18" id="3401" />
+<TGConnectingPoint num="19" id="3402" />
+<TGConnectingPoint num="20" id="3403" />
+<TGConnectingPoint num="21" id="3404" />
+<TGConnectingPoint num="22" id="3405" />
+<TGConnectingPoint num="23" id="3406" />
+<TGConnectingPoint num="24" id="3407" />
+<TGConnectingPoint num="25" id="3408" />
+<TGConnectingPoint num="26" id="3409" />
+<TGConnectingPoint num="27" id="3410" />
+<TGConnectingPoint num="28" id="3411" />
+<TGConnectingPoint num="29" id="3412" />
+<TGConnectingPoint num="30" id="3413" />
+<TGConnectingPoint num="31" id="3414" />
+<TGConnectingPoint num="32" id="3415" />
+<TGConnectingPoint num="33" id="3416" />
+<TGConnectingPoint num="34" id="3417" />
+<TGConnectingPoint num="35" id="3418" />
+<TGConnectingPoint num="36" id="3419" />
+<TGConnectingPoint num="37" id="3420" />
+<TGConnectingPoint num="38" id="3421" />
+<TGConnectingPoint num="39" id="3422" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="id" value="" type="8" typeOther="" />
-<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Attribute access="0" id="speed" value="" type="8" typeOther="" />
-<Attribute access="0" id="obstacle" value="" type="8" typeOther="" />
-<Attribute access="0" id="list" value="" type="5" typeOther="NodeList" />
-<Attribute access="0" id="currentPosition" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="id" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="position" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="obstacle" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="list" value="" type="5" typeOther="NodeList" />
+<Attribute access="0" var="0" id="currentPosition" value="" type="8" typeOther="" />
<Method value="emergencyIgnored()" />
<Method value="emergencyTakenIntoAccount()" />
<Method value="getNodeList(int currentPosition, NodeList list)" />
-<Signal value="in getEmergencyMessageToVerify(int id, int position)" />
-<Signal value="in getInfoOnObstacle(int obstacle)" />
-<Signal value="in getInfoOnSpeed(int speed)" />
-<Signal value="out brake(int speed, int currentPosition, int position)" />
-<Signal value="in getNodeList(NodeList list)" />
+<Signal value="in getEmergencyMessageToVerify(int id, int position)" attached="false" />
+<Signal value="in getInfoOnObstacle(int obstacle)" attached="false" />
+<Signal value="in getInfoOnSpeed(int speed)" attached="false" />
+<Signal value="out brake(int speed, int currentPosition, int position)" attached="false" />
+<Signal value="in getNodeList(NodeList list)" attached="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="3176" >
-<father id="3201" num="2" />
-<cdparam x="670" y="704" />
-<sizeparam width="220" height="156" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5000" id="3464" index="39" uid="efd4e171-900c-4909-b9dd-9945068aa4b9" >
+<father id="3505" num="2" />
+<cdparam x="903" y="707" />
+<sizeparam width="281" height="148" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="578" minY="0" maxY="133" />
-<infoparam name="Block0" value="ObjectListManagement" />
-<TGConnectingPoint num="0" id="3152" />
-<TGConnectingPoint num="1" id="3153" />
-<TGConnectingPoint num="2" id="3154" />
-<TGConnectingPoint num="3" id="3155" />
-<TGConnectingPoint num="4" id="3156" />
-<TGConnectingPoint num="5" id="3157" />
-<TGConnectingPoint num="6" id="3158" />
-<TGConnectingPoint num="7" id="3159" />
-<TGConnectingPoint num="8" id="3160" />
-<TGConnectingPoint num="9" id="3161" />
-<TGConnectingPoint num="10" id="3162" />
-<TGConnectingPoint num="11" id="3163" />
-<TGConnectingPoint num="12" id="3164" />
-<TGConnectingPoint num="13" id="3165" />
-<TGConnectingPoint num="14" id="3166" />
-<TGConnectingPoint num="15" id="3167" />
-<TGConnectingPoint num="16" id="3168" />
-<TGConnectingPoint num="17" id="3169" />
-<TGConnectingPoint num="18" id="3170" />
-<TGConnectingPoint num="19" id="3171" />
-<TGConnectingPoint num="20" id="3172" />
-<TGConnectingPoint num="21" id="3173" />
-<TGConnectingPoint num="22" id="3174" />
-<TGConnectingPoint num="23" id="3175" />
-<extraparam>
+<cdrectangleparam minX="0" maxX="517" minY="0" maxY="141" />
+<infoparam name="Block0" value="VehiculeDynamicsManagement" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3424" />
+<TGConnectingPoint num="1" id="3425" />
+<TGConnectingPoint num="2" id="3426" />
+<TGConnectingPoint num="3" id="3427" />
+<TGConnectingPoint num="4" id="3428" />
+<TGConnectingPoint num="5" id="3429" />
+<TGConnectingPoint num="6" id="3430" />
+<TGConnectingPoint num="7" id="3431" />
+<TGConnectingPoint num="8" id="3432" />
+<TGConnectingPoint num="9" id="3433" />
+<TGConnectingPoint num="10" id="3434" />
+<TGConnectingPoint num="11" id="3435" />
+<TGConnectingPoint num="12" id="3436" />
+<TGConnectingPoint num="13" id="3437" />
+<TGConnectingPoint num="14" id="3438" />
+<TGConnectingPoint num="15" id="3439" />
+<TGConnectingPoint num="16" id="3440" />
+<TGConnectingPoint num="17" id="3441" />
+<TGConnectingPoint num="18" id="3442" />
+<TGConnectingPoint num="19" id="3443" />
+<TGConnectingPoint num="20" id="3444" />
+<TGConnectingPoint num="21" id="3445" />
+<TGConnectingPoint num="22" id="3446" />
+<TGConnectingPoint num="23" id="3447" />
+<TGConnectingPoint num="24" id="3448" />
+<TGConnectingPoint num="25" id="3449" />
+<TGConnectingPoint num="26" id="3450" />
+<TGConnectingPoint num="27" id="3451" />
+<TGConnectingPoint num="28" id="3452" />
+<TGConnectingPoint num="29" id="3453" />
+<TGConnectingPoint num="30" id="3454" />
+<TGConnectingPoint num="31" id="3455" />
+<TGConnectingPoint num="32" id="3456" />
+<TGConnectingPoint num="33" id="3457" />
+<TGConnectingPoint num="34" id="3458" />
+<TGConnectingPoint num="35" id="3459" />
+<TGConnectingPoint num="36" id="3460" />
+<TGConnectingPoint num="37" id="3461" />
+<TGConnectingPoint num="38" id="3462" />
+<TGConnectingPoint num="39" id="3463" />
+<extraparam>
+<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="obstacle" value="0" type="8" typeOther="" />
-<Signal value="in isObstacleAhead(int info)" />
-<Signal value="out getInfoOnObstacle(int info)" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in updateOnSpeed(int speed)" attached="false" />
+<Signal value="out getInfoOnSpeed(int speed)" attached="false" />
</extraparam>
</SUBCOMPONENT>
</AVATARBlockDiagramPanel>
-<AVATARStateMachineDiagramPanel name="TestBench" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="5100" id="3203" >
+<AVATARStateMachineDiagramPanel name="TestBench" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="5100" id="3507" index="0" uid="67797a57-5adb-4cbd-99a3-1dbb50a8b0c6" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3202" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3506" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="Communication" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="5100" id="3205" >
+<AVATARStateMachineDiagramPanel name="Communication" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="5100" id="3509" index="0" uid="c422a101-1a16-456c-af1e-b29f29c4b0a7" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3204" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3508" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="PTC" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="5100" id="3207" >
+<AVATARStateMachineDiagramPanel name="PTC" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="5100" id="3511" index="0" uid="9626bc12-414a-48b0-82b9-ba8a9937f8fd" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3206" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3510" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="BCU" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="5100" id="3209" >
+<AVATARStateMachineDiagramPanel name="BCU" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="5100" id="3513" index="0" uid="b8488dce-3878-4991-aa20-7ccb0e8466b5" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3208" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3512" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="CSCU" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="5100" id="3211" >
+<AVATARStateMachineDiagramPanel name="CSCU" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="5100" id="3515" index="0" uid="1fbee723-4f55-4b71-852f-4d4da4f3f242" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3210" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3514" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="SpeedSensor" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3224" >
-<cdparam x="390" y="331" />
+<AVATARStateMachineDiagramPanel name="EmergencySimulator" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<CONNECTOR type="5102" id="3522" index="0" uid="728b28af-1c64-4c25-8ecd-04849a40dc02" >
+<cdparam x="524" y="259" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from TGComponent to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3521" />
+<P1 x="399" y="256" id="3644" />
+<P2 x="399" y="265" id="3557" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3520" index="10" uid="df4c4d40-32ea-4ca9-9147-680ddfaf8b46" >
+<father id="3522" num="0" />
+<cdparam x="524" y="299" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3516" />
+<TGConnectingPoint num="1" id="3517" />
+<TGConnectingPoint num="2" id="3518" />
+<TGConnectingPoint num="3" id="3519" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="3535" index="1" uid="39dff702-7c74-4e1d-9753-6e4e667bf60a" >
+<cdparam x="400" y="271" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3220" />
-<TGConnectingPoint num="1" id="3221" />
-<TGConnectingPoint num="2" id="3222" />
-<TGConnectingPoint num="3" id="3223" />
-<P1 x="390" y="355" id="3250" />
-<P2 x="306" y="133" id="3281" />
-<Point x="390" y="376" />
-<Point x="209" y="376" />
-<Point x="209" y="133" />
+<TGConnectingPoint num="0" id="3531" />
+<TGConnectingPoint num="1" id="3532" />
+<TGConnectingPoint num="2" id="3533" />
+<TGConnectingPoint num="3" id="3534" />
+<P1 x="399" y="295" id="3558" />
+<P2 x="307" y="112" id="3571" />
+<Point x="399" y="314" />
+<Point x="169" y="313" />
+<Point x="156" y="111" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3212" >
-<father id="3224" num="0" />
-<cdparam x="390" y="376" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3523" index="11" uid="17188735-6291-4ff3-94b4-a8a9510dfabf" >
+<father id="3535" num="0" />
+<cdparam x="399" y="314" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3213" >
-<father id="3224" num="1" />
-<cdparam x="209" y="376" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="3524" index="12" uid="e57202b4-1989-44ff-9f5d-3fb6f804109d" >
+<father id="3535" num="1" />
+<cdparam x="169" y="313" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3214" >
-<father id="3224" num="2" />
-<cdparam x="209" y="133" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="3525" index="13" uid="a62b05d6-fa4b-4d62-8b79-2b7fbb873292" >
+<father id="3535" num="2" />
+<cdparam x="156" y="111" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3219" >
-<father id="3224" num="3" />
-<cdparam x="390" y="371" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="3530" index="14" uid="7bc677d5-1a99-472c-95c8-a51330b2ca00" >
+<father id="3535" num="3" />
+<cdparam x="400" y="311" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3215" />
-<TGConnectingPoint num="1" id="3216" />
-<TGConnectingPoint num="2" id="3217" />
-<TGConnectingPoint num="3" id="3218" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3526" />
+<TGConnectingPoint num="1" id="3527" />
+<TGConnectingPoint num="2" id="3528" />
+<TGConnectingPoint num="3" id="3529" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3231" >
-<cdparam x="410" y="165" />
+<CONNECTOR type="5102" id="3542" index="2" uid="70f2ce61-66cb-4c1d-bf92-bb682af9fb67" >
+<cdparam x="400" y="211" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3230" />
-<P1 x="390" y="165" id="3266" />
-<P2 x="390" y="242" id="3246" />
+<infoparam name="connector from TGComponent to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3541" />
+<P1 x="400" y="211" id="3647" />
+<P2 x="399" y="226" id="3643" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3229" >
-<father id="3231" num="0" />
-<cdparam x="404" y="195" />
-<sizeparam width="245" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3540" index="15" uid="5b0c29b8-7bb0-4e32-b6df-b8d7e19066a1" >
+<father id="3542" num="0" />
+<cdparam x="400" y="251" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3225" />
-<TGConnectingPoint num="1" id="3226" />
-<TGConnectingPoint num="2" id="3227" />
-<TGConnectingPoint num="3" id="3228" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3536" />
+<TGConnectingPoint num="1" id="3537" />
+<TGConnectingPoint num="2" id="3538" />
+<TGConnectingPoint num="3" id="3539" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="minSpeedUpdate" />
-<afterMax value="maxSpeedUpdate" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3238" >
-<cdparam x="390" y="81" />
+<CONNECTOR type="5102" id="3549" index="3" uid="8988d9de-452e-491f-805a-4286bb0a0fd5" >
+<cdparam x="407" y="70" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3237" />
-<P1 x="390" y="81" id="3301" />
-<P2 x="390" y="115" id="3261" />
+<TGConnectingPoint num="0" id="3548" />
+<P1 x="407" y="70" id="3641" />
+<P2 x="400" y="87" id="3569" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3236" >
-<father id="3238" num="0" />
-<cdparam x="390" y="121" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3547" index="16" uid="ec93f051-4bc2-4d40-bba1-ce79e9a57dd3" >
+<father id="3549" num="0" />
+<cdparam x="407" y="110" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3232" />
-<TGConnectingPoint num="1" id="3233" />
-<TGConnectingPoint num="2" id="3234" />
-<TGConnectingPoint num="3" id="3235" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3543" />
+<TGConnectingPoint num="1" id="3544" />
+<TGConnectingPoint num="2" id="3545" />
+<TGConnectingPoint num="3" id="3546" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3245" >
-<cdparam x="390" y="272" />
+<CONNECTOR type="5102" id="3556" index="4" uid="87cd1ac6-2357-4ce6-821c-4d74f0f05a3a" >
+<cdparam x="493" y="137" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3244" />
-<P1 x="390" y="272" id="3247" />
-<P2 x="390" y="325" id="3249" />
+<infoparam name="connector from state0 to TGComponent" value="null" />
+<TGConnectingPoint num="0" id="3555" />
+<P1 x="400" y="137" id="3574" />
+<P2 x="400" y="181" id="3646" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3243" >
-<father id="3245" num="0" />
-<cdparam x="404" y="300" />
-<sizeparam width="158" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3554" index="17" uid="f5ca0cca-e82e-44a7-8e95-fab0e00c8d2c" >
+<father id="3556" num="0" />
+<cdparam x="493" y="177" />
+<sizeparam width="299" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3239" />
-<TGConnectingPoint num="1" id="3240" />
-<TGConnectingPoint num="2" id="3241" />
-<TGConnectingPoint num="3" id="3242" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3550" />
+<TGConnectingPoint num="1" id="3551" />
+<TGConnectingPoint num="2" id="3552" />
+<TGConnectingPoint num="3" id="3553" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="speed = carinfo.maxSpeed" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="minEmergencyInterval" enabled="true"/>
+<afterMax value="maxEmergencyInterval" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5108" id="3248" >
-<cdparam x="218" y="247" />
-<sizeparam width="345" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="3567" index="5" uid="3708b9f2-835a-40b8-88b5-7f42bb34375b" >
+<cdparam x="308" y="270" />
+<sizeparam width="182" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3246" />
-<TGConnectingPoint num="1" id="3247" />
+<infoparam name="Send signal" value="obstacleDetected(id, position)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3557" />
+<TGConnectingPoint num="1" id="3558" />
+<TGConnectingPoint num="2" id="3559" />
+<TGConnectingPoint num="3" id="3560" />
+<TGConnectingPoint num="4" id="3561" />
+<TGConnectingPoint num="5" id="3562" />
+<TGConnectingPoint num="6" id="3563" />
+<TGConnectingPoint num="7" id="3564" />
+<TGConnectingPoint num="8" id="3565" />
+<TGConnectingPoint num="9" id="3566" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="3640" index="6" uid="67df8e58-b160-4957-a1eb-e1a5c9b58da3" >
+<cdparam x="307" y="87" />
+<sizeparam width="186" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="state0" value="WaitingforEmergency" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3568" />
+<TGConnectingPoint num="1" id="3569" />
+<TGConnectingPoint num="2" id="3570" />
+<TGConnectingPoint num="3" id="3571" />
+<TGConnectingPoint num="4" id="3572" />
+<TGConnectingPoint num="5" id="3573" />
+<TGConnectingPoint num="6" id="3574" />
+<TGConnectingPoint num="7" id="3575" />
+<TGConnectingPoint num="8" id="3576" />
+<TGConnectingPoint num="9" id="3577" />
+<TGConnectingPoint num="10" id="3578" />
+<TGConnectingPoint num="11" id="3579" />
+<TGConnectingPoint num="12" id="3580" />
+<TGConnectingPoint num="13" id="3581" />
+<TGConnectingPoint num="14" id="3582" />
+<TGConnectingPoint num="15" id="3583" />
+<TGConnectingPoint num="16" id="3584" />
+<TGConnectingPoint num="17" id="3585" />
+<TGConnectingPoint num="18" id="3586" />
+<TGConnectingPoint num="19" id="3587" />
+<TGConnectingPoint num="20" id="3588" />
+<TGConnectingPoint num="21" id="3589" />
+<TGConnectingPoint num="22" id="3590" />
+<TGConnectingPoint num="23" id="3591" />
+<TGConnectingPoint num="24" id="3592" />
+<TGConnectingPoint num="25" id="3593" />
+<TGConnectingPoint num="26" id="3594" />
+<TGConnectingPoint num="27" id="3595" />
+<TGConnectingPoint num="28" id="3596" />
+<TGConnectingPoint num="29" id="3597" />
+<TGConnectingPoint num="30" id="3598" />
+<TGConnectingPoint num="31" id="3599" />
+<TGConnectingPoint num="32" id="3600" />
+<TGConnectingPoint num="33" id="3601" />
+<TGConnectingPoint num="34" id="3602" />
+<TGConnectingPoint num="35" id="3603" />
+<TGConnectingPoint num="36" id="3604" />
+<TGConnectingPoint num="37" id="3605" />
+<TGConnectingPoint num="38" id="3606" />
+<TGConnectingPoint num="39" id="3607" />
+<TGConnectingPoint num="40" id="3608" />
+<TGConnectingPoint num="41" id="3609" />
+<TGConnectingPoint num="42" id="3610" />
+<TGConnectingPoint num="43" id="3611" />
+<TGConnectingPoint num="44" id="3612" />
+<TGConnectingPoint num="45" id="3613" />
+<TGConnectingPoint num="46" id="3614" />
+<TGConnectingPoint num="47" id="3615" />
+<TGConnectingPoint num="48" id="3616" />
+<TGConnectingPoint num="49" id="3617" />
+<TGConnectingPoint num="50" id="3618" />
+<TGConnectingPoint num="51" id="3619" />
+<TGConnectingPoint num="52" id="3620" />
+<TGConnectingPoint num="53" id="3621" />
+<TGConnectingPoint num="54" id="3622" />
+<TGConnectingPoint num="55" id="3623" />
+<TGConnectingPoint num="56" id="3624" />
+<TGConnectingPoint num="57" id="3625" />
+<TGConnectingPoint num="58" id="3626" />
+<TGConnectingPoint num="59" id="3627" />
+<TGConnectingPoint num="60" id="3628" />
+<TGConnectingPoint num="61" id="3629" />
+<TGConnectingPoint num="62" id="3630" />
+<TGConnectingPoint num="63" id="3631" />
+<TGConnectingPoint num="64" id="3632" />
+<TGConnectingPoint num="65" id="3633" />
+<TGConnectingPoint num="66" id="3634" />
+<TGConnectingPoint num="67" id="3635" />
+<TGConnectingPoint num="68" id="3636" />
+<TGConnectingPoint num="69" id="3637" />
+<TGConnectingPoint num="70" id="3638" />
+<TGConnectingPoint num="71" id="3639" />
<extraparam>
-<Data variable="speed" minValue="carinfo.minSpeed" maxValue="carinfo.maxSpeed" functionId="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5103" id="3259" >
-<cdparam x="317" y="330" />
-<sizeparam width="147" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5100" id="3642" index="7" uid="555b75d7-3c65-4b29-871a-22c741fc6c31" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="updateOnSpeed(speed)" />
-<TGConnectingPoint num="0" id="3249" />
-<TGConnectingPoint num="1" id="3250" />
-<TGConnectingPoint num="2" id="3251" />
-<TGConnectingPoint num="3" id="3252" />
-<TGConnectingPoint num="4" id="3253" />
-<TGConnectingPoint num="5" id="3254" />
-<TGConnectingPoint num="6" id="3255" />
-<TGConnectingPoint num="7" id="3256" />
-<TGConnectingPoint num="8" id="3257" />
-<TGConnectingPoint num="9" id="3258" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3300" >
-<cdparam x="306" y="115" />
-<sizeparam width="169" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3641" />
+</COMPONENT>
+
+<COMPONENT type="5108" id="3645" index="8" uid="b12d55ed-f456-493d-9071-139fc044f3c3" >
+<cdparam x="224" y="231" />
+<sizeparam width="350" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingForSpeedUpdate" />
-<TGConnectingPoint num="0" id="3260" />
-<TGConnectingPoint num="1" id="3261" />
-<TGConnectingPoint num="2" id="3262" />
-<TGConnectingPoint num="3" id="3263" />
-<TGConnectingPoint num="4" id="3264" />
-<TGConnectingPoint num="5" id="3265" />
-<TGConnectingPoint num="6" id="3266" />
-<TGConnectingPoint num="7" id="3267" />
-<TGConnectingPoint num="8" id="3268" />
-<TGConnectingPoint num="9" id="3269" />
-<TGConnectingPoint num="10" id="3270" />
-<TGConnectingPoint num="11" id="3271" />
-<TGConnectingPoint num="12" id="3272" />
-<TGConnectingPoint num="13" id="3273" />
-<TGConnectingPoint num="14" id="3274" />
-<TGConnectingPoint num="15" id="3275" />
-<TGConnectingPoint num="16" id="3276" />
-<TGConnectingPoint num="17" id="3277" />
-<TGConnectingPoint num="18" id="3278" />
-<TGConnectingPoint num="19" id="3279" />
-<TGConnectingPoint num="20" id="3280" />
-<TGConnectingPoint num="21" id="3281" />
-<TGConnectingPoint num="22" id="3282" />
-<TGConnectingPoint num="23" id="3283" />
-<TGConnectingPoint num="24" id="3284" />
-<TGConnectingPoint num="25" id="3285" />
-<TGConnectingPoint num="26" id="3286" />
-<TGConnectingPoint num="27" id="3287" />
-<TGConnectingPoint num="28" id="3288" />
-<TGConnectingPoint num="29" id="3289" />
-<TGConnectingPoint num="30" id="3290" />
-<TGConnectingPoint num="31" id="3291" />
-<TGConnectingPoint num="32" id="3292" />
-<TGConnectingPoint num="33" id="3293" />
-<TGConnectingPoint num="34" id="3294" />
-<TGConnectingPoint num="35" id="3295" />
-<TGConnectingPoint num="36" id="3296" />
-<TGConnectingPoint num="37" id="3297" />
-<TGConnectingPoint num="38" id="3298" />
-<TGConnectingPoint num="39" id="3299" />
+<infoparam name="TGComponent" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3643" />
+<TGConnectingPoint num="1" id="3644" />
<extraparam>
+<Data variable="position" minValue="carid.minPosition" maxValue="carid.maxPosition" functionId="0" extraAttribute1="" extraAttribute2="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5100" id="3302" >
-<cdparam x="383" y="61" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5108" id="3648" index="9" uid="3a9f21cd-1630-4633-9fe9-69fbe617e3ec" >
+<cdparam x="274" y="186" />
+<sizeparam width="252" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3301" />
+<infoparam name="TGComponent" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3646" />
+<TGConnectingPoint num="1" id="3647" />
+<extraparam>
+<Data variable="id" minValue="carid.minID" maxValue="carid.maxID" functionId="0" extraAttribute1="" extraAttribute2="" />
+</extraparam>
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="RadarSensor" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3311" >
-<cdparam x="492" y="329" />
+<AVATARStateMachineDiagramPanel name="CarPositionSimulator" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<CONNECTOR type="5102" id="3655" index="0" uid="568b4487-0e06-4675-97d5-2c4b86f380f2" >
+<cdparam x="424" y="254" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3309" />
-<TGConnectingPoint num="1" id="3310" />
-<P1 x="492" y="329" id="3398" />
-<P2 x="513" y="410" id="3374" />
-<Point x="536" y="357" />
+<infoparam name="connector from TGComponent to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3654" />
+<P1 x="424" y="254" id="3691" />
+<P2 x="422" y="274" id="3696" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3303" >
-<father id="3311" num="0" />
-<cdparam x="536" y="357" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3653" index="10" uid="8e6789ca-6839-42c6-8887-d685795256ad" >
+<father id="3655" num="0" />
+<cdparam x="424" y="294" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3649" />
+<TGConnectingPoint num="1" id="3650" />
+<TGConnectingPoint num="2" id="3651" />
+<TGConnectingPoint num="3" id="3652" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3308" >
-<father id="3311" num="1" />
-<cdparam x="492" y="369" />
-<sizeparam width="111" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+
+<CONNECTOR type="5102" id="3662" index="1" uid="aacfe0d0-271e-4e58-b43a-e332edd88f94" >
+<cdparam x="517" y="144" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to TGComponent" value="null" />
+<TGConnectingPoint num="0" id="3661" />
+<P1 x="424" y="144" id="3713" />
+<P2 x="424" y="188" id="3693" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3660" index="11" uid="dee467c5-9fad-4968-9cc3-0e977452ba54" >
+<father id="3662" num="0" />
+<cdparam x="517" y="184" />
+<sizeparam width="301" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3304" />
-<TGConnectingPoint num="1" id="3305" />
-<TGConnectingPoint num="2" id="3306" />
-<TGConnectingPoint num="3" id="3307" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3656" />
+<TGConnectingPoint num="1" id="3657" />
+<TGConnectingPoint num="2" id="3658" />
+<TGConnectingPoint num="3" id="3659" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="obstacleAhead = 1" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="minCarPositionInterval" enabled="true"/>
+<afterMax value="maxCarPositionInterval" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3318" >
-<cdparam x="459" y="192" />
+<CONNECTOR type="5102" id="3669" index="2" uid="df9271a6-4a77-4a86-844d-f9c918902083" >
+<cdparam x="431" y="77" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3317" />
-<P1 x="439" y="192" id="3429" />
-<P2 x="467" y="304" id="3396" />
+<infoparam name="connector from start state to state0" value="null" />
+<TGConnectingPoint num="0" id="3668" />
+<P1 x="431" y="77" id="3780" />
+<P2 x="424" y="94" id="3708" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3316" >
-<father id="3318" num="0" />
-<cdparam x="453" y="222" />
-<sizeparam width="243" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3667" index="12" uid="1f49a714-2a91-4697-9ab0-347489c644e0" >
+<father id="3669" num="0" />
+<cdparam x="431" y="117" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3312" />
-<TGConnectingPoint num="1" id="3313" />
-<TGConnectingPoint num="2" id="3314" />
-<TGConnectingPoint num="3" id="3315" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3663" />
+<TGConnectingPoint num="1" id="3664" />
+<TGConnectingPoint num="2" id="3665" />
+<TGConnectingPoint num="3" id="3666" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="minRadarUpdate" />
-<afterMax value="maxRadarUpdate" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3325" >
-<cdparam x="439" y="108" />
+<CONNECTOR type="5102" id="3676" index="3" uid="a018b878-f6bd-4148-8faf-71ef67f0a46f" >
+<cdparam x="424" y="218" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3324" />
-<P1 x="439" y="108" id="3464" />
-<P2 x="439" y="142" id="3424" />
+<infoparam name="connector from TGComponent to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3675" />
+<P1 x="424" y="218" id="3694" />
+<P2 x="424" y="224" id="3690" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3323" >
-<father id="3325" num="0" />
-<cdparam x="439" y="148" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3674" index="13" uid="7bf4179f-c3a1-4af5-922f-a30d574e83ad" >
+<father id="3676" num="0" />
+<cdparam x="424" y="258" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3319" />
-<TGConnectingPoint num="1" id="3320" />
-<TGConnectingPoint num="2" id="3321" />
-<TGConnectingPoint num="3" id="3322" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3670" />
+<TGConnectingPoint num="1" id="3671" />
+<TGConnectingPoint num="2" id="3672" />
+<TGConnectingPoint num="3" id="3673" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3338" >
-<cdparam x="439" y="358" />
+<CONNECTOR type="5102" id="3689" index="4" uid="14ba2d45-6c9b-41c9-9452-be9075931dcf" >
+<cdparam x="424" y="278" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3334" />
-<TGConnectingPoint num="1" id="3335" />
-<TGConnectingPoint num="2" id="3336" />
-<TGConnectingPoint num="3" id="3337" />
-<P1 x="440" y="531" id="3413" />
-<P2 x="355" y="167" id="3426" />
-<Point x="436" y="572" />
-<Point x="308" y="582" />
-<Point x="318" y="171" />
+<TGConnectingPoint num="0" id="3685" />
+<TGConnectingPoint num="1" id="3686" />
+<TGConnectingPoint num="2" id="3687" />
+<TGConnectingPoint num="3" id="3688" />
+<P1 x="422" y="304" id="3697" />
+<P2 x="331" y="119" id="3710" />
+<Point x="423" y="321" />
+<Point x="293" y="320" />
+<Point x="280" y="118" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3326" >
-<father id="3338" num="0" />
-<cdparam x="436" y="572" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3677" index="14" uid="d16d316b-2ba3-4878-94fe-0a6c894b3da1" >
+<father id="3689" num="0" />
+<cdparam x="423" y="321" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3327" >
-<father id="3338" num="1" />
-<cdparam x="308" y="582" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="3678" index="15" uid="0a8e98df-749d-4c76-964c-7577328935ca" >
+<father id="3689" num="1" />
+<cdparam x="293" y="320" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3328" >
-<father id="3338" num="2" />
-<cdparam x="318" y="171" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="3679" index="16" uid="132d5836-eded-493a-830f-86253710d0d3" >
+<father id="3689" num="2" />
+<cdparam x="280" y="118" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3333" >
-<father id="3338" num="3" />
-<cdparam x="439" y="398" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="3684" index="17" uid="439d4ac8-6091-460a-ab2e-6dc03ba3c065" >
+<father id="3689" num="3" />
+<cdparam x="424" y="318" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3329" />
-<TGConnectingPoint num="1" id="3330" />
-<TGConnectingPoint num="2" id="3331" />
-<TGConnectingPoint num="3" id="3332" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3680" />
+<TGConnectingPoint num="1" id="3681" />
+<TGConnectingPoint num="2" id="3682" />
+<TGConnectingPoint num="3" id="3683" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3347" >
-<cdparam x="467" y="354" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3345" />
-<TGConnectingPoint num="1" id="3346" />
-<P1 x="442" y="329" id="3397" />
-<P2 x="463" y="410" id="3372" />
-<Point x="413" y="359" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3339" >
-<father id="3347" num="0" />
-<cdparam x="413" y="359" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3344" >
-<father id="3347" num="1" />
-<cdparam x="350" y="390" />
-<sizeparam width="111" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5108" id="3692" index="5" uid="5e33649e-a28c-47a9-bc2a-9c306e23ce78" >
+<cdparam x="249" y="229" />
+<sizeparam width="350" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3340" />
-<TGConnectingPoint num="1" id="3341" />
-<TGConnectingPoint num="2" id="3342" />
-<TGConnectingPoint num="3" id="3343" />
+<infoparam name="TGComponent" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3690" />
+<TGConnectingPoint num="1" id="3691" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="obstacleAhead = 1" />
+<Data variable="position" minValue="carid.minPosition" maxValue="carid.maxPosition" functionId="0" extraAttribute1="" extraAttribute2="" />
</extraparam>
-</SUBCOMPONENT>
+</COMPONENT>
-<CONNECTOR type="5102" id="3354" >
-<cdparam x="445" y="483" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3353" />
-<P1 x="438" y="460" id="3383" />
-<P2 x="440" y="501" id="3412" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3352" >
-<father id="3354" num="0" />
-<cdparam x="445" y="523" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5108" id="3695" index="6" uid="cfd5a4db-a082-4d55-9e54-119cfc5634db" >
+<cdparam x="298" y="193" />
+<sizeparam width="252" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3348" />
-<TGConnectingPoint num="1" id="3349" />
-<TGConnectingPoint num="2" id="3350" />
-<TGConnectingPoint num="3" id="3351" />
+<infoparam name="TGComponent" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3693" />
+<TGConnectingPoint num="1" id="3694" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<Data variable="id" minValue="carid.minID" maxValue="carid.maxID" functionId="0" extraAttribute1="" extraAttribute2="" />
</extraparam>
-</SUBCOMPONENT>
+</COMPONENT>
-<COMPONENT type="5106" id="3395" >
-<cdparam x="426" y="410" />
-<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="3706" index="7" uid="a163f1e8-daab-47af-beeb-b8467fe64760" >
+<cdparam x="350" y="279" />
+<sizeparam width="144" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="sendingUpdate" />
-<TGConnectingPoint num="0" id="3355" />
-<TGConnectingPoint num="1" id="3356" />
-<TGConnectingPoint num="2" id="3357" />
-<TGConnectingPoint num="3" id="3358" />
-<TGConnectingPoint num="4" id="3359" />
-<TGConnectingPoint num="5" id="3360" />
-<TGConnectingPoint num="6" id="3361" />
-<TGConnectingPoint num="7" id="3362" />
-<TGConnectingPoint num="8" id="3363" />
-<TGConnectingPoint num="9" id="3364" />
-<TGConnectingPoint num="10" id="3365" />
-<TGConnectingPoint num="11" id="3366" />
-<TGConnectingPoint num="12" id="3367" />
-<TGConnectingPoint num="13" id="3368" />
-<TGConnectingPoint num="14" id="3369" />
-<TGConnectingPoint num="15" id="3370" />
-<TGConnectingPoint num="16" id="3371" />
-<TGConnectingPoint num="17" id="3372" />
-<TGConnectingPoint num="18" id="3373" />
-<TGConnectingPoint num="19" id="3374" />
-<TGConnectingPoint num="20" id="3375" />
-<TGConnectingPoint num="21" id="3376" />
-<TGConnectingPoint num="22" id="3377" />
-<TGConnectingPoint num="23" id="3378" />
-<TGConnectingPoint num="24" id="3379" />
-<TGConnectingPoint num="25" id="3380" />
-<TGConnectingPoint num="26" id="3381" />
-<TGConnectingPoint num="27" id="3382" />
-<TGConnectingPoint num="28" id="3383" />
-<TGConnectingPoint num="29" id="3384" />
-<TGConnectingPoint num="30" id="3385" />
-<TGConnectingPoint num="31" id="3386" />
-<TGConnectingPoint num="32" id="3387" />
-<TGConnectingPoint num="33" id="3388" />
-<TGConnectingPoint num="34" id="3389" />
-<TGConnectingPoint num="35" id="3390" />
-<TGConnectingPoint num="36" id="3391" />
-<TGConnectingPoint num="37" id="3392" />
-<TGConnectingPoint num="38" id="3393" />
-<TGConnectingPoint num="39" id="3394" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5107" id="3411" >
-<cdparam x="452" y="314" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Send signal" value="carPosition(id, position)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3696" />
+<TGConnectingPoint num="1" id="3697" />
+<TGConnectingPoint num="2" id="3698" />
+<TGConnectingPoint num="3" id="3699" />
+<TGConnectingPoint num="4" id="3700" />
+<TGConnectingPoint num="5" id="3701" />
+<TGConnectingPoint num="6" id="3702" />
+<TGConnectingPoint num="7" id="3703" />
+<TGConnectingPoint num="8" id="3704" />
+<TGConnectingPoint num="9" id="3705" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="3779" index="8" uid="8f85fb6a-b0eb-44c8-9721-22bc1555951b" >
+<cdparam x="331" y="94" />
+<sizeparam width="186" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="3396" />
-<TGConnectingPoint num="1" id="3397" />
-<TGConnectingPoint num="2" id="3398" />
-<TGConnectingPoint num="3" id="3399" />
-<TGConnectingPoint num="4" id="3400" />
-<TGConnectingPoint num="5" id="3401" />
-<TGConnectingPoint num="6" id="3402" />
-<TGConnectingPoint num="7" id="3403" />
-<TGConnectingPoint num="8" id="3404" />
-<TGConnectingPoint num="9" id="3405" />
-<TGConnectingPoint num="10" id="3406" />
-<TGConnectingPoint num="11" id="3407" />
-<TGConnectingPoint num="12" id="3408" />
-<TGConnectingPoint num="13" id="3409" />
-<TGConnectingPoint num="14" id="3410" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="3422" >
-<cdparam x="346" y="506" />
-<sizeparam width="188" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="obstacleAhead(obstacleAhead)" />
-<TGConnectingPoint num="0" id="3412" />
-<TGConnectingPoint num="1" id="3413" />
-<TGConnectingPoint num="2" id="3414" />
-<TGConnectingPoint num="3" id="3415" />
-<TGConnectingPoint num="4" id="3416" />
-<TGConnectingPoint num="5" id="3417" />
-<TGConnectingPoint num="6" id="3418" />
-<TGConnectingPoint num="7" id="3419" />
-<TGConnectingPoint num="8" id="3420" />
-<TGConnectingPoint num="9" id="3421" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3463" >
-<cdparam x="355" y="142" />
-<sizeparam width="169" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingForRadarInfo" />
-<TGConnectingPoint num="0" id="3423" />
-<TGConnectingPoint num="1" id="3424" />
-<TGConnectingPoint num="2" id="3425" />
-<TGConnectingPoint num="3" id="3426" />
-<TGConnectingPoint num="4" id="3427" />
-<TGConnectingPoint num="5" id="3428" />
-<TGConnectingPoint num="6" id="3429" />
-<TGConnectingPoint num="7" id="3430" />
-<TGConnectingPoint num="8" id="3431" />
-<TGConnectingPoint num="9" id="3432" />
-<TGConnectingPoint num="10" id="3433" />
-<TGConnectingPoint num="11" id="3434" />
-<TGConnectingPoint num="12" id="3435" />
-<TGConnectingPoint num="13" id="3436" />
-<TGConnectingPoint num="14" id="3437" />
-<TGConnectingPoint num="15" id="3438" />
-<TGConnectingPoint num="16" id="3439" />
-<TGConnectingPoint num="17" id="3440" />
-<TGConnectingPoint num="18" id="3441" />
-<TGConnectingPoint num="19" id="3442" />
-<TGConnectingPoint num="20" id="3443" />
-<TGConnectingPoint num="21" id="3444" />
-<TGConnectingPoint num="22" id="3445" />
-<TGConnectingPoint num="23" id="3446" />
-<TGConnectingPoint num="24" id="3447" />
-<TGConnectingPoint num="25" id="3448" />
-<TGConnectingPoint num="26" id="3449" />
-<TGConnectingPoint num="27" id="3450" />
-<TGConnectingPoint num="28" id="3451" />
-<TGConnectingPoint num="29" id="3452" />
-<TGConnectingPoint num="30" id="3453" />
-<TGConnectingPoint num="31" id="3454" />
-<TGConnectingPoint num="32" id="3455" />
-<TGConnectingPoint num="33" id="3456" />
-<TGConnectingPoint num="34" id="3457" />
-<TGConnectingPoint num="35" id="3458" />
-<TGConnectingPoint num="36" id="3459" />
-<TGConnectingPoint num="37" id="3460" />
-<TGConnectingPoint num="38" id="3461" />
-<TGConnectingPoint num="39" id="3462" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3465" >
-<cdparam x="432" y="88" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="state0" value="WaitingforNewCarPosition" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3707" />
+<TGConnectingPoint num="1" id="3708" />
+<TGConnectingPoint num="2" id="3709" />
+<TGConnectingPoint num="3" id="3710" />
+<TGConnectingPoint num="4" id="3711" />
+<TGConnectingPoint num="5" id="3712" />
+<TGConnectingPoint num="6" id="3713" />
+<TGConnectingPoint num="7" id="3714" />
+<TGConnectingPoint num="8" id="3715" />
+<TGConnectingPoint num="9" id="3716" />
+<TGConnectingPoint num="10" id="3717" />
+<TGConnectingPoint num="11" id="3718" />
+<TGConnectingPoint num="12" id="3719" />
+<TGConnectingPoint num="13" id="3720" />
+<TGConnectingPoint num="14" id="3721" />
+<TGConnectingPoint num="15" id="3722" />
+<TGConnectingPoint num="16" id="3723" />
+<TGConnectingPoint num="17" id="3724" />
+<TGConnectingPoint num="18" id="3725" />
+<TGConnectingPoint num="19" id="3726" />
+<TGConnectingPoint num="20" id="3727" />
+<TGConnectingPoint num="21" id="3728" />
+<TGConnectingPoint num="22" id="3729" />
+<TGConnectingPoint num="23" id="3730" />
+<TGConnectingPoint num="24" id="3731" />
+<TGConnectingPoint num="25" id="3732" />
+<TGConnectingPoint num="26" id="3733" />
+<TGConnectingPoint num="27" id="3734" />
+<TGConnectingPoint num="28" id="3735" />
+<TGConnectingPoint num="29" id="3736" />
+<TGConnectingPoint num="30" id="3737" />
+<TGConnectingPoint num="31" id="3738" />
+<TGConnectingPoint num="32" id="3739" />
+<TGConnectingPoint num="33" id="3740" />
+<TGConnectingPoint num="34" id="3741" />
+<TGConnectingPoint num="35" id="3742" />
+<TGConnectingPoint num="36" id="3743" />
+<TGConnectingPoint num="37" id="3744" />
+<TGConnectingPoint num="38" id="3745" />
+<TGConnectingPoint num="39" id="3746" />
+<TGConnectingPoint num="40" id="3747" />
+<TGConnectingPoint num="41" id="3748" />
+<TGConnectingPoint num="42" id="3749" />
+<TGConnectingPoint num="43" id="3750" />
+<TGConnectingPoint num="44" id="3751" />
+<TGConnectingPoint num="45" id="3752" />
+<TGConnectingPoint num="46" id="3753" />
+<TGConnectingPoint num="47" id="3754" />
+<TGConnectingPoint num="48" id="3755" />
+<TGConnectingPoint num="49" id="3756" />
+<TGConnectingPoint num="50" id="3757" />
+<TGConnectingPoint num="51" id="3758" />
+<TGConnectingPoint num="52" id="3759" />
+<TGConnectingPoint num="53" id="3760" />
+<TGConnectingPoint num="54" id="3761" />
+<TGConnectingPoint num="55" id="3762" />
+<TGConnectingPoint num="56" id="3763" />
+<TGConnectingPoint num="57" id="3764" />
+<TGConnectingPoint num="58" id="3765" />
+<TGConnectingPoint num="59" id="3766" />
+<TGConnectingPoint num="60" id="3767" />
+<TGConnectingPoint num="61" id="3768" />
+<TGConnectingPoint num="62" id="3769" />
+<TGConnectingPoint num="63" id="3770" />
+<TGConnectingPoint num="64" id="3771" />
+<TGConnectingPoint num="65" id="3772" />
+<TGConnectingPoint num="66" id="3773" />
+<TGConnectingPoint num="67" id="3774" />
+<TGConnectingPoint num="68" id="3775" />
+<TGConnectingPoint num="69" id="3776" />
+<TGConnectingPoint num="70" id="3777" />
+<TGConnectingPoint num="71" id="3778" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="3781" index="9" uid="dd7527e3-886b-494f-8593-9c8f16a8666f" >
+<cdparam x="424" y="57" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3464" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3780" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="GPSSensor" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3478" >
+<AVATARStateMachineDiagramPanel name="GPSSensor" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<CONNECTOR type="5102" id="3794" index="0" uid="f9f0c4fe-2346-499d-a3e9-9e31ba090448" >
<cdparam x="408" y="353" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3474" />
-<TGConnectingPoint num="1" id="3475" />
-<TGConnectingPoint num="2" id="3476" />
-<TGConnectingPoint num="3" id="3477" />
-<P1 x="408" y="353" id="3504" />
-<P2 x="324" y="162" id="3517" />
+<TGConnectingPoint num="0" id="3790" />
+<TGConnectingPoint num="1" id="3791" />
+<TGConnectingPoint num="2" id="3792" />
+<TGConnectingPoint num="3" id="3793" />
+<P1 x="408" y="353" id="3820" />
+<P2 x="324" y="162" id="3833" />
<Point x="408" y="382" />
<Point x="287" y="382" />
<Point x="287" y="162" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3466" >
-<father id="3478" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3782" index="8" uid="d6f1e314-a548-478e-9dc9-0cb45fc07900" >
+<father id="3794" num="0" />
<cdparam x="408" y="382" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3467" >
-<father id="3478" num="1" />
+<SUBCOMPONENT type="-1" id="3783" index="9" uid="d83e7e59-425e-466b-a076-b73a2c0f6d85" >
+<father id="3794" num="1" />
<cdparam x="287" y="382" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3468" >
-<father id="3478" num="2" />
+<SUBCOMPONENT type="-1" id="3784" index="10" uid="192d2f8d-b69c-4c85-8d1b-e987f60711ff" >
+<father id="3794" num="2" />
<cdparam x="287" y="162" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3473" >
-<father id="3478" num="3" />
+<SUBCOMPONENT type="-1" id="3789" index="11" uid="483355f8-b4b9-4645-92b3-a19e3fd72453" >
+<father id="3794" num="3" />
<cdparam x="408" y="393" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3469" />
-<TGConnectingPoint num="1" id="3470" />
-<TGConnectingPoint num="2" id="3471" />
-<TGConnectingPoint num="3" id="3472" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3785" />
+<TGConnectingPoint num="1" id="3786" />
+<TGConnectingPoint num="2" id="3787" />
+<TGConnectingPoint num="3" id="3788" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3485" >
+<CONNECTOR type="5102" id="3801" index="1" uid="d2492e35-f9e3-42bd-9543-1b5ab48fbfbe" >
<cdparam x="408" y="294" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3484" />
-<P1 x="408" y="294" id="3501" />
-<P2 x="408" y="323" id="3503" />
+<TGConnectingPoint num="0" id="3800" />
+<P1 x="408" y="294" id="3817" />
+<P2 x="408" y="323" id="3819" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3483" >
-<father id="3485" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3799" index="12" uid="60060019-ac08-40f2-aa53-60192b88f831" >
+<father id="3801" num="0" />
<cdparam x="428" y="312" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3479" />
-<TGConnectingPoint num="1" id="3480" />
-<TGConnectingPoint num="2" id="3481" />
-<TGConnectingPoint num="3" id="3482" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3795" />
+<TGConnectingPoint num="1" id="3796" />
+<TGConnectingPoint num="2" id="3797" />
+<TGConnectingPoint num="3" id="3798" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3492" >
+<CONNECTOR type="5102" id="3808" index="2" uid="b669ad9b-9839-40ae-ac55-b09fc2d7bb12" >
<cdparam x="408" y="103" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3491" />
-<P1 x="408" y="103" id="3555" />
-<P2 x="408" y="137" id="3515" />
+<TGConnectingPoint num="0" id="3807" />
+<P1 x="408" y="103" id="3903" />
+<P2 x="408" y="137" id="3831" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3490" >
-<father id="3492" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3806" index="13" uid="0261b03b-5d66-4cea-b940-74de2cf29562" >
+<father id="3808" num="0" />
<cdparam x="408" y="143" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3486" />
-<TGConnectingPoint num="1" id="3487" />
-<TGConnectingPoint num="2" id="3488" />
-<TGConnectingPoint num="3" id="3489" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3802" />
+<TGConnectingPoint num="1" id="3803" />
+<TGConnectingPoint num="2" id="3804" />
+<TGConnectingPoint num="3" id="3805" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3499" >
+<CONNECTOR type="5102" id="3815" index="3" uid="43b2d7e4-2bb6-4aa5-8c4c-ad41ab84e979" >
<cdparam x="428" y="187" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3498" />
-<P1 x="408" y="187" id="3520" />
-<P2 x="408" y="264" id="3500" />
+<TGConnectingPoint num="0" id="3814" />
+<P1 x="408" y="187" id="3836" />
+<P2 x="408" y="264" id="3816" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3497" >
-<father id="3499" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3813" index="14" uid="c5e15aae-f91f-45a5-af80-192cf5fa22a0" >
+<father id="3815" num="0" />
<cdparam x="422" y="217" />
-<sizeparam width="217" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="217" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3493" />
-<TGConnectingPoint num="1" id="3494" />
-<TGConnectingPoint num="2" id="3495" />
-<TGConnectingPoint num="3" id="3496" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3809" />
+<TGConnectingPoint num="1" id="3810" />
+<TGConnectingPoint num="2" id="3811" />
+<TGConnectingPoint num="3" id="3812" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="minGPSUpdate" />
-<afterMax value="maxGPSUpdate" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="minGPSUpdate" enabled="true"/>
+<afterMax value="maxGPSUpdate" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5108" id="3502" >
+<COMPONENT type="5108" id="3818" index="4" uid="0cd190b9-eb0e-4709-9425-037b01e57f2c" >
<cdparam x="223" y="269" />
-<sizeparam width="370" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="370" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3500" />
-<TGConnectingPoint num="1" id="3501" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3816" />
+<TGConnectingPoint num="1" id="3817" />
<extraparam>
-<Data variable="position" minValue="carinfo.minPosition" maxValue="carinfo.maxPosition" functionId="0" />
+<Data variable="position" minValue="carinfo.minPosition" maxValue="carinfo.maxPosition" functionId="0" extraAttribute1="" extraAttribute2="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5103" id="3513" >
+<COMPONENT type="5103" id="3829" index="5" uid="70f687eb-f702-4de0-ba6d-ec298180d648" >
<cdparam x="346" y="328" />
-<sizeparam width="124" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="124" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Send signal" value="setPosition(position)" />
-<TGConnectingPoint num="0" id="3503" />
-<TGConnectingPoint num="1" id="3504" />
-<TGConnectingPoint num="2" id="3505" />
-<TGConnectingPoint num="3" id="3506" />
-<TGConnectingPoint num="4" id="3507" />
-<TGConnectingPoint num="5" id="3508" />
-<TGConnectingPoint num="6" id="3509" />
-<TGConnectingPoint num="7" id="3510" />
-<TGConnectingPoint num="8" id="3511" />
-<TGConnectingPoint num="9" id="3512" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3554" >
+<new d="false" />
+<TGConnectingPoint num="0" id="3819" />
+<TGConnectingPoint num="1" id="3820" />
+<TGConnectingPoint num="2" id="3821" />
+<TGConnectingPoint num="3" id="3822" />
+<TGConnectingPoint num="4" id="3823" />
+<TGConnectingPoint num="5" id="3824" />
+<TGConnectingPoint num="6" id="3825" />
+<TGConnectingPoint num="7" id="3826" />
+<TGConnectingPoint num="8" id="3827" />
+<TGConnectingPoint num="9" id="3828" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="3902" index="6" uid="6e18982f-6d41-462c-99bc-522c27f4c3d8" >
<cdparam x="324" y="137" />
<sizeparam width="169" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="state0" value="WaitingForGPSInfo" />
-<TGConnectingPoint num="0" id="3514" />
-<TGConnectingPoint num="1" id="3515" />
-<TGConnectingPoint num="2" id="3516" />
-<TGConnectingPoint num="3" id="3517" />
-<TGConnectingPoint num="4" id="3518" />
-<TGConnectingPoint num="5" id="3519" />
-<TGConnectingPoint num="6" id="3520" />
-<TGConnectingPoint num="7" id="3521" />
-<TGConnectingPoint num="8" id="3522" />
-<TGConnectingPoint num="9" id="3523" />
-<TGConnectingPoint num="10" id="3524" />
-<TGConnectingPoint num="11" id="3525" />
-<TGConnectingPoint num="12" id="3526" />
-<TGConnectingPoint num="13" id="3527" />
-<TGConnectingPoint num="14" id="3528" />
-<TGConnectingPoint num="15" id="3529" />
-<TGConnectingPoint num="16" id="3530" />
-<TGConnectingPoint num="17" id="3531" />
-<TGConnectingPoint num="18" id="3532" />
-<TGConnectingPoint num="19" id="3533" />
-<TGConnectingPoint num="20" id="3534" />
-<TGConnectingPoint num="21" id="3535" />
-<TGConnectingPoint num="22" id="3536" />
-<TGConnectingPoint num="23" id="3537" />
-<TGConnectingPoint num="24" id="3538" />
-<TGConnectingPoint num="25" id="3539" />
-<TGConnectingPoint num="26" id="3540" />
-<TGConnectingPoint num="27" id="3541" />
-<TGConnectingPoint num="28" id="3542" />
-<TGConnectingPoint num="29" id="3543" />
-<TGConnectingPoint num="30" id="3544" />
-<TGConnectingPoint num="31" id="3545" />
-<TGConnectingPoint num="32" id="3546" />
-<TGConnectingPoint num="33" id="3547" />
-<TGConnectingPoint num="34" id="3548" />
-<TGConnectingPoint num="35" id="3549" />
-<TGConnectingPoint num="36" id="3550" />
-<TGConnectingPoint num="37" id="3551" />
-<TGConnectingPoint num="38" id="3552" />
-<TGConnectingPoint num="39" id="3553" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3556" >
+<new d="false" />
+<TGConnectingPoint num="0" id="3830" />
+<TGConnectingPoint num="1" id="3831" />
+<TGConnectingPoint num="2" id="3832" />
+<TGConnectingPoint num="3" id="3833" />
+<TGConnectingPoint num="4" id="3834" />
+<TGConnectingPoint num="5" id="3835" />
+<TGConnectingPoint num="6" id="3836" />
+<TGConnectingPoint num="7" id="3837" />
+<TGConnectingPoint num="8" id="3838" />
+<TGConnectingPoint num="9" id="3839" />
+<TGConnectingPoint num="10" id="3840" />
+<TGConnectingPoint num="11" id="3841" />
+<TGConnectingPoint num="12" id="3842" />
+<TGConnectingPoint num="13" id="3843" />
+<TGConnectingPoint num="14" id="3844" />
+<TGConnectingPoint num="15" id="3845" />
+<TGConnectingPoint num="16" id="3846" />
+<TGConnectingPoint num="17" id="3847" />
+<TGConnectingPoint num="18" id="3848" />
+<TGConnectingPoint num="19" id="3849" />
+<TGConnectingPoint num="20" id="3850" />
+<TGConnectingPoint num="21" id="3851" />
+<TGConnectingPoint num="22" id="3852" />
+<TGConnectingPoint num="23" id="3853" />
+<TGConnectingPoint num="24" id="3854" />
+<TGConnectingPoint num="25" id="3855" />
+<TGConnectingPoint num="26" id="3856" />
+<TGConnectingPoint num="27" id="3857" />
+<TGConnectingPoint num="28" id="3858" />
+<TGConnectingPoint num="29" id="3859" />
+<TGConnectingPoint num="30" id="3860" />
+<TGConnectingPoint num="31" id="3861" />
+<TGConnectingPoint num="32" id="3862" />
+<TGConnectingPoint num="33" id="3863" />
+<TGConnectingPoint num="34" id="3864" />
+<TGConnectingPoint num="35" id="3865" />
+<TGConnectingPoint num="36" id="3866" />
+<TGConnectingPoint num="37" id="3867" />
+<TGConnectingPoint num="38" id="3868" />
+<TGConnectingPoint num="39" id="3869" />
+<TGConnectingPoint num="40" id="3870" />
+<TGConnectingPoint num="41" id="3871" />
+<TGConnectingPoint num="42" id="3872" />
+<TGConnectingPoint num="43" id="3873" />
+<TGConnectingPoint num="44" id="3874" />
+<TGConnectingPoint num="45" id="3875" />
+<TGConnectingPoint num="46" id="3876" />
+<TGConnectingPoint num="47" id="3877" />
+<TGConnectingPoint num="48" id="3878" />
+<TGConnectingPoint num="49" id="3879" />
+<TGConnectingPoint num="50" id="3880" />
+<TGConnectingPoint num="51" id="3881" />
+<TGConnectingPoint num="52" id="3882" />
+<TGConnectingPoint num="53" id="3883" />
+<TGConnectingPoint num="54" id="3884" />
+<TGConnectingPoint num="55" id="3885" />
+<TGConnectingPoint num="56" id="3886" />
+<TGConnectingPoint num="57" id="3887" />
+<TGConnectingPoint num="58" id="3888" />
+<TGConnectingPoint num="59" id="3889" />
+<TGConnectingPoint num="60" id="3890" />
+<TGConnectingPoint num="61" id="3891" />
+<TGConnectingPoint num="62" id="3892" />
+<TGConnectingPoint num="63" id="3893" />
+<TGConnectingPoint num="64" id="3894" />
+<TGConnectingPoint num="65" id="3895" />
+<TGConnectingPoint num="66" id="3896" />
+<TGConnectingPoint num="67" id="3897" />
+<TGConnectingPoint num="68" id="3898" />
+<TGConnectingPoint num="69" id="3899" />
+<TGConnectingPoint num="70" id="3900" />
+<TGConnectingPoint num="71" id="3901" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="3904" index="7" uid="4b2c2506-2994-4895-b871-b388848a4e73" >
<cdparam x="401" y="83" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3555" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3903" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="CarPositionSimulator" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3563" >
-<cdparam x="424" y="254" />
+<AVATARStateMachineDiagramPanel name="RadarSensor" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<CONNECTOR type="5102" id="3913" index="0" uid="798fa8c0-9021-4ad2-a4e1-a2adca69b7db" >
+<cdparam x="492" y="329" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3562" />
-<P1 x="424" y="254" id="3599" />
-<P2 x="422" y="274" id="3604" />
+<infoparam name="connector from choice to state0" value="null" />
+<TGConnectingPoint num="0" id="3911" />
+<TGConnectingPoint num="1" id="3912" />
+<P1 x="492" y="329" id="4032" />
+<P2 x="513" y="410" id="3976" />
+<Point x="536" y="357" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3561" >
-<father id="3563" num="0" />
-<cdparam x="424" y="294" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3905" index="11" uid="889fb052-37d9-4b4f-b36e-071f4ec65fa8" >
+<father id="3913" num="0" />
+<cdparam x="536" y="357" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3557" />
-<TGConnectingPoint num="1" id="3558" />
-<TGConnectingPoint num="2" id="3559" />
-<TGConnectingPoint num="3" id="3560" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
+<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3570" >
-<cdparam x="517" y="144" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3569" />
-<P1 x="424" y="144" id="3621" />
-<P2 x="424" y="188" id="3601" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3568" >
-<father id="3570" num="0" />
-<cdparam x="517" y="184" />
-<sizeparam width="301" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="3910" index="12" uid="c4cde360-8ea3-47bd-8b92-2453c9975200" >
+<father id="3913" num="1" />
+<cdparam x="492" y="369" />
+<sizeparam width="111" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3564" />
-<TGConnectingPoint num="1" id="3565" />
-<TGConnectingPoint num="2" id="3566" />
-<TGConnectingPoint num="3" id="3567" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="minCarPositionInterval" />
-<afterMax value="maxCarPositionInterval" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3577" >
-<cdparam x="431" y="77" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3906" />
+<TGConnectingPoint num="1" id="3907" />
+<TGConnectingPoint num="2" id="3908" />
+<TGConnectingPoint num="3" id="3909" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="obstacleAhead = 1" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="3920" index="1" uid="c6a8d8e2-a89e-4975-bb1a-a1eafd9f83c1" >
+<cdparam x="459" y="192" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3576" />
-<P1 x="431" y="77" id="3656" />
-<P2 x="424" y="94" id="3616" />
+<infoparam name="connector from state0 to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3919" />
+<P1 x="439" y="192" id="4063" />
+<P2 x="467" y="304" id="4030" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3575" >
-<father id="3577" num="0" />
-<cdparam x="431" y="117" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3918" index="13" uid="d08df1d9-46b6-47d4-b9e0-584c2735f47e" >
+<father id="3920" num="0" />
+<cdparam x="453" y="222" />
+<sizeparam width="243" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3571" />
-<TGConnectingPoint num="1" id="3572" />
-<TGConnectingPoint num="2" id="3573" />
-<TGConnectingPoint num="3" id="3574" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3914" />
+<TGConnectingPoint num="1" id="3915" />
+<TGConnectingPoint num="2" id="3916" />
+<TGConnectingPoint num="3" id="3917" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="minRadarUpdate" enabled="true"/>
+<afterMax value="maxRadarUpdate" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3584" >
-<cdparam x="424" y="218" />
+<CONNECTOR type="5102" id="3927" index="2" uid="c93bb318-2e89-4ad3-9c7c-bbdbdfc3f3b1" >
+<cdparam x="439" y="108" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3583" />
-<P1 x="424" y="218" id="3602" />
-<P2 x="424" y="224" id="3598" />
+<infoparam name="connector from start state to state0" value="null" />
+<TGConnectingPoint num="0" id="3926" />
+<P1 x="439" y="108" id="4130" />
+<P2 x="439" y="142" id="4058" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3582" >
-<father id="3584" num="0" />
-<cdparam x="424" y="258" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3925" index="14" uid="7e59094b-3657-47f1-a195-c55c30a18616" >
+<father id="3927" num="0" />
+<cdparam x="439" y="148" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3578" />
-<TGConnectingPoint num="1" id="3579" />
-<TGConnectingPoint num="2" id="3580" />
-<TGConnectingPoint num="3" id="3581" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3921" />
+<TGConnectingPoint num="1" id="3922" />
+<TGConnectingPoint num="2" id="3923" />
+<TGConnectingPoint num="3" id="3924" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3597" >
-<cdparam x="424" y="278" />
+<CONNECTOR type="5102" id="3940" index="3" uid="8325c054-efd2-40f2-b859-d0264bf903b0" >
+<cdparam x="439" y="358" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3593" />
-<TGConnectingPoint num="1" id="3594" />
-<TGConnectingPoint num="2" id="3595" />
-<TGConnectingPoint num="3" id="3596" />
-<P1 x="422" y="304" id="3605" />
-<P2 x="331" y="119" id="3618" />
-<Point x="423" y="321" />
-<Point x="293" y="320" />
-<Point x="280" y="118" />
+<TGConnectingPoint num="0" id="3936" />
+<TGConnectingPoint num="1" id="3937" />
+<TGConnectingPoint num="2" id="3938" />
+<TGConnectingPoint num="3" id="3939" />
+<P1 x="440" y="531" id="4047" />
+<P2 x="355" y="167" id="4060" />
+<Point x="436" y="572" />
+<Point x="308" y="582" />
+<Point x="318" y="171" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3585" >
-<father id="3597" num="0" />
-<cdparam x="423" y="321" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3928" index="15" uid="33fa1112-b7c2-449d-8fe5-971babb9aebf" >
+<father id="3940" num="0" />
+<cdparam x="436" y="572" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3586" >
-<father id="3597" num="1" />
-<cdparam x="293" y="320" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="3929" index="16" uid="03889033-540f-4e26-b11c-82d8d29d0c0a" >
+<father id="3940" num="1" />
+<cdparam x="308" y="582" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3587" >
-<father id="3597" num="2" />
-<cdparam x="280" y="118" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="3930" index="17" uid="9c3a74be-7df6-47b1-8793-1930cefa6e35" >
+<father id="3940" num="2" />
+<cdparam x="318" y="171" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3592" >
-<father id="3597" num="3" />
-<cdparam x="424" y="318" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="3935" index="18" uid="49bd19bc-134b-4683-9291-e498d14ae876" >
+<father id="3940" num="3" />
+<cdparam x="439" y="398" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3588" />
-<TGConnectingPoint num="1" id="3589" />
-<TGConnectingPoint num="2" id="3590" />
-<TGConnectingPoint num="3" id="3591" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3931" />
+<TGConnectingPoint num="1" id="3932" />
+<TGConnectingPoint num="2" id="3933" />
+<TGConnectingPoint num="3" id="3934" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5108" id="3600" >
-<cdparam x="249" y="229" />
-<sizeparam width="350" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="5102" id="3949" index="4" uid="c9c1c3a2-e74f-468e-b497-38c40a41e37f" >
+<cdparam x="467" y="354" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from choice to state0" value="null" />
+<TGConnectingPoint num="0" id="3947" />
+<TGConnectingPoint num="1" id="3948" />
+<P1 x="442" y="329" id="4031" />
+<P2 x="463" y="410" id="3974" />
+<Point x="413" y="359" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3941" index="19" uid="1d94ff61-4271-4164-9d75-27a6518bbe85" >
+<father id="3949" num="0" />
+<cdparam x="413" y="359" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3598" />
-<TGConnectingPoint num="1" id="3599" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="3946" index="20" uid="4ba91618-5d2f-4b2e-b041-e460f42779c9" >
+<father id="3949" num="1" />
+<cdparam x="350" y="390" />
+<sizeparam width="111" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3942" />
+<TGConnectingPoint num="1" id="3943" />
+<TGConnectingPoint num="2" id="3944" />
+<TGConnectingPoint num="3" id="3945" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="obstacleAhead = 1" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="3956" index="5" uid="4597f92c-9582-4688-9370-a9838bda7ed1" >
+<cdparam x="445" y="483" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3955" />
+<P1 x="438" y="460" id="3985" />
+<P2 x="440" y="501" id="4046" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3954" index="21" uid="f300a3e8-2348-43d6-9abd-0bf1d904d33a" >
+<father id="3956" num="0" />
+<cdparam x="445" y="523" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3950" />
+<TGConnectingPoint num="1" id="3951" />
+<TGConnectingPoint num="2" id="3952" />
+<TGConnectingPoint num="3" id="3953" />
<extraparam>
-<Data variable="position" minValue="carid.minPosition" maxValue="carid.maxPosition" functionId="0" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
-</COMPONENT>
+</SUBCOMPONENT>
-<COMPONENT type="5108" id="3603" >
-<cdparam x="298" y="193" />
-<sizeparam width="252" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5106" id="4029" index="6" uid="f7b20b0a-2047-4098-95c2-87893dd91a6f" >
+<cdparam x="426" y="410" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3601" />
-<TGConnectingPoint num="1" id="3602" />
+<infoparam name="state0" value="sendingUpdate" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3957" />
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+<TGConnectingPoint num="18" id="3975" />
+<TGConnectingPoint num="19" id="3976" />
+<TGConnectingPoint num="20" id="3977" />
+<TGConnectingPoint num="21" id="3978" />
+<TGConnectingPoint num="22" id="3979" />
+<TGConnectingPoint num="23" id="3980" />
+<TGConnectingPoint num="24" id="3981" />
+<TGConnectingPoint num="25" id="3982" />
+<TGConnectingPoint num="26" id="3983" />
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+<TGConnectingPoint num="30" id="3987" />
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+<TGConnectingPoint num="32" id="3989" />
+<TGConnectingPoint num="33" id="3990" />
+<TGConnectingPoint num="34" id="3991" />
+<TGConnectingPoint num="35" id="3992" />
+<TGConnectingPoint num="36" id="3993" />
+<TGConnectingPoint num="37" id="3994" />
+<TGConnectingPoint num="38" id="3995" />
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+<TGConnectingPoint num="41" id="3998" />
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+<TGConnectingPoint num="46" id="4003" />
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+<TGConnectingPoint num="61" id="4018" />
+<TGConnectingPoint num="62" id="4019" />
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+<TGConnectingPoint num="64" id="4021" />
+<TGConnectingPoint num="65" id="4022" />
+<TGConnectingPoint num="66" id="4023" />
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+<TGConnectingPoint num="68" id="4025" />
+<TGConnectingPoint num="69" id="4026" />
+<TGConnectingPoint num="70" id="4027" />
+<TGConnectingPoint num="71" id="4028" />
<extraparam>
-<Data variable="id" minValue="carid.minID" maxValue="carid.maxID" functionId="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5103" id="3614" >
-<cdparam x="350" y="279" />
-<sizeparam width="144" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5107" id="4045" index="7" uid="5a635309-4e55-4754-b387-053f777e0e44" >
+<cdparam x="452" y="314" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="carPosition(id, position)" />
-<TGConnectingPoint num="0" id="3604" />
-<TGConnectingPoint num="1" id="3605" />
-<TGConnectingPoint num="2" id="3606" />
-<TGConnectingPoint num="3" id="3607" />
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-<TGConnectingPoint num="7" id="3611" />
-<TGConnectingPoint num="8" id="3612" />
-<TGConnectingPoint num="9" id="3613" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3655" >
-<cdparam x="331" y="94" />
-<sizeparam width="186" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4030" />
+<TGConnectingPoint num="1" id="4031" />
+<TGConnectingPoint num="2" id="4032" />
+<TGConnectingPoint num="3" id="4033" />
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+</COMPONENT>
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<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingforNewCarPosition" />
-<TGConnectingPoint num="0" id="3615" />
-<TGConnectingPoint num="1" id="3616" />
-<TGConnectingPoint num="2" id="3617" />
-<TGConnectingPoint num="3" id="3618" />
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-<TGConnectingPoint num="38" id="3653" />
-<TGConnectingPoint num="39" id="3654" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3657" >
-<cdparam x="424" y="57" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Send signal" value="obstacleAhead(obstacleAhead)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4046" />
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+<TGConnectingPoint num="9" id="4055" />
+</COMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="state0" value="WaitingForRadarInfo" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4057" />
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+<TGConnectingPoint num="70" id="4127" />
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+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="4131" index="10" uid="b2b6d8b1-c8e5-4429-a759-5131ce1e163d" >
+<cdparam x="432" y="88" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3656" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4130" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="EmergencySimulator" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3664" >
-<cdparam x="524" y="259" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3663" />
-<P1 x="399" y="256" id="3754" />
-<P2 x="399" y="265" id="3699" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3662" >
-<father id="3664" num="0" />
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-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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-<TGConnectingPoint num="3" id="3661" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3677" >
-<cdparam x="400" y="271" />
+<AVATARStateMachineDiagramPanel name="SpeedSensor" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<CONNECTOR type="5102" id="4144" index="0" uid="f22cb099-d7e6-4c90-ace5-1ecf431033b5" >
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<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
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-<TGConnectingPoint num="1" id="3674" />
-<TGConnectingPoint num="2" id="3675" />
-<TGConnectingPoint num="3" id="3676" />
-<P1 x="399" y="295" id="3700" />
-<P2 x="307" y="112" id="3713" />
-<Point x="399" y="314" />
-<Point x="169" y="313" />
-<Point x="156" y="111" />
+<TGConnectingPoint num="0" id="4140" />
+<TGConnectingPoint num="1" id="4141" />
+<TGConnectingPoint num="2" id="4142" />
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+<Point x="209" y="376" />
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<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3665" >
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-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3666" >
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-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3667" >
-<father id="3677" num="2" />
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-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="4134" index="10" uid="1578c242-7951-4679-a428-ca3917b6e9a2" >
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3672" >
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-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3668" />
-<TGConnectingPoint num="1" id="3669" />
-<TGConnectingPoint num="2" id="3670" />
-<TGConnectingPoint num="3" id="3671" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4135" />
+<TGConnectingPoint num="1" id="4136" />
+<TGConnectingPoint num="2" id="4137" />
+<TGConnectingPoint num="3" id="4138" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3684" >
-<cdparam x="400" y="211" />
+<CONNECTOR type="5102" id="4151" index="1" uid="10bb7fb3-6883-4800-86e1-cfa774607048" >
+<cdparam x="410" y="165" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3683" />
-<P1 x="400" y="211" id="3757" />
-<P2 x="399" y="226" id="3753" />
+<infoparam name="connector from state0 to Send signal" value="null" />
+<TGConnectingPoint num="0" id="4150" />
+<P1 x="390" y="165" id="4186" />
+<P2 x="390" y="242" id="4166" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3682" >
-<father id="3684" num="0" />
-<cdparam x="400" y="251" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4149" index="12" uid="787a9fa8-cba1-4f9f-98e9-0350fb5dd767" >
+<father id="4151" num="0" />
+<cdparam x="404" y="195" />
+<sizeparam width="245" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3678" />
-<TGConnectingPoint num="1" id="3679" />
-<TGConnectingPoint num="2" id="3680" />
-<TGConnectingPoint num="3" id="3681" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4145" />
+<TGConnectingPoint num="1" id="4146" />
+<TGConnectingPoint num="2" id="4147" />
+<TGConnectingPoint num="3" id="4148" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="minSpeedUpdate" enabled="true"/>
+<afterMax value="maxSpeedUpdate" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3691" >
-<cdparam x="407" y="70" />
+<CONNECTOR type="5102" id="4158" index="2" uid="5b351cd8-92de-4a14-bba9-9e15d4037076" >
+<cdparam x="390" y="81" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3690" />
-<P1 x="407" y="70" id="3751" />
-<P2 x="400" y="87" id="3711" />
+<TGConnectingPoint num="0" id="4157" />
+<P1 x="390" y="81" id="4253" />
+<P2 x="390" y="115" id="4181" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3689" >
-<father id="3691" num="0" />
-<cdparam x="407" y="110" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4156" index="13" uid="6ba1269d-222d-4354-8a4c-c6d842c10f64" >
+<father id="4158" num="0" />
+<cdparam x="390" y="121" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3685" />
-<TGConnectingPoint num="1" id="3686" />
-<TGConnectingPoint num="2" id="3687" />
-<TGConnectingPoint num="3" id="3688" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4152" />
+<TGConnectingPoint num="1" id="4153" />
+<TGConnectingPoint num="2" id="4154" />
+<TGConnectingPoint num="3" id="4155" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3698" >
-<cdparam x="493" y="137" />
+<CONNECTOR type="5102" id="4165" index="3" uid="4517376b-d754-4573-8b8c-c670fd8637d4" >
+<cdparam x="390" y="272" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3697" />
-<P1 x="400" y="137" id="3716" />
-<P2 x="400" y="181" id="3756" />
+<infoparam name="connector from TGComponent to Send signal" value="null" />
+<TGConnectingPoint num="0" id="4164" />
+<P1 x="390" y="272" id="4167" />
+<P2 x="390" y="325" id="4169" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3696" >
-<father id="3698" num="0" />
-<cdparam x="493" y="177" />
-<sizeparam width="299" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4163" index="14" uid="52d26efc-c8ef-4c7c-b175-03ab4ba4d5db" >
+<father id="4165" num="0" />
+<cdparam x="404" y="300" />
+<sizeparam width="158" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3692" />
-<TGConnectingPoint num="1" id="3693" />
-<TGConnectingPoint num="2" id="3694" />
-<TGConnectingPoint num="3" id="3695" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4159" />
+<TGConnectingPoint num="1" id="4160" />
+<TGConnectingPoint num="2" id="4161" />
+<TGConnectingPoint num="3" id="4162" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="minEmergencyInterval" />
-<afterMax value="maxEmergencyInterval" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="speed = carinfo.maxSpeed" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5103" id="3709" >
-<cdparam x="308" y="270" />
-<sizeparam width="182" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="obstacleDetected(id, position)" />
-<TGConnectingPoint num="0" id="3699" />
-<TGConnectingPoint num="1" id="3700" />
-<TGConnectingPoint num="2" id="3701" />
-<TGConnectingPoint num="3" id="3702" />
-<TGConnectingPoint num="4" id="3703" />
-<TGConnectingPoint num="5" id="3704" />
-<TGConnectingPoint num="6" id="3705" />
-<TGConnectingPoint num="7" id="3706" />
-<TGConnectingPoint num="8" id="3707" />
-<TGConnectingPoint num="9" id="3708" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3750" >
-<cdparam x="307" y="87" />
-<sizeparam width="186" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5108" id="4168" index="4" uid="6dbfa7bb-1891-4118-b0d9-7a0d47edefb7" >
+<cdparam x="218" y="247" />
+<sizeparam width="345" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingforEmergency" />
-<TGConnectingPoint num="0" id="3710" />
-<TGConnectingPoint num="1" id="3711" />
-<TGConnectingPoint num="2" id="3712" />
-<TGConnectingPoint num="3" id="3713" />
-<TGConnectingPoint num="4" id="3714" />
-<TGConnectingPoint num="5" id="3715" />
-<TGConnectingPoint num="6" id="3716" />
-<TGConnectingPoint num="7" id="3717" />
-<TGConnectingPoint num="8" id="3718" />
-<TGConnectingPoint num="9" id="3719" />
-<TGConnectingPoint num="10" id="3720" />
-<TGConnectingPoint num="11" id="3721" />
-<TGConnectingPoint num="12" id="3722" />
-<TGConnectingPoint num="13" id="3723" />
-<TGConnectingPoint num="14" id="3724" />
-<TGConnectingPoint num="15" id="3725" />
-<TGConnectingPoint num="16" id="3726" />
-<TGConnectingPoint num="17" id="3727" />
-<TGConnectingPoint num="18" id="3728" />
-<TGConnectingPoint num="19" id="3729" />
-<TGConnectingPoint num="20" id="3730" />
-<TGConnectingPoint num="21" id="3731" />
-<TGConnectingPoint num="22" id="3732" />
-<TGConnectingPoint num="23" id="3733" />
-<TGConnectingPoint num="24" id="3734" />
-<TGConnectingPoint num="25" id="3735" />
-<TGConnectingPoint num="26" id="3736" />
-<TGConnectingPoint num="27" id="3737" />
-<TGConnectingPoint num="28" id="3738" />
-<TGConnectingPoint num="29" id="3739" />
-<TGConnectingPoint num="30" id="3740" />
-<TGConnectingPoint num="31" id="3741" />
-<TGConnectingPoint num="32" id="3742" />
-<TGConnectingPoint num="33" id="3743" />
-<TGConnectingPoint num="34" id="3744" />
-<TGConnectingPoint num="35" id="3745" />
-<TGConnectingPoint num="36" id="3746" />
-<TGConnectingPoint num="37" id="3747" />
-<TGConnectingPoint num="38" id="3748" />
-<TGConnectingPoint num="39" id="3749" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3752" >
-<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="TGComponent" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4166" />
+<TGConnectingPoint num="1" id="4167" />
+<extraparam>
+<Data variable="speed" minValue="carinfo.minSpeed" maxValue="carinfo.maxSpeed" functionId="0" extraAttribute1="" extraAttribute2="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5103" id="4179" index="5" uid="34a08e7c-680f-4cd2-81ed-06bd0aa9787e" >
+<cdparam x="317" y="330" />
+<sizeparam width="147" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3751" />
+<infoparam name="Send signal" value="updateOnSpeed(speed)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4169" />
+<TGConnectingPoint num="1" id="4170" />
+<TGConnectingPoint num="2" id="4171" />
+<TGConnectingPoint num="3" id="4172" />
+<TGConnectingPoint num="4" id="4173" />
+<TGConnectingPoint num="5" id="4174" />
+<TGConnectingPoint num="6" id="4175" />
+<TGConnectingPoint num="7" id="4176" />
+<TGConnectingPoint num="8" id="4177" />
+<TGConnectingPoint num="9" id="4178" />
</COMPONENT>
-<COMPONENT type="5108" id="3755" >
-<cdparam x="224" y="231" />
-<sizeparam width="350" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5106" id="4252" index="6" uid="ae711062-7acd-4171-9c82-15a245c8ea79" >
+<cdparam x="306" y="115" />
+<sizeparam width="169" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3753" />
-<TGConnectingPoint num="1" id="3754" />
+<infoparam name="state0" value="WaitingForSpeedUpdate" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4180" />
+<TGConnectingPoint num="1" id="4181" />
+<TGConnectingPoint num="2" id="4182" />
+<TGConnectingPoint num="3" id="4183" />
+<TGConnectingPoint num="4" id="4184" />
+<TGConnectingPoint num="5" id="4185" />
+<TGConnectingPoint num="6" id="4186" />
+<TGConnectingPoint num="7" id="4187" />
+<TGConnectingPoint num="8" id="4188" />
+<TGConnectingPoint num="9" id="4189" />
+<TGConnectingPoint num="10" id="4190" />
+<TGConnectingPoint num="11" id="4191" />
+<TGConnectingPoint num="12" id="4192" />
+<TGConnectingPoint num="13" id="4193" />
+<TGConnectingPoint num="14" id="4194" />
+<TGConnectingPoint num="15" id="4195" />
+<TGConnectingPoint num="16" id="4196" />
+<TGConnectingPoint num="17" id="4197" />
+<TGConnectingPoint num="18" id="4198" />
+<TGConnectingPoint num="19" id="4199" />
+<TGConnectingPoint num="20" id="4200" />
+<TGConnectingPoint num="21" id="4201" />
+<TGConnectingPoint num="22" id="4202" />
+<TGConnectingPoint num="23" id="4203" />
+<TGConnectingPoint num="24" id="4204" />
+<TGConnectingPoint num="25" id="4205" />
+<TGConnectingPoint num="26" id="4206" />
+<TGConnectingPoint num="27" id="4207" />
+<TGConnectingPoint num="28" id="4208" />
+<TGConnectingPoint num="29" id="4209" />
+<TGConnectingPoint num="30" id="4210" />
+<TGConnectingPoint num="31" id="4211" />
+<TGConnectingPoint num="32" id="4212" />
+<TGConnectingPoint num="33" id="4213" />
+<TGConnectingPoint num="34" id="4214" />
+<TGConnectingPoint num="35" id="4215" />
+<TGConnectingPoint num="36" id="4216" />
+<TGConnectingPoint num="37" id="4217" />
+<TGConnectingPoint num="38" id="4218" />
+<TGConnectingPoint num="39" id="4219" />
+<TGConnectingPoint num="40" id="4220" />
+<TGConnectingPoint num="41" id="4221" />
+<TGConnectingPoint num="42" id="4222" />
+<TGConnectingPoint num="43" id="4223" />
+<TGConnectingPoint num="44" id="4224" />
+<TGConnectingPoint num="45" id="4225" />
+<TGConnectingPoint num="46" id="4226" />
+<TGConnectingPoint num="47" id="4227" />
+<TGConnectingPoint num="48" id="4228" />
+<TGConnectingPoint num="49" id="4229" />
+<TGConnectingPoint num="50" id="4230" />
+<TGConnectingPoint num="51" id="4231" />
+<TGConnectingPoint num="52" id="4232" />
+<TGConnectingPoint num="53" id="4233" />
+<TGConnectingPoint num="54" id="4234" />
+<TGConnectingPoint num="55" id="4235" />
+<TGConnectingPoint num="56" id="4236" />
+<TGConnectingPoint num="57" id="4237" />
+<TGConnectingPoint num="58" id="4238" />
+<TGConnectingPoint num="59" id="4239" />
+<TGConnectingPoint num="60" id="4240" />
+<TGConnectingPoint num="61" id="4241" />
+<TGConnectingPoint num="62" id="4242" />
+<TGConnectingPoint num="63" id="4243" />
+<TGConnectingPoint num="64" id="4244" />
+<TGConnectingPoint num="65" id="4245" />
+<TGConnectingPoint num="66" id="4246" />
+<TGConnectingPoint num="67" id="4247" />
+<TGConnectingPoint num="68" id="4248" />
+<TGConnectingPoint num="69" id="4249" />
+<TGConnectingPoint num="70" id="4250" />
+<TGConnectingPoint num="71" id="4251" />
<extraparam>
-<Data variable="position" minValue="carid.minPosition" maxValue="carid.maxPosition" functionId="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5108" id="3758" >
-<cdparam x="274" y="186" />
-<sizeparam width="252" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5100" id="4254" index="7" uid="e9118850-f99a-4bbc-ac7b-579d5d9eb5b7" >
+<cdparam x="383" y="61" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3756" />
-<TGConnectingPoint num="1" id="3757" />
-<extraparam>
-<Data variable="id" minValue="carid.minID" maxValue="carid.maxID" functionId="0" />
-</extraparam>
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4253" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="DSRSC_Management" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3765" >
-<cdparam x="507" y="267" />
+<AVATARStateMachineDiagramPanel name="CorrectnessChecking" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<CONNECTOR type="5102" id="4267" index="0" uid="a9132499-2e2e-469f-8f53-d814901127a8" >
+<cdparam x="432" y="279" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3764" />
-<P1 x="507" y="267" id="3863" />
-<P2 x="631" y="277" id="3840" />
+<infoparam name="connector from choice to state0" value="null" />
+<TGConnectingPoint num="0" id="4263" />
+<TGConnectingPoint num="1" id="4264" />
+<TGConnectingPoint num="2" id="4265" />
+<TGConnectingPoint num="3" id="4266" />
+<P1 x="432" y="279" id="4322" />
+<P2 x="517" y="124" id="4351" />
+<Point x="504" y="393" />
+<Point x="621" y="397" />
+<Point x="623" y="107" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3763" >
-<father id="3765" num="0" />
-<cdparam x="507" y="307" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4255" index="11" uid="2e0e0c81-7908-40d2-a9a3-22c403a74288" >
+<father id="4267" num="0" />
+<cdparam x="504" y="393" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3759" />
-<TGConnectingPoint num="1" id="3760" />
-<TGConnectingPoint num="2" id="3761" />
-<TGConnectingPoint num="3" id="3762" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
+<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3778" >
-<cdparam x="440" y="432" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3774" />
-<TGConnectingPoint num="1" id="3775" />
-<TGConnectingPoint num="2" id="3776" />
-<TGConnectingPoint num="3" id="3777" />
-<P1 x="440" y="432" id="3852" />
-<P2 x="530" y="110" id="3917" />
-<Point x="442" y="479" />
-<Point x="974" y="511" />
-<Point x="957" y="129" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3766" >
-<father id="3778" num="0" />
-<cdparam x="442" y="479" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3767" >
-<father id="3778" num="1" />
-<cdparam x="974" y="511" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3768" >
-<father id="3778" num="2" />
-<cdparam x="957" y="129" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3773" >
-<father id="3778" num="3" />
-<cdparam x="457" y="473" />
-<sizeparam width="150" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3769" />
-<TGConnectingPoint num="1" id="3770" />
-<TGConnectingPoint num="2" id="3771" />
-<TGConnectingPoint num="3" id="3772" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="sendMessage(id, position)" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3785" >
-<cdparam x="407" y="182" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="3784" />
-<P1 x="407" y="182" id="3901" />
-<P2 x="440" y="402" id="3851" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3783" >
-<father id="3785" num="0" />
-<cdparam x="407" y="222" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3779" />
-<TGConnectingPoint num="1" id="3780" />
-<TGConnectingPoint num="2" id="3781" />
-<TGConnectingPoint num="3" id="3782" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3798" >
-<cdparam x="507" y="267" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3794" />
-<TGConnectingPoint num="1" id="3795" />
-<TGConnectingPoint num="2" id="3796" />
-<TGConnectingPoint num="3" id="3797" />
-<P1 x="631" y="307" id="3841" />
-<P2 x="530" y="141" id="3899" />
-<Point x="644" y="343" />
-<Point x="829" y="341" />
-<Point x="848" y="153" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3786" >
-<father id="3798" num="0" />
-<cdparam x="644" y="343" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3787" >
-<father id="3798" num="1" />
-<cdparam x="829" y="341" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="4256" index="12" uid="ecc7d68c-4fbc-41a6-9ba3-c66d96e02409" >
+<father id="4267" num="1" />
+<cdparam x="621" y="397" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3788" >
-<father id="3798" num="2" />
-<cdparam x="848" y="153" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="4257" index="13" uid="e6c287b2-0823-46b2-b928-679bdd1f3ccf" >
+<father id="4267" num="2" />
+<cdparam x="623" y="107" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3793" >
-<father id="3798" num="3" />
-<cdparam x="507" y="307" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="4262" index="14" uid="a2740149-7e96-4ed0-a44a-2d9c7524ce25" >
+<father id="4267" num="3" />
+<cdparam x="479" y="319" />
+<sizeparam width="98" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3789" />
-<TGConnectingPoint num="1" id="3790" />
-<TGConnectingPoint num="2" id="3791" />
-<TGConnectingPoint num="3" id="3792" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3811" >
-<cdparam x="289" y="344" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4258" />
+<TGConnectingPoint num="1" id="4259" />
+<TGConnectingPoint num="2" id="4260" />
+<TGConnectingPoint num="3" id="4261" />
+<extraparam>
+<guard value="[ canHaveInvalid]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="invalidMessage()" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4280" index="1" uid="f73ddcc7-2f90-4f59-925c-4d9db0690c20" >
+<cdparam x="290" y="387" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3807" />
-<TGConnectingPoint num="1" id="3808" />
-<TGConnectingPoint num="2" id="3809" />
-<TGConnectingPoint num="3" id="3810" />
-<P1 x="289" y="344" id="3874" />
-<P2 x="285" y="141" id="3898" />
-<Point x="285" y="384" />
-<Point x="189" y="387" />
-<Point x="176" y="154" />
+<TGConnectingPoint num="0" id="4276" />
+<TGConnectingPoint num="1" id="4277" />
+<TGConnectingPoint num="2" id="4278" />
+<TGConnectingPoint num="3" id="4279" />
+<P1 x="290" y="387" id="4310" />
+<P2 x="298" y="117" id="4368" />
+<Point x="297" y="425" />
+<Point x="160" y="415" />
+<Point x="172" y="94" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3799" >
-<father id="3811" num="0" />
-<cdparam x="285" y="384" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4268" index="15" uid="e7820b78-2260-46a8-90af-21f7c047e7aa" >
+<father id="4280" num="0" />
+<cdparam x="297" y="425" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3800" >
-<father id="3811" num="1" />
-<cdparam x="189" y="387" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="4269" index="16" uid="995e1a39-28dc-47cb-8a21-062d494f51b4" >
+<father id="4280" num="1" />
+<cdparam x="160" y="415" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3801" >
-<father id="3811" num="2" />
-<cdparam x="176" y="154" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="4270" index="17" uid="c1eb9dbb-b118-4cf0-83ab-f0f1cfc20d9f" >
+<father id="4280" num="2" />
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3806" >
-<father id="3811" num="3" />
-<cdparam x="289" y="384" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="4275" index="18" uid="8bdcdae6-2f4a-4d60-9eb9-80e02ee964cc" >
+<father id="4280" num="3" />
+<cdparam x="290" y="427" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3802" />
-<TGConnectingPoint num="1" id="3803" />
-<TGConnectingPoint num="2" id="3804" />
-<TGConnectingPoint num="3" id="3805" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4271" />
+<TGConnectingPoint num="1" id="4272" />
+<TGConnectingPoint num="2" id="4273" />
+<TGConnectingPoint num="3" id="4274" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3818" >
+<CONNECTOR type="5102" id="4287" index="2" uid="a2b39ac7-34db-4d26-bdff-6cea405bfa80" >
<cdparam x="407" y="70" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3817" />
-<P1 x="407" y="70" id="3936" />
-<P2 x="407" y="101" id="3896" />
+<TGConnectingPoint num="0" id="4286" />
+<P1 x="407" y="70" id="4420" />
+<P2 x="407" y="99" id="4348" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3816" >
-<father id="3818" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4285" index="19" uid="aceaa701-c204-461a-8f57-be5b84515fa6" >
+<father id="4287" num="0" />
<cdparam x="407" y="110" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3812" />
-<TGConnectingPoint num="1" id="3813" />
-<TGConnectingPoint num="2" id="3814" />
-<TGConnectingPoint num="3" id="3815" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4281" />
+<TGConnectingPoint num="1" id="4282" />
+<TGConnectingPoint num="2" id="4283" />
+<TGConnectingPoint num="3" id="4284" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3825" >
-<cdparam x="314" y="182" />
+<CONNECTOR type="5102" id="4294" index="3" uid="12cc60bd-6588-4ffe-926f-60a98aaa0b70" >
+<cdparam x="407" y="149" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="3824" />
-<P1 x="314" y="182" id="3923" />
-<P2 x="296" y="256" id="3884" />
+<TGConnectingPoint num="0" id="4293" />
+<P1 x="407" y="149" id="4353" />
+<P2 x="407" y="188" id="4336" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3823" >
-<father id="3825" num="0" />
-<cdparam x="314" y="222" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4292" index="20" uid="8973dc38-3fda-459e-b653-70fcfe8ff9b0" >
+<father id="4294" num="0" />
+<cdparam x="407" y="189" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3819" />
-<TGConnectingPoint num="1" id="3820" />
-<TGConnectingPoint num="2" id="3821" />
-<TGConnectingPoint num="3" id="3822" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4288" />
+<TGConnectingPoint num="1" id="4289" />
+<TGConnectingPoint num="2" id="4290" />
+<TGConnectingPoint num="3" id="4291" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3832" >
-<cdparam x="296" y="286" />
+<CONNECTOR type="5102" id="4301" index="4" uid="5a9c2f93-6ed0-4ece-bfd7-a53bf2d7dc6e" >
+<cdparam x="407" y="218" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3831" />
-<P1 x="296" y="286" id="3885" />
-<P2 x="289" y="314" id="3873" />
+<infoparam name="connector from Receive signal to choice" value="null" />
+<TGConnectingPoint num="0" id="4300" />
+<P1 x="407" y="218" id="4337" />
+<P2 x="407" y="254" id="4320" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3830" >
-<father id="3832" num="0" />
-<cdparam x="296" y="326" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4299" index="21" uid="4145b8b5-11c1-4b80-a0a0-01389ef5be6e" >
+<father id="4301" num="0" />
+<cdparam x="419" y="243" />
+<sizeparam width="108" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3826" />
-<TGConnectingPoint num="1" id="3827" />
-<TGConnectingPoint num="2" id="3828" />
-<TGConnectingPoint num="3" id="3829" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3839" >
-<cdparam x="498" y="182" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4295" />
+<TGConnectingPoint num="1" id="4296" />
+<TGConnectingPoint num="2" id="4297" />
+<TGConnectingPoint num="3" id="4298" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="checkingMessage()" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4308" index="5" uid="1f30593d-31c6-4744-8985-da002bfa69f1" >
+<cdparam x="382" y="279" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="3838" />
-<P1 x="498" y="182" id="3926" />
-<P2 x="507" y="237" id="3862" />
+<infoparam name="connector from choice to Send signal" value="null" />
+<TGConnectingPoint num="0" id="4307" />
+<P1 x="382" y="279" id="4324" />
+<P2 x="290" y="357" id="4309" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3837" >
-<father id="3839" num="0" />
-<cdparam x="498" y="222" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4306" index="22" uid="3815e9c6-cb03-4a51-9e8e-af9398426f87" >
+<father id="4308" num="0" />
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+<sizeparam width="85" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3833" />
-<TGConnectingPoint num="1" id="3834" />
-<TGConnectingPoint num="2" id="3835" />
-<TGConnectingPoint num="3" id="3836" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<COMPONENT type="5103" id="3850" >
-<cdparam x="490" y="282" />
-<sizeparam width="283" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="forwardEmergencyBrakingMessage(id, position)" />
-<TGConnectingPoint num="0" id="3840" />
-<TGConnectingPoint num="1" id="3841" />
-<TGConnectingPoint num="2" id="3842" />
-<TGConnectingPoint num="3" id="3843" />
-<TGConnectingPoint num="4" id="3844" />
-<TGConnectingPoint num="5" id="3845" />
-<TGConnectingPoint num="6" id="3846" />
-<TGConnectingPoint num="7" id="3847" />
-<TGConnectingPoint num="8" id="3848" />
-<TGConnectingPoint num="9" id="3849" />
-</COMPONENT>
-
-<COMPONENT type="5104" id="3861" >
-<cdparam x="288" y="407" />
-<sizeparam width="304" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="broadcastEmergencyBrakingMessage(id, position)" />
-<TGConnectingPoint num="0" id="3851" />
-<TGConnectingPoint num="1" id="3852" />
-<TGConnectingPoint num="2" id="3853" />
-<TGConnectingPoint num="3" id="3854" />
-<TGConnectingPoint num="4" id="3855" />
-<TGConnectingPoint num="5" id="3856" />
-<TGConnectingPoint num="6" id="3857" />
-<TGConnectingPoint num="7" id="3858" />
-<TGConnectingPoint num="8" id="3859" />
-<TGConnectingPoint num="9" id="3860" />
-</COMPONENT>
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-<COMPONENT type="5104" id="3872" >
-<cdparam x="412" y="242" />
-<sizeparam width="190" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4302" />
+<TGConnectingPoint num="1" id="4303" />
+<TGConnectingPoint num="2" id="4304" />
+<TGConnectingPoint num="3" id="4305" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="validMessage()" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="4319" index="6" uid="ef4478a3-4f92-4935-8059-09c310ef44a0" >
+<cdparam x="174" y="362" />
+<sizeparam width="232" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="obstacleDetected(id, position)" />
-<TGConnectingPoint num="0" id="3862" />
-<TGConnectingPoint num="1" id="3863" />
-<TGConnectingPoint num="2" id="3864" />
-<TGConnectingPoint num="3" id="3865" />
-<TGConnectingPoint num="4" id="3866" />
-<TGConnectingPoint num="5" id="3867" />
-<TGConnectingPoint num="6" id="3868" />
-<TGConnectingPoint num="7" id="3869" />
-<TGConnectingPoint num="8" id="3870" />
-<TGConnectingPoint num="9" id="3871" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="3883" >
-<cdparam x="208" y="319" />
-<sizeparam width="163" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Send signal" value="toPlausibityCheckMessage(id, position)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4309" />
+<TGConnectingPoint num="1" id="4310" />
+<TGConnectingPoint num="2" id="4311" />
+<TGConnectingPoint num="3" id="4312" />
+<TGConnectingPoint num="4" id="4313" />
+<TGConnectingPoint num="5" id="4314" />
+<TGConnectingPoint num="6" id="4315" />
+<TGConnectingPoint num="7" id="4316" />
+<TGConnectingPoint num="8" id="4317" />
+<TGConnectingPoint num="9" id="4318" />
+</COMPONENT>
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+<COMPONENT type="5107" id="4335" index="7" uid="029dfe91-05f1-4f4b-82d6-73be8b683f94" >
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+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="setCarPosition(id, position)" />
-<TGConnectingPoint num="0" id="3873" />
-<TGConnectingPoint num="1" id="3874" />
-<TGConnectingPoint num="2" id="3875" />
-<TGConnectingPoint num="3" id="3876" />
-<TGConnectingPoint num="4" id="3877" />
-<TGConnectingPoint num="5" id="3878" />
-<TGConnectingPoint num="6" id="3879" />
-<TGConnectingPoint num="7" id="3880" />
-<TGConnectingPoint num="8" id="3881" />
-<TGConnectingPoint num="9" id="3882" />
-</COMPONENT>
-
-<COMPONENT type="5104" id="3894" >
-<cdparam x="220" y="261" />
-<sizeparam width="152" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4320" />
+<TGConnectingPoint num="1" id="4321" />
+<TGConnectingPoint num="2" id="4322" />
+<TGConnectingPoint num="3" id="4323" />
+<TGConnectingPoint num="4" id="4324" />
+<TGConnectingPoint num="5" id="4325" />
+<TGConnectingPoint num="6" id="4326" />
+<TGConnectingPoint num="7" id="4327" />
+<TGConnectingPoint num="8" id="4328" />
+<TGConnectingPoint num="9" id="4329" />
+<TGConnectingPoint num="10" id="4330" />
+<TGConnectingPoint num="11" id="4331" />
+<TGConnectingPoint num="12" id="4332" />
+<TGConnectingPoint num="13" id="4333" />
+<TGConnectingPoint num="14" id="4334" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="4346" index="8" uid="f978ca3f-80fc-4444-873b-21230d85486c" >
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<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="carPosition(id, position)" />
-<TGConnectingPoint num="0" id="3884" />
-<TGConnectingPoint num="1" id="3885" />
-<TGConnectingPoint num="2" id="3886" />
-<TGConnectingPoint num="3" id="3887" />
-<TGConnectingPoint num="4" id="3888" />
-<TGConnectingPoint num="5" id="3889" />
-<TGConnectingPoint num="6" id="3890" />
-<TGConnectingPoint num="7" id="3891" />
-<TGConnectingPoint num="8" id="3892" />
-<TGConnectingPoint num="9" id="3893" />
-</COMPONENT>
-
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-<cdparam x="285" y="101" />
-<sizeparam width="245" height="81" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Receive signal" value="getEmergencyBrakingMessage(id, position)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4336" />
+<TGConnectingPoint num="1" id="4337" />
+<TGConnectingPoint num="2" id="4338" />
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+<TGConnectingPoint num="7" id="4343" />
+<TGConnectingPoint num="8" id="4344" />
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+</COMPONENT>
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+<sizeparam width="219" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingForEnvironmentInput" />
-<TGConnectingPoint num="0" id="3895" />
-<TGConnectingPoint num="1" id="3896" />
-<TGConnectingPoint num="2" id="3897" />
-<TGConnectingPoint num="3" id="3898" />
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-<TGConnectingPoint num="7" id="3902" />
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-<TGConnectingPoint num="12" id="3907" />
-<TGConnectingPoint num="13" id="3908" />
-<TGConnectingPoint num="14" id="3909" />
-<TGConnectingPoint num="15" id="3910" />
-<TGConnectingPoint num="16" id="3911" />
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-<TGConnectingPoint num="18" id="3913" />
-<TGConnectingPoint num="19" id="3914" />
-<TGConnectingPoint num="20" id="3915" />
-<TGConnectingPoint num="21" id="3916" />
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-<TGConnectingPoint num="25" id="3920" />
-<TGConnectingPoint num="26" id="3921" />
-<TGConnectingPoint num="27" id="3922" />
-<TGConnectingPoint num="28" id="3923" />
-<TGConnectingPoint num="29" id="3924" />
-<TGConnectingPoint num="30" id="3925" />
-<TGConnectingPoint num="31" id="3926" />
-<TGConnectingPoint num="32" id="3927" />
-<TGConnectingPoint num="33" id="3928" />
-<TGConnectingPoint num="34" id="3929" />
-<TGConnectingPoint num="35" id="3930" />
-<TGConnectingPoint num="36" id="3931" />
-<TGConnectingPoint num="37" id="3932" />
-<TGConnectingPoint num="38" id="3933" />
-<TGConnectingPoint num="39" id="3934" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3937" >
+<infoparam name="state0" value="WaitingForMessageToAnalyze" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4347" />
+<TGConnectingPoint num="1" id="4348" />
+<TGConnectingPoint num="2" id="4349" />
+<TGConnectingPoint num="3" id="4350" />
+<TGConnectingPoint num="4" id="4351" />
+<TGConnectingPoint num="5" id="4352" />
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+<TGConnectingPoint num="8" id="4355" />
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+<TGConnectingPoint num="11" id="4358" />
+<TGConnectingPoint num="12" id="4359" />
+<TGConnectingPoint num="13" id="4360" />
+<TGConnectingPoint num="14" id="4361" />
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+<TGConnectingPoint num="16" id="4363" />
+<TGConnectingPoint num="17" id="4364" />
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+<TGConnectingPoint num="22" id="4369" />
+<TGConnectingPoint num="23" id="4370" />
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+<TGConnectingPoint num="40" id="4387" />
+<TGConnectingPoint num="41" id="4388" />
+<TGConnectingPoint num="42" id="4389" />
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+<TGConnectingPoint num="69" id="4416" />
+<TGConnectingPoint num="70" id="4417" />
+<TGConnectingPoint num="71" id="4418" />
+<extraparam>
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="5100" id="4421" index="10" uid="93b04523-6c7a-4975-8b11-ee2fb519a453" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3936" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4420" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="NeighbourhoodTableManagement" minX="10" maxX="1900" minY="10" maxY="1900" >
-<CONNECTOR type="5102" id="3950" >
+<AVATARStateMachineDiagramPanel name="NeighbourhoodTableManagement" minX="10" maxX="1900" minY="10" maxY="1900" zoom="1.0" >
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<cdparam x="371" y="281" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3946" />
-<TGConnectingPoint num="1" id="3947" />
-<TGConnectingPoint num="2" id="3948" />
-<TGConnectingPoint num="3" id="3949" />
-<P1 x="371" y="281" id="4192" />
-<P2 x="453" y="163" id="4584" />
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+<TGConnectingPoint num="1" id="4431" />
+<TGConnectingPoint num="2" id="4432" />
+<TGConnectingPoint num="3" id="4433" />
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+<P2 x="453" y="163" id="5260" />
<Point x="372" y="309" />
<Point x="272" y="313" />
<Point x="255" y="142" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3938" >
-<father id="3950" num="0" />
+<new d="false" />
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<cdparam x="372" y="309" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3939" >
-<father id="3950" num="1" />
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<cdparam x="272" y="313" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3940" >
-<father id="3950" num="2" />
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<cdparam x="255" y="142" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3945" >
-<father id="3950" num="3" />
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<cdparam x="371" y="321" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3941" />
-<TGConnectingPoint num="1" id="3942" />
-<TGConnectingPoint num="2" id="3943" />
-<TGConnectingPoint num="3" id="3944" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4425" />
+<TGConnectingPoint num="1" id="4426" />
+<TGConnectingPoint num="2" id="4427" />
+<TGConnectingPoint num="3" id="4428" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3957" >
+<CONNECTOR type="5102" id="4441" index="1" uid="cd9fc8ec-b510-403f-b1ec-a8f8435503ca" >
<cdparam x="862" y="884" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3956" />
-<P1 x="740" y="812" id="4205" />
-<P2 x="729" y="1182" id="4510" />
+<TGConnectingPoint num="0" id="4440" />
+<P1 x="740" y="812" id="4689" />
+<P2 x="729" y="1182" id="5122" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3955" >
-<father id="3957" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4439" index="52" uid="44921d81-7e07-46f6-abc5-c55ded2b3758" >
+<father id="4441" num="0" />
<cdparam x="512" y="935" />
-<sizeparam width="614" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="614" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3951" />
-<TGConnectingPoint num="1" id="3952" />
-<TGConnectingPoint num="2" id="3953" />
-<TGConnectingPoint num="3" id="3954" />
-<extraparam>
-<guard value="[ (listOfNodes.position2 >= listOfNodes.position1) and (listOfNodes.position2 >= listOfNodes.position1) ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="listOfNodes.id2 = 0" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3964" >
+<new d="false" />
+<TGConnectingPoint num="0" id="4435" />
+<TGConnectingPoint num="1" id="4436" />
+<TGConnectingPoint num="2" id="4437" />
+<TGConnectingPoint num="3" id="4438" />
+<extraparam>
+<guard value="[ (listOfNodes.position2 >= listOfNodes.position1) and (listOfNodes.position2 >= listOfNodes.position1) ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="listOfNodes.id2 = 0" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4448" index="2" uid="6660a5cd-d764-4b6b-beec-c66259f0d3c8" >
<cdparam x="765" y="787" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to choice" value="null" />
-<TGConnectingPoint num="0" id="3963" />
-<P1 x="765" y="787" id="4204" />
-<P2 x="793" y="1182" id="4501" />
+<TGConnectingPoint num="0" id="4447" />
+<P1 x="765" y="787" id="4688" />
+<P2 x="793" y="1182" id="5113" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3962" >
-<father id="3964" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4446" index="53" uid="30fb8d98-e2f7-44af-a51b-84944990d941" >
+<father id="4448" num="0" />
<cdparam x="653" y="869" />
-<sizeparam width="614" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="614" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3958" />
-<TGConnectingPoint num="1" id="3959" />
-<TGConnectingPoint num="2" id="3960" />
-<TGConnectingPoint num="3" id="3961" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4442" />
+<TGConnectingPoint num="1" id="4443" />
+<TGConnectingPoint num="2" id="4444" />
+<TGConnectingPoint num="3" id="4445" />
<extraparam>
-<guard value="[ (listOfNodes.position1 >= listOfNodes.position0) and (listOfNodes.position1 >= listOfNodes.position2) ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="listOfNodes.id1 = 0" />
+<guard value="[ (listOfNodes.position1 >= listOfNodes.position0) and (listOfNodes.position1 >= listOfNodes.position2) ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="listOfNodes.id1 = 0" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3971" >
+<CONNECTOR type="5102" id="4455" index="3" uid="8afba036-ccb9-4d47-b839-3f05c97b2fe7" >
<cdparam x="715" y="787" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3970" />
-<P1 x="715" y="787" id="4203" />
-<P2 x="607" y="1182" id="4509" />
+<TGConnectingPoint num="0" id="4454" />
+<P1 x="715" y="787" id="4687" />
+<P2 x="607" y="1182" id="5121" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3969" >
-<father id="3971" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4453" index="54" uid="69ffd1b6-d3bf-4633-82f2-7d4f1e228599" >
+<father id="4455" num="0" />
<cdparam x="347" y="830" />
-<sizeparam width="614" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="614" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3965" />
-<TGConnectingPoint num="1" id="3966" />
-<TGConnectingPoint num="2" id="3967" />
-<TGConnectingPoint num="3" id="3968" />
-<extraparam>
-<guard value="[ (listOfNodes.position0 >= listOfNodes.position1) and (listOfNodes.position0 >= listOfNodes.position2) ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="listOfNodes.id0 = 0" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3978" >
+<new d="false" />
+<TGConnectingPoint num="0" id="4449" />
+<TGConnectingPoint num="1" id="4450" />
+<TGConnectingPoint num="2" id="4451" />
+<TGConnectingPoint num="3" id="4452" />
+<extraparam>
+<guard value="[ (listOfNodes.position0 >= listOfNodes.position1) and (listOfNodes.position0 >= listOfNodes.position2) ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="listOfNodes.id0 = 0" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4462" index="4" uid="5ff89e8c-d0ea-4342-ac3f-851539926541" >
<cdparam x="330" y="819" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3977" />
-<P1 x="330" y="819" id="4220" />
-<P2 x="485" y="1182" id="4508" />
+<TGConnectingPoint num="0" id="4461" />
+<P1 x="330" y="819" id="4704" />
+<P2 x="485" y="1182" id="5120" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3976" >
-<father id="3978" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4460" index="55" uid="2377ed71-0792-44c0-8cd7-564ee1354855" >
+<father id="4462" num="0" />
<cdparam x="339" y="869" />
-<sizeparam width="250" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="250" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3972" />
-<TGConnectingPoint num="1" id="3973" />
-<TGConnectingPoint num="2" id="3974" />
-<TGConnectingPoint num="3" id="3975" />
-<extraparam>
-<guard value="[ (listOfNodes.position2 < currentPosition) ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="listOfNodes.id2 = 0" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3985" >
+<new d="false" />
+<TGConnectingPoint num="0" id="4456" />
+<TGConnectingPoint num="1" id="4457" />
+<TGConnectingPoint num="2" id="4458" />
+<TGConnectingPoint num="3" id="4459" />
+<extraparam>
+<guard value="[ (listOfNodes.position2 < currentPosition) ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="listOfNodes.id2 = 0" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4469" index="5" uid="546cd8f1-9698-4d4a-b8e9-92d42464af9f" >
<cdparam x="305" y="844" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3984" />
-<P1 x="305" y="844" id="4221" />
-<P2 x="427" y="1207" id="4495" />
+<TGConnectingPoint num="0" id="4468" />
+<P1 x="305" y="844" id="4705" />
+<P2 x="427" y="1207" id="5107" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3983" >
-<father id="3985" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4467" index="56" uid="776fe3e8-3315-47a1-95ba-6c46ac9e2ea2" >
+<father id="4469" num="0" />
<cdparam x="281" y="907" />
-<sizeparam width="250" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="250" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3979" />
-<TGConnectingPoint num="1" id="3980" />
-<TGConnectingPoint num="2" id="3981" />
-<TGConnectingPoint num="3" id="3982" />
-<extraparam>
-<guard value="[ (listOfNodes.position1 < currentPosition) ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="listOfNodes.id1 = 0" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3994" >
+<new d="false" />
+<TGConnectingPoint num="0" id="4463" />
+<TGConnectingPoint num="1" id="4464" />
+<TGConnectingPoint num="2" id="4465" />
+<TGConnectingPoint num="3" id="4466" />
+<extraparam>
+<guard value="[ (listOfNodes.position1 < currentPosition) ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="listOfNodes.id1 = 0" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4478" index="6" uid="3c730760-eb9a-49b4-873f-d81346813823" >
<cdparam x="280" y="819" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3992" />
-<TGConnectingPoint num="1" id="3993" />
-<P1 x="280" y="819" id="4219" />
-<P2 x="427" y="1225" id="4517" />
+<TGConnectingPoint num="0" id="4476" />
+<TGConnectingPoint num="1" id="4477" />
+<P1 x="280" y="819" id="4703" />
+<P2 x="427" y="1225" id="5129" />
<Point x="245" y="990" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3986" >
-<father id="3994" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4470" index="57" uid="ed9081ad-18ba-4df2-9f7c-0b5be7b0b3a2" >
+<father id="4478" num="0" />
<cdparam x="245" y="990" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3991" >
-<father id="3994" num="1" />
+<SUBCOMPONENT type="-1" id="4475" index="58" uid="5bba4506-4fda-41da-8cb5-5ce61c42a599" >
+<father id="4478" num="1" />
<cdparam x="28" y="885" />
-<sizeparam width="250" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="250" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3987" />
-<TGConnectingPoint num="1" id="3988" />
-<TGConnectingPoint num="2" id="3989" />
-<TGConnectingPoint num="3" id="3990" />
-<extraparam>
-<guard value="[ (listOfNodes.position0 < currentPosition) ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="listOfNodes.id0 = 0" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="4003" >
+<new d="false" />
+<TGConnectingPoint num="0" id="4471" />
+<TGConnectingPoint num="1" id="4472" />
+<TGConnectingPoint num="2" id="4473" />
+<TGConnectingPoint num="3" id="4474" />
+<extraparam>
+<guard value="[ (listOfNodes.position0 < currentPosition) ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="listOfNodes.id0 = 0" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4487" index="7" uid="d0ff9bcc-0e0e-43f8-bcd8-6ee8b0ad8021" >
<cdparam x="535" y="705" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4001" />
-<TGConnectingPoint num="1" id="4002" />
-<P1 x="522" y="668" id="4444" />
-<P2 x="740" y="762" id="4202" />
+<TGConnectingPoint num="0" id="4485" />
+<TGConnectingPoint num="1" id="4486" />
+<P1 x="522" y="668" id="5056" />
+<P2 x="740" y="762" id="4686" />
<Point x="653" y="702" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3995" >
-<father id="4003" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4479" index="59" uid="6f0fc79a-137b-4c84-b543-cffc3e627a2e" >
+<father id="4487" num="0" />
<cdparam x="653" y="702" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4000" >
-<father id="4003" num="1" />
+<SUBCOMPONENT type="-1" id="4484" index="60" uid="d3f5f283-70c3-4b2d-b506-1b4e6781e79d" >
+<father id="4487" num="1" />
<cdparam x="589" y="673" />
-<sizeparam width="39" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="39" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3996" />
-<TGConnectingPoint num="1" id="3997" />
-<TGConnectingPoint num="2" id="3998" />
-<TGConnectingPoint num="3" id="3999" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4480" />
+<TGConnectingPoint num="1" id="4481" />
+<TGConnectingPoint num="2" id="4482" />
+<TGConnectingPoint num="3" id="4483" />
<extraparam>
-<guard value="[ else ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ else ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4010" >
+<CONNECTOR type="5102" id="4494" index="8" uid="d1c83c66-a37e-4c05-a47b-7d925444b0fc" >
<cdparam x="851" y="1232" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4009" />
-<P1 x="851" y="1232" id="4523" />
-<P2 x="759" y="1409" id="4253" />
+<TGConnectingPoint num="0" id="4493" />
+<P1 x="851" y="1232" id="5135" />
+<P2 x="759" y="1409" id="4737" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4008" >
-<father id="4010" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4492" index="61" uid="60b38423-0815-4dfe-b684-ad27faaf5219" >
+<father id="4494" num="0" />
<cdparam x="829" y="1296" />
-<sizeparam width="186" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="186" height="45" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4004" />
-<TGConnectingPoint num="1" id="4005" />
-<TGConnectingPoint num="2" id="4006" />
-<TGConnectingPoint num="3" id="4007" />
-<extraparam>
-<guard value="[ listOfNodes.id2 == 0]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="listOfNodes.id2 = id" />
-<actions value="listOfNodes.position2 = position" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="4017" >
+<new d="false" />
+<TGConnectingPoint num="0" id="4488" />
+<TGConnectingPoint num="1" id="4489" />
+<TGConnectingPoint num="2" id="4490" />
+<TGConnectingPoint num="3" id="4491" />
+<extraparam>
+<guard value="[ listOfNodes.id2 == 0]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="listOfNodes.id2 = id" enabled="true"/>
+<actions value="listOfNodes.position2 = position" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4501" index="9" uid="dd6d9901-491e-464b-8333-440c7072d843" >
<cdparam x="671" y="1232" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4016" />
-<P1 x="671" y="1232" id="4498" />
-<P2 x="640" y="1409" id="4235" />
+<TGConnectingPoint num="0" id="4500" />
+<P1 x="671" y="1232" id="5110" />
+<P2 x="640" y="1409" id="4719" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4015" >
-<father id="4017" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4499" index="62" uid="e6b58feb-c441-4bb2-9f28-f7b27b5da728" >
+<father id="4501" num="0" />
<cdparam x="570" y="1299" />
-<sizeparam width="186" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="186" height="45" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4011" />
-<TGConnectingPoint num="1" id="4012" />
-<TGConnectingPoint num="2" id="4013" />
-<TGConnectingPoint num="3" id="4014" />
-<extraparam>
-<guard value="[ listOfNodes.id1 == 0]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="listOfNodes.id1 = id" />
-<actions value="listOfNodes.position1 = position" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="4024" >
+<new d="false" />
+<TGConnectingPoint num="0" id="4495" />
+<TGConnectingPoint num="1" id="4496" />
+<TGConnectingPoint num="2" id="4497" />
+<TGConnectingPoint num="3" id="4498" />
+<extraparam>
+<guard value="[ listOfNodes.id1 == 0]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="listOfNodes.id1 = id" enabled="true"/>
+<actions value="listOfNodes.position1 = position" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4508" index="10" uid="0d229c62-ba47-404a-90f6-25e8aabe3abf" >
<cdparam x="549" y="1232" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4023" />
-<P1 x="485" y="1232" id="4520" />
-<P2 x="517" y="1409" id="4250" />
+<TGConnectingPoint num="0" id="4507" />
+<P1 x="485" y="1232" id="5132" />
+<P2 x="517" y="1409" id="4734" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4022" >
-<father id="4024" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4506" index="63" uid="246ce6b9-ef54-4183-b163-6576fa86cff0" >
+<father id="4508" num="0" />
<cdparam x="293" y="1279" />
-<sizeparam width="186" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="186" height="45" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4018" />
-<TGConnectingPoint num="1" id="4019" />
-<TGConnectingPoint num="2" id="4020" />
-<TGConnectingPoint num="3" id="4021" />
-<extraparam>
-<guard value="[ listOfNodes.id0 == 0]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="listOfNodes.id0 = id" />
-<actions value="listOfNodes.position0 = position" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="4035" >
+<new d="false" />
+<TGConnectingPoint num="0" id="4502" />
+<TGConnectingPoint num="1" id="4503" />
+<TGConnectingPoint num="2" id="4504" />
+<TGConnectingPoint num="3" id="4505" />
+<extraparam>
+<guard value="[ listOfNodes.id0 == 0]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="listOfNodes.id0 = id" enabled="true"/>
+<actions value="listOfNodes.position0 = position" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4519" index="11" uid="cbb5ca81-403d-4ae3-a84a-2604096b96b9" >
<cdparam x="820" y="1233" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4032" />
-<TGConnectingPoint num="1" id="4033" />
-<TGConnectingPoint num="2" id="4034" />
-<P1 x="801" y="1434" id="4238" />
-<P2 x="710" y="145" id="4576" />
+<TGConnectingPoint num="0" id="4516" />
+<TGConnectingPoint num="1" id="4517" />
+<TGConnectingPoint num="2" id="4518" />
+<P1 x="801" y="1434" id="4722" />
+<P2 x="710" y="145" id="5252" />
<Point x="1377" y="1228" />
<Point x="1356" y="105" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4025" >
-<father id="4035" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4509" index="64" uid="5113e970-549d-4395-b7b6-04e964ad1c0f" >
+<father id="4519" num="0" />
<cdparam x="1377" y="1228" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4026" >
-<father id="4035" num="1" />
+<SUBCOMPONENT type="-1" id="4510" index="65" uid="d0027ac9-7157-4238-b9d2-43788a696429" >
+<father id="4519" num="1" />
<cdparam x="1356" y="105" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4031" >
-<father id="4035" num="2" />
+<SUBCOMPONENT type="-1" id="4515" index="66" uid="372ef745-4f95-4db5-8ffd-960456c554e1" >
+<father id="4519" num="2" />
<cdparam x="820" y="1273" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4027" />
-<TGConnectingPoint num="1" id="4028" />
-<TGConnectingPoint num="2" id="4029" />
-<TGConnectingPoint num="3" id="4030" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4511" />
+<TGConnectingPoint num="1" id="4512" />
+<TGConnectingPoint num="2" id="4513" />
+<TGConnectingPoint num="3" id="4514" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4044" >
+<CONNECTOR type="5102" id="4528" index="12" uid="0e404736-b0b1-4bef-8cad-ca0d936f2295" >
<cdparam x="1056" y="524" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4042" />
-<TGConnectingPoint num="1" id="4043" />
-<P1 x="1170" y="495" id="4177" />
-<P2 x="1082" y="649" id="4286" />
+<TGConnectingPoint num="0" id="4526" />
+<TGConnectingPoint num="1" id="4527" />
+<P1 x="1170" y="495" id="4661" />
+<P2 x="1082" y="649" id="4802" />
<Point x="1204" y="597" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4036" >
-<father id="4044" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4520" index="67" uid="ada64761-bd1c-456c-b2f8-acbd3c7ae41e" >
+<father id="4528" num="0" />
<cdparam x="1204" y="597" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4041" >
-<father id="4044" num="1" />
+<SUBCOMPONENT type="-1" id="4525" index="68" uid="fdb6123e-242c-4ab7-81d6-9378c9f1f5bb" >
+<father id="4528" num="1" />
<cdparam x="1198" y="537" />
-<sizeparam width="186" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="186" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4037" />
-<TGConnectingPoint num="1" id="4038" />
-<TGConnectingPoint num="2" id="4039" />
-<TGConnectingPoint num="3" id="4040" />
-<extraparam>
-<guard value="[ else]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="listOfNodes.position2 = position" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="4053" >
+<new d="false" />
+<TGConnectingPoint num="0" id="4521" />
+<TGConnectingPoint num="1" id="4522" />
+<TGConnectingPoint num="2" id="4523" />
+<TGConnectingPoint num="3" id="4524" />
+<extraparam>
+<guard value="[ else]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="listOfNodes.position2 = position" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4537" index="13" uid="b8562e29-8ff9-474a-9a73-048b00f9c2f0" >
<cdparam x="1006" y="524" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4051" />
-<TGConnectingPoint num="1" id="4052" />
-<P1 x="1002" y="448" id="4317" />
-<P2 x="982" y="637" id="4275" />
+<TGConnectingPoint num="0" id="4535" />
+<TGConnectingPoint num="1" id="4536" />
+<P1 x="1002" y="448" id="4865" />
+<P2 x="982" y="637" id="4791" />
<Point x="946" y="594" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4045" >
-<father id="4053" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4529" index="69" uid="3bd2af03-630c-4dce-bb03-61d00c68bcba" >
+<father id="4537" num="0" />
<cdparam x="946" y="594" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4050" >
-<father id="4053" num="1" />
+<SUBCOMPONENT type="-1" id="4534" index="70" uid="e0a6a82d-55ef-4f37-beda-0834813310c8" >
+<father id="4537" num="1" />
<cdparam x="797" y="485" />
-<sizeparam width="186" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="186" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4046" />
-<TGConnectingPoint num="1" id="4047" />
-<TGConnectingPoint num="2" id="4048" />
-<TGConnectingPoint num="3" id="4049" />
-<extraparam>
-<guard value="[ listOfNodes.id0 == id]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="listOfNodes.position0 = position" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="4066" >
+<new d="false" />
+<TGConnectingPoint num="0" id="4530" />
+<TGConnectingPoint num="1" id="4531" />
+<TGConnectingPoint num="2" id="4532" />
+<TGConnectingPoint num="3" id="4533" />
+<extraparam>
+<guard value="[ listOfNodes.id0 == id]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="listOfNodes.position0 = position" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4550" index="14" uid="5400f589-79eb-405e-8eeb-02153fce0ae5" >
<cdparam x="1032" y="687" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4062" />
-<TGConnectingPoint num="1" id="4063" />
-<TGConnectingPoint num="2" id="4064" />
-<TGConnectingPoint num="3" id="4065" />
-<P1 x="1032" y="687" id="4281" />
-<P2 x="710" y="163" id="4585" />
+<TGConnectingPoint num="0" id="4546" />
+<TGConnectingPoint num="1" id="4547" />
+<TGConnectingPoint num="2" id="4548" />
+<TGConnectingPoint num="3" id="4549" />
+<P1 x="1032" y="687" id="4797" />
+<P2 x="710" y="163" id="5261" />
<Point x="1038" y="721" />
<Point x="1296" y="719" />
<Point x="1226" y="164" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4054" >
-<father id="4066" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4538" index="71" uid="df863cae-879f-42ae-8a78-9f3b69e70647" >
+<father id="4550" num="0" />
<cdparam x="1038" y="721" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
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<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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</SUBCOMPONENT>
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<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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</SUBCOMPONENT>
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<AutomaticDrawing data="true" />
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<extraparam>
-<guard value="[ else ]" />
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-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
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</SUBCOMPONENT>
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<AutomaticDrawing data="true" />
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<extraparam>
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+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
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<infoparam name="connector from state0 to Receive signal" value="null" />
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<AutomaticDrawing data="true" />
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<extraparam>
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-<computeMin value="" />
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+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
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<infoparam name="connector from state0 to state0" value="null" />
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<Point x="1080" y="938" />
<AutomaticDrawing data="true" />
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
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</SUBCOMPONENT>
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+<sizeparam width="39" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
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<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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-<TGConnectingPoint num="1" id="4097" />
-<TGConnectingPoint num="2" id="4098" />
-<TGConnectingPoint num="3" id="4099" />
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<extraparam>
-<guard value="[ else ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ else ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
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<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="4110" />
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-<P2 x="581" y="249" id="4615" />
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<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4109" >
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
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<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4105" />
-<TGConnectingPoint num="1" id="4106" />
-<TGConnectingPoint num="2" id="4107" />
-<TGConnectingPoint num="3" id="4108" />
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<extraparam>
-<guard value="[ ]" />
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-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
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+<extraDelay2 value="" enabled="true"/>
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+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
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<infoparam name="connector from start state to Receive signal" value="null" />
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-<P2 x="581" y="145" id="4575" />
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<AutomaticDrawing data="true" />
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<hidden value="false" />
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<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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-<TGConnectingPoint num="1" id="4113" />
-<TGConnectingPoint num="2" id="4114" />
-<TGConnectingPoint num="3" id="4115" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="listOfNodes.id0 = 0" />
-<actions value="listOfNodes.id1 = 0" />
-<actions value="listOfNodes.id2 = 0" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="4125" >
+<new d="false" />
+<TGConnectingPoint num="0" id="4596" />
+<TGConnectingPoint num="1" id="4597" />
+<TGConnectingPoint num="2" id="4598" />
+<TGConnectingPoint num="3" id="4599" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="listOfNodes.id0 = 0" enabled="true"/>
+<actions value="listOfNodes.id1 = 0" enabled="true"/>
+<actions value="listOfNodes.id2 = 0" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4609" index="21" uid="88c06a93-21fa-452f-a859-ab9a5b35257b" >
<cdparam x="581" y="279" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Receive signal to choice" value="null" />
-<TGConnectingPoint num="0" id="4124" />
-<P1 x="581" y="279" id="4616" />
-<P2 x="581" y="297" id="4374" />
+<TGConnectingPoint num="0" id="4608" />
+<P1 x="581" y="279" id="5324" />
+<P2 x="581" y="297" id="4954" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4123" >
-<father id="4125" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4607" index="86" uid="f4e557bf-3a16-41c5-8217-b0de02bce911" >
+<father id="4609" num="0" />
<cdparam x="581" y="319" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4119" />
-<TGConnectingPoint num="1" id="4120" />
-<TGConnectingPoint num="2" id="4121" />
-<TGConnectingPoint num="3" id="4122" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4603" />
+<TGConnectingPoint num="1" id="4604" />
+<TGConnectingPoint num="2" id="4605" />
+<TGConnectingPoint num="3" id="4606" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4132" >
+<CONNECTOR type="5102" id="4616" index="22" uid="56006933-d885-4b7c-b534-dcea95c628ae" >
<cdparam x="631" y="592" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4131" />
-<P1 x="543" y="485" id="4561" />
-<P2 x="497" y="643" id="4442" />
+<TGConnectingPoint num="0" id="4615" />
+<P1 x="543" y="485" id="5205" />
+<P2 x="497" y="643" id="5054" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4130" >
-<father id="4132" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4614" index="87" uid="26bba4c8-f0e8-4a4d-8d07-fd47a01bd117" >
+<father id="4616" num="0" />
<cdparam x="177" y="619" />
-<sizeparam width="437" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="437" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4126" />
-<TGConnectingPoint num="1" id="4127" />
-<TGConnectingPoint num="2" id="4128" />
-<TGConnectingPoint num="3" id="4129" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4610" />
+<TGConnectingPoint num="1" id="4611" />
+<TGConnectingPoint num="2" id="4612" />
+<TGConnectingPoint num="3" id="4613" />
<extraparam>
-<guard value="[(listOfNodes.id0 > 0) and (listOfNodes.id1 > 0) and (listOfNodes.id2 > 0)]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[(listOfNodes.id0 > 0) and (listOfNodes.id1 > 0) and (listOfNodes.id2 > 0)]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4139" >
+<CONNECTOR type="5102" id="4623" index="23" uid="80de3e00-e8be-4f1c-9595-8f123a806476" >
<cdparam x="331" y="732" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4138" />
-<P1 x="472" y="668" id="4443" />
-<P2 x="305" y="794" id="4218" />
+<TGConnectingPoint num="0" id="4622" />
+<P1 x="472" y="668" id="5055" />
+<P2 x="305" y="794" id="4702" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4137" >
-<father id="4139" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4621" index="88" uid="326b9987-8d78-4daf-a687-2d596077feaf" >
+<father id="4623" num="0" />
<cdparam x="10" y="771" />
-<sizeparam width="754" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="754" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4133" />
-<TGConnectingPoint num="1" id="4134" />
-<TGConnectingPoint num="2" id="4135" />
-<TGConnectingPoint num="3" id="4136" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4617" />
+<TGConnectingPoint num="1" id="4618" />
+<TGConnectingPoint num="2" id="4619" />
+<TGConnectingPoint num="3" id="4620" />
<extraparam>
-<guard value="[ (listOfNodes.position0 < currentPosition) or (listOfNodes.position1 < currentPosition) or (listOfNodes.position2 < currentPosition)]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ (listOfNodes.position0 < currentPosition) or (listOfNodes.position1 < currentPosition) or (listOfNodes.position2 < currentPosition)]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4146" >
+<CONNECTOR type="5102" id="4630" index="24" uid="85720e4a-cb3e-48b0-958b-0cd6fc1e77ad" >
<cdparam x="664" y="390" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4145" />
-<P1 x="581" y="347" id="4379" />
-<P2 x="971" y="369" id="4342" />
+<TGConnectingPoint num="0" id="4629" />
+<P1 x="581" y="347" id="4959" />
+<P2 x="971" y="369" id="4890" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4144" >
-<father id="4146" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4628" index="89" uid="c38b0f3e-e079-475d-b1e3-40d421a78340" >
+<father id="4630" num="0" />
<cdparam x="780" y="351" />
-<sizeparam width="456" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="456" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4140" />
-<TGConnectingPoint num="1" id="4141" />
-<TGConnectingPoint num="2" id="4142" />
-<TGConnectingPoint num="3" id="4143" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4624" />
+<TGConnectingPoint num="1" id="4625" />
+<TGConnectingPoint num="2" id="4626" />
+<TGConnectingPoint num="3" id="4627" />
<extraparam>
-<guard value="[(listOfNodes.id0 == id) or (listOfNodes.id1 == id) or (listOfNodes.id2 == id)]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[(listOfNodes.id0 == id) or (listOfNodes.id1 == id) or (listOfNodes.id2 == id)]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4153" >
+<CONNECTOR type="5102" id="4637" index="25" uid="d93d7fe4-54db-4a56-ab21-3a4b4e335ff0" >
<cdparam x="1019" y="473" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to choice" value="null" />
-<TGConnectingPoint num="0" id="4152" />
-<P1 x="1021" y="407" id="4338" />
-<P2 x="1027" y="423" id="4316" />
+<TGConnectingPoint num="0" id="4636" />
+<P1 x="1021" y="407" id="4886" />
+<P2 x="1027" y="423" id="4864" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4151" >
-<father id="4153" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4635" index="90" uid="78b614ae-effc-4e3d-8a02-295fa7c5e79b" >
+<father id="4637" num="0" />
<cdparam x="1019" y="513" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4147" />
-<TGConnectingPoint num="1" id="4148" />
-<TGConnectingPoint num="2" id="4149" />
-<TGConnectingPoint num="3" id="4150" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4631" />
+<TGConnectingPoint num="1" id="4632" />
+<TGConnectingPoint num="2" id="4633" />
+<TGConnectingPoint num="3" id="4634" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4160" >
+<CONNECTOR type="5102" id="4644" index="26" uid="f8009738-9f23-4fd8-b4d0-2beb63358837" >
<cdparam x="1031" y="549" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4159" />
-<P1 x="1120" y="495" id="4176" />
-<P2 x="1032" y="637" id="4276" />
+<TGConnectingPoint num="0" id="4643" />
+<P1 x="1120" y="495" id="4660" />
+<P2 x="1032" y="637" id="4792" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4158" >
-<father id="4160" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4642" index="91" uid="4e8c1011-cee4-4a2e-8083-6698cfd7e8f3" >
+<father id="4644" num="0" />
<cdparam x="971" y="536" />
-<sizeparam width="186" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="186" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4154" />
-<TGConnectingPoint num="1" id="4155" />
-<TGConnectingPoint num="2" id="4156" />
-<TGConnectingPoint num="3" id="4157" />
-<extraparam>
-<guard value="[ listOfNodes.id1 == id]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="listOfNodes.position1 = position" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="4167" >
+<new d="false" />
+<TGConnectingPoint num="0" id="4638" />
+<TGConnectingPoint num="1" id="4639" />
+<TGConnectingPoint num="2" id="4640" />
+<TGConnectingPoint num="3" id="4641" />
+<extraparam>
+<guard value="[ listOfNodes.id1 == id]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="listOfNodes.position1 = position" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4651" index="27" uid="dac7410a-6baf-43f2-b8e2-eabb712d06d4" >
<cdparam x="453" y="217" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="4166" />
-<P1 x="453" y="217" id="4579" />
-<P2 x="371" y="251" id="4191" />
+<TGConnectingPoint num="0" id="4650" />
+<P1 x="453" y="217" id="5255" />
+<P2 x="371" y="251" id="4675" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4165" >
-<father id="4167" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4649" index="92" uid="dc071208-93d9-4776-b227-608bbba64aec" >
+<father id="4651" num="0" />
<cdparam x="453" y="257" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4161" />
-<TGConnectingPoint num="1" id="4162" />
-<TGConnectingPoint num="2" id="4163" />
-<TGConnectingPoint num="3" id="4164" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4645" />
+<TGConnectingPoint num="1" id="4646" />
+<TGConnectingPoint num="2" id="4647" />
+<TGConnectingPoint num="3" id="4648" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4174" >
+<CONNECTOR type="5102" id="4658" index="28" uid="1e04aadd-5f7a-46bb-a619-4c73a50feeb7" >
<cdparam x="1052" y="448" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to choice" value="null" />
-<TGConnectingPoint num="0" id="4173" />
-<P1 x="1052" y="448" id="4321" />
-<P2 x="1145" y="470" id="4175" />
+<TGConnectingPoint num="0" id="4657" />
+<P1 x="1052" y="448" id="4869" />
+<P2 x="1145" y="470" id="4659" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4172" >
-<father id="4174" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4656" index="93" uid="e48a4725-45d4-44ff-9aa3-733292022cd5" >
+<father id="4658" num="0" />
<cdparam x="1107" y="440" />
-<sizeparam width="39" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="39" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4168" />
-<TGConnectingPoint num="1" id="4169" />
-<TGConnectingPoint num="2" id="4170" />
-<TGConnectingPoint num="3" id="4171" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4652" />
+<TGConnectingPoint num="1" id="4653" />
+<TGConnectingPoint num="2" id="4654" />
+<TGConnectingPoint num="3" id="4655" />
<extraparam>
-<guard value="[ else ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ else ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
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+<TGConnectingPoint num="1" id="4865" />
+<TGConnectingPoint num="2" id="4866" />
+<TGConnectingPoint num="3" id="4867" />
+<TGConnectingPoint num="4" id="4868" />
+<TGConnectingPoint num="5" id="4869" />
+<TGConnectingPoint num="6" id="4870" />
+<TGConnectingPoint num="7" id="4871" />
+<TGConnectingPoint num="8" id="4872" />
+<TGConnectingPoint num="9" id="4873" />
+<TGConnectingPoint num="10" id="4874" />
+<TGConnectingPoint num="11" id="4875" />
+<TGConnectingPoint num="12" id="4876" />
+<TGConnectingPoint num="13" id="4877" />
+<TGConnectingPoint num="14" id="4878" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="4952" index="36" uid="921bc907-bf8a-45bc-b4bb-f0a07686eb22" >
<cdparam x="971" y="357" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="state0" value="UpdatingPosition" />
-<TGConnectingPoint num="0" id="4332" />
-<TGConnectingPoint num="1" id="4333" />
-<TGConnectingPoint num="2" id="4334" />
-<TGConnectingPoint num="3" id="4335" />
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-<TGConnectingPoint num="5" id="4337" />
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-<TGConnectingPoint num="8" id="4340" />
-<TGConnectingPoint num="9" id="4341" />
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-<TGConnectingPoint num="11" id="4343" />
-<TGConnectingPoint num="12" id="4344" />
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-<TGConnectingPoint num="14" id="4346" />
-<TGConnectingPoint num="15" id="4347" />
-<TGConnectingPoint num="16" id="4348" />
-<TGConnectingPoint num="17" id="4349" />
-<TGConnectingPoint num="18" id="4350" />
-<TGConnectingPoint num="19" id="4351" />
-<TGConnectingPoint num="20" id="4352" />
-<TGConnectingPoint num="21" id="4353" />
-<TGConnectingPoint num="22" id="4354" />
-<TGConnectingPoint num="23" id="4355" />
-<TGConnectingPoint num="24" id="4356" />
-<TGConnectingPoint num="25" id="4357" />
-<TGConnectingPoint num="26" id="4358" />
-<TGConnectingPoint num="27" id="4359" />
-<TGConnectingPoint num="28" id="4360" />
-<TGConnectingPoint num="29" id="4361" />
-<TGConnectingPoint num="30" id="4362" />
-<TGConnectingPoint num="31" id="4363" />
-<TGConnectingPoint num="32" id="4364" />
-<TGConnectingPoint num="33" id="4365" />
-<TGConnectingPoint num="34" id="4366" />
-<TGConnectingPoint num="35" id="4367" />
-<TGConnectingPoint num="36" id="4368" />
-<TGConnectingPoint num="37" id="4369" />
-<TGConnectingPoint num="38" id="4370" />
-<TGConnectingPoint num="39" id="4371" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="4413" >
+<new d="false" />
+<TGConnectingPoint num="0" id="4880" />
+<TGConnectingPoint num="1" id="4881" />
+<TGConnectingPoint num="2" id="4882" />
+<TGConnectingPoint num="3" id="4883" />
+<TGConnectingPoint num="4" id="4884" />
+<TGConnectingPoint num="5" id="4885" />
+<TGConnectingPoint num="6" id="4886" />
+<TGConnectingPoint num="7" id="4887" />
+<TGConnectingPoint num="8" id="4888" />
+<TGConnectingPoint num="9" id="4889" />
+<TGConnectingPoint num="10" id="4890" />
+<TGConnectingPoint num="11" id="4891" />
+<TGConnectingPoint num="12" id="4892" />
+<TGConnectingPoint num="13" id="4893" />
+<TGConnectingPoint num="14" id="4894" />
+<TGConnectingPoint num="15" id="4895" />
+<TGConnectingPoint num="16" id="4896" />
+<TGConnectingPoint num="17" id="4897" />
+<TGConnectingPoint num="18" id="4898" />
+<TGConnectingPoint num="19" id="4899" />
+<TGConnectingPoint num="20" id="4900" />
+<TGConnectingPoint num="21" id="4901" />
+<TGConnectingPoint num="22" id="4902" />
+<TGConnectingPoint num="23" id="4903" />
+<TGConnectingPoint num="24" id="4904" />
+<TGConnectingPoint num="25" id="4905" />
+<TGConnectingPoint num="26" id="4906" />
+<TGConnectingPoint num="27" id="4907" />
+<TGConnectingPoint num="28" id="4908" />
+<TGConnectingPoint num="29" id="4909" />
+<TGConnectingPoint num="30" id="4910" />
+<TGConnectingPoint num="31" id="4911" />
+<TGConnectingPoint num="32" id="4912" />
+<TGConnectingPoint num="33" id="4913" />
+<TGConnectingPoint num="34" id="4914" />
+<TGConnectingPoint num="35" id="4915" />
+<TGConnectingPoint num="36" id="4916" />
+<TGConnectingPoint num="37" id="4917" />
+<TGConnectingPoint num="38" id="4918" />
+<TGConnectingPoint num="39" id="4919" />
+<TGConnectingPoint num="40" id="4920" />
+<TGConnectingPoint num="41" id="4921" />
+<TGConnectingPoint num="42" id="4922" />
+<TGConnectingPoint num="43" id="4923" />
+<TGConnectingPoint num="44" id="4924" />
+<TGConnectingPoint num="45" id="4925" />
+<TGConnectingPoint num="46" id="4926" />
+<TGConnectingPoint num="47" id="4927" />
+<TGConnectingPoint num="48" id="4928" />
+<TGConnectingPoint num="49" id="4929" />
+<TGConnectingPoint num="50" id="4930" />
+<TGConnectingPoint num="51" id="4931" />
+<TGConnectingPoint num="52" id="4932" />
+<TGConnectingPoint num="53" id="4933" />
+<TGConnectingPoint num="54" id="4934" />
+<TGConnectingPoint num="55" id="4935" />
+<TGConnectingPoint num="56" id="4936" />
+<TGConnectingPoint num="57" id="4937" />
+<TGConnectingPoint num="58" id="4938" />
+<TGConnectingPoint num="59" id="4939" />
+<TGConnectingPoint num="60" id="4940" />
+<TGConnectingPoint num="61" id="4941" />
+<TGConnectingPoint num="62" id="4942" />
+<TGConnectingPoint num="63" id="4943" />
+<TGConnectingPoint num="64" id="4944" />
+<TGConnectingPoint num="65" id="4945" />
+<TGConnectingPoint num="66" id="4946" />
+<TGConnectingPoint num="67" id="4947" />
+<TGConnectingPoint num="68" id="4948" />
+<TGConnectingPoint num="69" id="4949" />
+<TGConnectingPoint num="70" id="4950" />
+<TGConnectingPoint num="71" id="4951" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="5025" index="37" uid="e373a749-e089-4a9b-b40d-ca0e638bcc21" >
<cdparam x="531" y="297" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="state0" value="IsKnownID" />
-<TGConnectingPoint num="0" id="4373" />
-<TGConnectingPoint num="1" id="4374" />
-<TGConnectingPoint num="2" id="4375" />
-<TGConnectingPoint num="3" id="4376" />
-<TGConnectingPoint num="4" id="4377" />
-<TGConnectingPoint num="5" id="4378" />
-<TGConnectingPoint num="6" id="4379" />
-<TGConnectingPoint num="7" id="4380" />
-<TGConnectingPoint num="8" id="4381" />
-<TGConnectingPoint num="9" id="4382" />
-<TGConnectingPoint num="10" id="4383" />
-<TGConnectingPoint num="11" id="4384" />
-<TGConnectingPoint num="12" id="4385" />
-<TGConnectingPoint num="13" id="4386" />
-<TGConnectingPoint num="14" id="4387" />
-<TGConnectingPoint num="15" id="4388" />
-<TGConnectingPoint num="16" id="4389" />
-<TGConnectingPoint num="17" id="4390" />
-<TGConnectingPoint num="18" id="4391" />
-<TGConnectingPoint num="19" id="4392" />
-<TGConnectingPoint num="20" id="4393" />
-<TGConnectingPoint num="21" id="4394" />
-<TGConnectingPoint num="22" id="4395" />
-<TGConnectingPoint num="23" id="4396" />
-<TGConnectingPoint num="24" id="4397" />
-<TGConnectingPoint num="25" id="4398" />
-<TGConnectingPoint num="26" id="4399" />
-<TGConnectingPoint num="27" id="4400" />
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-<TGConnectingPoint num="29" id="4402" />
-<TGConnectingPoint num="30" id="4403" />
-<TGConnectingPoint num="31" id="4404" />
-<TGConnectingPoint num="32" id="4405" />
-<TGConnectingPoint num="33" id="4406" />
-<TGConnectingPoint num="34" id="4407" />
-<TGConnectingPoint num="35" id="4408" />
-<TGConnectingPoint num="36" id="4409" />
-<TGConnectingPoint num="37" id="4410" />
-<TGConnectingPoint num="38" id="4411" />
-<TGConnectingPoint num="39" id="4412" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5104" id="4424" >
+<new d="false" />
+<TGConnectingPoint num="0" id="4953" />
+<TGConnectingPoint num="1" id="4954" />
+<TGConnectingPoint num="2" id="4955" />
+<TGConnectingPoint num="3" id="4956" />
+<TGConnectingPoint num="4" id="4957" />
+<TGConnectingPoint num="5" id="4958" />
+<TGConnectingPoint num="6" id="4959" />
+<TGConnectingPoint num="7" id="4960" />
+<TGConnectingPoint num="8" id="4961" />
+<TGConnectingPoint num="9" id="4962" />
+<TGConnectingPoint num="10" id="4963" />
+<TGConnectingPoint num="11" id="4964" />
+<TGConnectingPoint num="12" id="4965" />
+<TGConnectingPoint num="13" id="4966" />
+<TGConnectingPoint num="14" id="4967" />
+<TGConnectingPoint num="15" id="4968" />
+<TGConnectingPoint num="16" id="4969" />
+<TGConnectingPoint num="17" id="4970" />
+<TGConnectingPoint num="18" id="4971" />
+<TGConnectingPoint num="19" id="4972" />
+<TGConnectingPoint num="20" id="4973" />
+<TGConnectingPoint num="21" id="4974" />
+<TGConnectingPoint num="22" id="4975" />
+<TGConnectingPoint num="23" id="4976" />
+<TGConnectingPoint num="24" id="4977" />
+<TGConnectingPoint num="25" id="4978" />
+<TGConnectingPoint num="26" id="4979" />
+<TGConnectingPoint num="27" id="4980" />
+<TGConnectingPoint num="28" id="4981" />
+<TGConnectingPoint num="29" id="4982" />
+<TGConnectingPoint num="30" id="4983" />
+<TGConnectingPoint num="31" id="4984" />
+<TGConnectingPoint num="32" id="4985" />
+<TGConnectingPoint num="33" id="4986" />
+<TGConnectingPoint num="34" id="4987" />
+<TGConnectingPoint num="35" id="4988" />
+<TGConnectingPoint num="36" id="4989" />
+<TGConnectingPoint num="37" id="4990" />
+<TGConnectingPoint num="38" id="4991" />
+<TGConnectingPoint num="39" id="4992" />
+<TGConnectingPoint num="40" id="4993" />
+<TGConnectingPoint num="41" id="4994" />
+<TGConnectingPoint num="42" id="4995" />
+<TGConnectingPoint num="43" id="4996" />
+<TGConnectingPoint num="44" id="4997" />
+<TGConnectingPoint num="45" id="4998" />
+<TGConnectingPoint num="46" id="4999" />
+<TGConnectingPoint num="47" id="5000" />
+<TGConnectingPoint num="48" id="5001" />
+<TGConnectingPoint num="49" id="5002" />
+<TGConnectingPoint num="50" id="5003" />
+<TGConnectingPoint num="51" id="5004" />
+<TGConnectingPoint num="52" id="5005" />
+<TGConnectingPoint num="53" id="5006" />
+<TGConnectingPoint num="54" id="5007" />
+<TGConnectingPoint num="55" id="5008" />
+<TGConnectingPoint num="56" id="5009" />
+<TGConnectingPoint num="57" id="5010" />
+<TGConnectingPoint num="58" id="5011" />
+<TGConnectingPoint num="59" id="5012" />
+<TGConnectingPoint num="60" id="5013" />
+<TGConnectingPoint num="61" id="5014" />
+<TGConnectingPoint num="62" id="5015" />
+<TGConnectingPoint num="63" id="5016" />
+<TGConnectingPoint num="64" id="5017" />
+<TGConnectingPoint num="65" id="5018" />
+<TGConnectingPoint num="66" id="5019" />
+<TGConnectingPoint num="67" id="5020" />
+<TGConnectingPoint num="68" id="5021" />
+<TGConnectingPoint num="69" id="5022" />
+<TGConnectingPoint num="70" id="5023" />
+<TGConnectingPoint num="71" id="5024" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5104" id="5036" index="38" uid="0d3086fa-d72a-4285-8a5b-eaa912b7b809" >
<cdparam x="696" y="256" />
-<sizeparam width="172" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="172" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="Receive signal" value="setPosition(currentPosition)" />
-<TGConnectingPoint num="0" id="4414" />
-<TGConnectingPoint num="1" id="4415" />
-<TGConnectingPoint num="2" id="4416" />
-<TGConnectingPoint num="3" id="4417" />
-<TGConnectingPoint num="4" id="4418" />
-<TGConnectingPoint num="5" id="4419" />
-<TGConnectingPoint num="6" id="4420" />
-<TGConnectingPoint num="7" id="4421" />
-<TGConnectingPoint num="8" id="4422" />
-<TGConnectingPoint num="9" id="4423" />
-</COMPONENT>
-
-<COMPONENT type="301" id="4441" >
+<new d="false" />
+<TGConnectingPoint num="0" id="5026" />
+<TGConnectingPoint num="1" id="5027" />
+<TGConnectingPoint num="2" id="5028" />
+<TGConnectingPoint num="3" id="5029" />
+<TGConnectingPoint num="4" id="5030" />
+<TGConnectingPoint num="5" id="5031" />
+<TGConnectingPoint num="6" id="5032" />
+<TGConnectingPoint num="7" id="5033" />
+<TGConnectingPoint num="8" id="5034" />
+<TGConnectingPoint num="9" id="5035" />
+</COMPONENT>
+
+<COMPONENT type="301" id="5053" index="39" uid="e41b7fe8-6b5e-40d2-9ea0-a20c420cc9bf" >
<cdparam x="265" y="634" />
<sizeparam width="195" height="50" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
@@ -10146,3391 +11517,4557 @@
<infoparam name="UML Note" value="We first one behind if possible
Otherwise, the most far away
" />
-<TGConnectingPoint num="0" id="4425" />
-<TGConnectingPoint num="1" id="4426" />
-<TGConnectingPoint num="2" id="4427" />
-<TGConnectingPoint num="3" id="4428" />
-<TGConnectingPoint num="4" id="4429" />
-<TGConnectingPoint num="5" id="4430" />
-<TGConnectingPoint num="6" id="4431" />
-<TGConnectingPoint num="7" id="4432" />
-<TGConnectingPoint num="8" id="4433" />
-<TGConnectingPoint num="9" id="4434" />
-<TGConnectingPoint num="10" id="4435" />
-<TGConnectingPoint num="11" id="4436" />
-<TGConnectingPoint num="12" id="4437" />
-<TGConnectingPoint num="13" id="4438" />
-<TGConnectingPoint num="14" id="4439" />
-<TGConnectingPoint num="15" id="4440" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5037" />
+<TGConnectingPoint num="1" id="5038" />
+<TGConnectingPoint num="2" id="5039" />
+<TGConnectingPoint num="3" id="5040" />
+<TGConnectingPoint num="4" id="5041" />
+<TGConnectingPoint num="5" id="5042" />
+<TGConnectingPoint num="6" id="5043" />
+<TGConnectingPoint num="7" id="5044" />
+<TGConnectingPoint num="8" id="5045" />
+<TGConnectingPoint num="9" id="5046" />
+<TGConnectingPoint num="10" id="5047" />
+<TGConnectingPoint num="11" id="5048" />
+<TGConnectingPoint num="12" id="5049" />
+<TGConnectingPoint num="13" id="5050" />
+<TGConnectingPoint num="14" id="5051" />
+<TGConnectingPoint num="15" id="5052" />
<extraparam>
<Line value="We first one behind if possible" />
<Line value="Otherwise, the most far away" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5107" id="4457" >
+<COMPONENT type="5107" id="5069" index="40" uid="ee578476-e04f-4337-915d-7c9e612ed6c6" >
<cdparam x="482" y="653" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="4442" />
-<TGConnectingPoint num="1" id="4443" />
-<TGConnectingPoint num="2" id="4444" />
-<TGConnectingPoint num="3" id="4445" />
-<TGConnectingPoint num="4" id="4446" />
-<TGConnectingPoint num="5" id="4447" />
-<TGConnectingPoint num="6" id="4448" />
-<TGConnectingPoint num="7" id="4449" />
-<TGConnectingPoint num="8" id="4450" />
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-<TGConnectingPoint num="10" id="4452" />
-<TGConnectingPoint num="11" id="4453" />
-<TGConnectingPoint num="12" id="4454" />
-<TGConnectingPoint num="13" id="4455" />
-<TGConnectingPoint num="14" id="4456" />
-</COMPONENT>
-
-<COMPONENT type="301" id="4474" >
+<new d="false" />
+<TGConnectingPoint num="0" id="5054" />
+<TGConnectingPoint num="1" id="5055" />
+<TGConnectingPoint num="2" id="5056" />
+<TGConnectingPoint num="3" id="5057" />
+<TGConnectingPoint num="4" id="5058" />
+<TGConnectingPoint num="5" id="5059" />
+<TGConnectingPoint num="6" id="5060" />
+<TGConnectingPoint num="7" id="5061" />
+<TGConnectingPoint num="8" id="5062" />
+<TGConnectingPoint num="9" id="5063" />
+<TGConnectingPoint num="10" id="5064" />
+<TGConnectingPoint num="11" id="5065" />
+<TGConnectingPoint num="12" id="5066" />
+<TGConnectingPoint num="13" id="5067" />
+<TGConnectingPoint num="14" id="5068" />
+</COMPONENT>
+
+<COMPONENT type="301" id="5086" index="41" uid="f77d6b5d-9bc8-4de2-a00d-d7cebb3adc8c" >
<cdparam x="425" y="562" />
<sizeparam width="78" height="35" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="UML Note" value="No free id
" />
-<TGConnectingPoint num="0" id="4458" />
-<TGConnectingPoint num="1" id="4459" />
-<TGConnectingPoint num="2" id="4460" />
-<TGConnectingPoint num="3" id="4461" />
-<TGConnectingPoint num="4" id="4462" />
-<TGConnectingPoint num="5" id="4463" />
-<TGConnectingPoint num="6" id="4464" />
-<TGConnectingPoint num="7" id="4465" />
-<TGConnectingPoint num="8" id="4466" />
-<TGConnectingPoint num="9" id="4467" />
-<TGConnectingPoint num="10" id="4468" />
-<TGConnectingPoint num="11" id="4469" />
-<TGConnectingPoint num="12" id="4470" />
-<TGConnectingPoint num="13" id="4471" />
-<TGConnectingPoint num="14" id="4472" />
-<TGConnectingPoint num="15" id="4473" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5070" />
+<TGConnectingPoint num="1" id="5071" />
+<TGConnectingPoint num="2" id="5072" />
+<TGConnectingPoint num="3" id="5073" />
+<TGConnectingPoint num="4" id="5074" />
+<TGConnectingPoint num="5" id="5075" />
+<TGConnectingPoint num="6" id="5076" />
+<TGConnectingPoint num="7" id="5077" />
+<TGConnectingPoint num="8" id="5078" />
+<TGConnectingPoint num="9" id="5079" />
+<TGConnectingPoint num="10" id="5080" />
+<TGConnectingPoint num="11" id="5081" />
+<TGConnectingPoint num="12" id="5082" />
+<TGConnectingPoint num="13" id="5083" />
+<TGConnectingPoint num="14" id="5084" />
+<TGConnectingPoint num="15" id="5085" />
<extraparam>
<Line value="No free id" />
</extraparam>
</COMPONENT>
-<COMPONENT type="301" id="4491" >
+<COMPONENT type="301" id="5103" index="42" uid="5031a483-6572-454f-975e-75bbc03ec4fa" >
<cdparam x="733" y="597" />
<sizeparam width="131" height="35" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="UML Note" value="One free id at least
" />
-<TGConnectingPoint num="0" id="4475" />
-<TGConnectingPoint num="1" id="4476" />
-<TGConnectingPoint num="2" id="4477" />
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="4626" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5334" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="CorrectnessChecking" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="4640" >
-<cdparam x="432" y="279" />
+<AVATARStateMachineDiagramPanel name="DSRSC_Management" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<CONNECTOR type="5102" id="5342" index="0" uid="41893f4a-2fcf-4f8f-8cde-e99e31098924" >
+<cdparam x="507" y="267" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4636" />
-<TGConnectingPoint num="1" id="4637" />
-<TGConnectingPoint num="2" id="4638" />
-<TGConnectingPoint num="3" id="4639" />
-<P1 x="432" y="279" id="4695" />
-<P2 x="517" y="124" id="4724" />
-<Point x="504" y="393" />
-<Point x="621" y="397" />
-<Point x="623" y="107" />
+<infoparam name="connector from Receive signal to Send signal" value="null" />
+<TGConnectingPoint num="0" id="5341" />
+<P1 x="507" y="267" id="5440" />
+<P2 x="631" y="277" id="5417" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4628" >
-<father id="4640" num="0" />
-<cdparam x="504" y="393" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5340" index="16" uid="838c2cb9-9aa0-4ce6-9dcb-4337baf9cd93" >
+<father id="5342" num="0" />
+<cdparam x="507" y="307" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5336" />
+<TGConnectingPoint num="1" id="5337" />
+<TGConnectingPoint num="2" id="5338" />
+<TGConnectingPoint num="3" id="5339" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5355" index="1" uid="f256aee6-854c-41f1-96e6-d4441fd11cca" >
+<cdparam x="440" y="432" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Receive signal to state0" value="null" />
+<TGConnectingPoint num="0" id="5351" />
+<TGConnectingPoint num="1" id="5352" />
+<TGConnectingPoint num="2" id="5353" />
+<TGConnectingPoint num="3" id="5354" />
+<P1 x="440" y="432" id="5429" />
+<P2 x="530" y="110" id="5494" />
+<Point x="442" y="479" />
+<Point x="974" y="511" />
+<Point x="957" y="129" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5343" index="17" uid="418519e8-ad03-4327-87d3-24693005e52d" >
+<father id="5355" num="0" />
+<cdparam x="442" y="479" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4629" >
-<father id="4640" num="1" />
-<cdparam x="621" y="397" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="5344" index="18" uid="1177cdc0-8828-4f26-98a5-e9ebb8dfdf56" >
+<father id="5355" num="1" />
+<cdparam x="974" y="511" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4630" >
-<father id="4640" num="2" />
-<cdparam x="623" y="107" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="5345" index="19" uid="82564b13-5c70-4d85-9e08-415e1130e7c6" >
+<father id="5355" num="2" />
+<cdparam x="957" y="129" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4635" >
-<father id="4640" num="3" />
-<cdparam x="479" y="319" />
-<sizeparam width="98" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="5350" index="20" uid="7f782471-9e3c-4b41-90ce-66bc97c3d622" >
+<father id="5355" num="3" />
+<cdparam x="457" y="473" />
+<sizeparam width="150" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4631" />
-<TGConnectingPoint num="1" id="4632" />
-<TGConnectingPoint num="2" id="4633" />
-<TGConnectingPoint num="3" id="4634" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5346" />
+<TGConnectingPoint num="1" id="5347" />
+<TGConnectingPoint num="2" id="5348" />
+<TGConnectingPoint num="3" id="5349" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="sendMessage(id, position)" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5362" index="2" uid="80fb6de1-6d28-4a59-b832-e5ba614eb5b9" >
+<cdparam x="407" y="182" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to Receive signal" value="null" />
+<TGConnectingPoint num="0" id="5361" />
+<P1 x="407" y="182" id="5478" />
+<P2 x="440" y="402" id="5428" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5360" index="21" uid="dbdaf0b1-81f6-4de3-aeab-69f11467b063" >
+<father id="5362" num="0" />
+<cdparam x="407" y="222" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5356" />
+<TGConnectingPoint num="1" id="5357" />
+<TGConnectingPoint num="2" id="5358" />
+<TGConnectingPoint num="3" id="5359" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<cdparam x="507" y="267" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Receive signal to state0" value="null" />
+<TGConnectingPoint num="0" id="5371" />
+<TGConnectingPoint num="1" id="5372" />
+<TGConnectingPoint num="2" id="5373" />
+<TGConnectingPoint num="3" id="5374" />
+<P1 x="631" y="307" id="5418" />
+<P2 x="530" y="141" id="5476" />
+<Point x="644" y="343" />
+<Point x="829" y="341" />
+<Point x="848" y="153" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5363" index="22" uid="b208cb44-55d2-4244-8c9d-faf9b58df3a1" >
+<father id="5375" num="0" />
+<cdparam x="644" y="343" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5364" index="23" uid="94d04900-3042-4c5c-a384-83fc94ee7fd2" >
+<father id="5375" num="1" />
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5365" index="24" uid="ee4279c7-3bb8-46b3-b4b3-0e9e81ed7d27" >
+<father id="5375" num="2" />
+<cdparam x="848" y="153" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<father id="5375" num="3" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5366" />
+<TGConnectingPoint num="1" id="5367" />
+<TGConnectingPoint num="2" id="5368" />
+<TGConnectingPoint num="3" id="5369" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Send signal to state0" value="null" />
+<TGConnectingPoint num="0" id="5384" />
+<TGConnectingPoint num="1" id="5385" />
+<TGConnectingPoint num="2" id="5386" />
+<TGConnectingPoint num="3" id="5387" />
+<P1 x="289" y="344" id="5451" />
+<P2 x="285" y="141" id="5475" />
+<Point x="285" y="384" />
+<Point x="189" y="387" />
+<Point x="176" y="154" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5376" index="26" uid="bf680bb5-6b76-40d1-9b66-12bd8a9a16b5" >
+<father id="5388" num="0" />
+<cdparam x="285" y="384" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5377" index="27" uid="75be00b9-71b9-46d2-a97d-a2b40f92eccd" >
+<father id="5388" num="1" />
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5378" index="28" uid="36df946b-b1f4-4eab-aef5-538c0f11e09f" >
+<father id="5388" num="2" />
+<cdparam x="176" y="154" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5383" index="29" uid="3b43b244-314b-4797-a88a-35880d51f69f" >
+<father id="5388" num="3" />
+<cdparam x="289" y="384" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5379" />
+<TGConnectingPoint num="1" id="5380" />
+<TGConnectingPoint num="2" id="5381" />
+<TGConnectingPoint num="3" id="5382" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from start state to state0" value="null" />
+<TGConnectingPoint num="0" id="5394" />
+<P1 x="407" y="70" id="5545" />
+<P2 x="407" y="101" id="5473" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="5395" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5389" />
+<TGConnectingPoint num="1" id="5390" />
+<TGConnectingPoint num="2" id="5391" />
+<TGConnectingPoint num="3" id="5392" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector from state0 to Receive signal" value="null" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5396" />
+<TGConnectingPoint num="1" id="5397" />
+<TGConnectingPoint num="2" id="5398" />
+<TGConnectingPoint num="3" id="5399" />
+<extraparam>
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+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
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+<probability value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<infoparam name="connector from Receive signal to Send signal" value="null" />
+<TGConnectingPoint num="0" id="5408" />
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+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5403" />
+<TGConnectingPoint num="1" id="5404" />
+<TGConnectingPoint num="2" id="5405" />
+<TGConnectingPoint num="3" id="5406" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5416" index="8" uid="3adab845-7805-4c66-85a6-0c3143b51fbe" >
+<cdparam x="498" y="182" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to Receive signal" value="null" />
+<TGConnectingPoint num="0" id="5415" />
+<P1 x="498" y="182" id="5503" />
+<P2 x="507" y="237" id="5439" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5414" index="33" uid="f7b23f47-666e-4e41-9e10-f9a3501ac055" >
+<father id="5416" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5410" />
+<TGConnectingPoint num="1" id="5411" />
+<TGConnectingPoint num="2" id="5412" />
+<TGConnectingPoint num="3" id="5413" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<COMPONENT type="5103" id="5427" index="9" uid="4d9e3240-7354-4d2b-ac76-3914c8006fca" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Send signal" value="forwardEmergencyBrakingMessage(id, position)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5417" />
+<TGConnectingPoint num="1" id="5418" />
+<TGConnectingPoint num="2" id="5419" />
+<TGConnectingPoint num="3" id="5420" />
+<TGConnectingPoint num="4" id="5421" />
+<TGConnectingPoint num="5" id="5422" />
+<TGConnectingPoint num="6" id="5423" />
+<TGConnectingPoint num="7" id="5424" />
+<TGConnectingPoint num="8" id="5425" />
+<TGConnectingPoint num="9" id="5426" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="5438" index="10" uid="bff336e5-27e2-4b8f-99f3-88939dccf3d0" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Receive signal" value="broadcastEmergencyBrakingMessage(id, position)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5428" />
+<TGConnectingPoint num="1" id="5429" />
+<TGConnectingPoint num="2" id="5430" />
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+<TGConnectingPoint num="4" id="5432" />
+<TGConnectingPoint num="5" id="5433" />
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+<TGConnectingPoint num="7" id="5435" />
+<TGConnectingPoint num="8" id="5436" />
+<TGConnectingPoint num="9" id="5437" />
+</COMPONENT>
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+<sizeparam width="190" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Receive signal" value="obstacleDetected(id, position)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5439" />
+<TGConnectingPoint num="1" id="5440" />
+<TGConnectingPoint num="2" id="5441" />
+<TGConnectingPoint num="3" id="5442" />
+<TGConnectingPoint num="4" id="5443" />
+<TGConnectingPoint num="5" id="5444" />
+<TGConnectingPoint num="6" id="5445" />
+<TGConnectingPoint num="7" id="5446" />
+<TGConnectingPoint num="8" id="5447" />
+<TGConnectingPoint num="9" id="5448" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="5460" index="12" uid="655eeea4-e544-4ad1-adca-8c71d59c304d" >
+<cdparam x="208" y="319" />
+<sizeparam width="163" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Send signal" value="setCarPosition(id, position)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5450" />
+<TGConnectingPoint num="1" id="5451" />
+<TGConnectingPoint num="2" id="5452" />
+<TGConnectingPoint num="3" id="5453" />
+<TGConnectingPoint num="4" id="5454" />
+<TGConnectingPoint num="5" id="5455" />
+<TGConnectingPoint num="6" id="5456" />
+<TGConnectingPoint num="7" id="5457" />
+<TGConnectingPoint num="8" id="5458" />
+<TGConnectingPoint num="9" id="5459" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="5471" index="13" uid="fcda8993-5727-442d-9cc0-31bd161568a9" >
+<cdparam x="220" y="261" />
+<sizeparam width="152" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Receive signal" value="carPosition(id, position)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5461" />
+<TGConnectingPoint num="1" id="5462" />
+<TGConnectingPoint num="2" id="5463" />
+<TGConnectingPoint num="3" id="5464" />
+<TGConnectingPoint num="4" id="5465" />
+<TGConnectingPoint num="5" id="5466" />
+<TGConnectingPoint num="6" id="5467" />
+<TGConnectingPoint num="7" id="5468" />
+<TGConnectingPoint num="8" id="5469" />
+<TGConnectingPoint num="9" id="5470" />
+</COMPONENT>
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+<COMPONENT type="5106" id="5544" index="14" uid="f7bf92ee-f820-44db-a61a-a88bb2fc70f2" >
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+<sizeparam width="245" height="81" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="state0" value="WaitingForEnvironmentInput" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5472" />
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+<TGConnectingPoint num="19" id="5491" />
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+<TGConnectingPoint num="69" id="5541" />
+<TGConnectingPoint num="70" id="5542" />
+<TGConnectingPoint num="71" id="5543" />
<extraparam>
-<guard value="[ canHaveInvalid]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="invalidMessage()" />
</extraparam>
-</SUBCOMPONENT>
+</COMPONENT>
-<CONNECTOR type="5102" id="4653" >
-<cdparam x="290" y="387" />
+<COMPONENT type="5100" id="5546" index="15" uid="04ba7a71-e9bd-4e25-b00d-651e085fc071" >
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5545" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="DrivingPowerReductionStrategy" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<CONNECTOR type="5102" id="5559" index="0" uid="92cddec1-52a2-4c04-ac67-a154fdd691a1" >
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<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="4649" />
-<TGConnectingPoint num="1" id="4650" />
-<TGConnectingPoint num="2" id="4651" />
-<TGConnectingPoint num="3" id="4652" />
-<P1 x="290" y="387" id="4683" />
-<P2 x="298" y="117" id="4741" />
-<Point x="297" y="425" />
-<Point x="160" y="415" />
-<Point x="172" y="94" />
+<infoparam name="connector from state0 to state0" value="null" />
+<TGConnectingPoint num="0" id="5555" />
+<TGConnectingPoint num="1" id="5556" />
+<TGConnectingPoint num="2" id="5557" />
+<TGConnectingPoint num="3" id="5558" />
+<P1 x="408" y="342" id="5587" />
+<P2 x="550" y="124" id="5688" />
+<Point x="395" y="429" />
+<Point x="601" y="431" />
+<Point x="620" y="117" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4641" >
-<father id="4653" num="0" />
-<cdparam x="297" y="425" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
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+<father id="5559" num="0" />
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4642" >
-<father id="4653" num="1" />
-<cdparam x="160" y="415" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="5548" index="9" uid="86c6c5d4-9fe5-4f36-920e-3b60194b292e" >
+<father id="5559" num="1" />
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4643" >
-<father id="4653" num="2" />
-<cdparam x="172" y="94" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="5549" index="10" uid="24cd5667-0212-4243-b24e-58fd2100483f" >
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4648" >
-<father id="4653" num="3" />
-<cdparam x="290" y="427" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="5554" index="11" uid="1731eb8f-135d-4ab9-acbc-0c83ecc06227" >
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+<sizeparam width="324" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4644" />
-<TGConnectingPoint num="1" id="4645" />
-<TGConnectingPoint num="2" id="4646" />
-<TGConnectingPoint num="3" id="4647" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="4660" >
+<new d="false" />
+<TGConnectingPoint num="0" id="5550" />
+<TGConnectingPoint num="1" id="5551" />
+<TGConnectingPoint num="2" id="5552" />
+<TGConnectingPoint num="3" id="5553" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="minReducePowerTime" enabled="true"/>
+<afterMax value="maxReducePowerTime" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="reducePowerDone()" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5566" index="1" uid="6bcfe2ed-e726-40c2-9ca9-72caa46a14fa" >
<cdparam x="407" y="70" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="4659" />
-<P1 x="407" y="70" id="4761" />
-<P2 x="407" y="99" id="4721" />
+<TGConnectingPoint num="0" id="5565" />
+<P1 x="407" y="70" id="5738" />
+<P2 x="408" y="106" id="5666" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4658" >
-<father id="4660" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5564" index="12" uid="f076c75f-68e3-46d0-b935-cc395f897c27" >
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<cdparam x="407" y="110" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4654" />
-<TGConnectingPoint num="1" id="4655" />
-<TGConnectingPoint num="2" id="4656" />
-<TGConnectingPoint num="3" id="4657" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5560" />
+<TGConnectingPoint num="1" id="5561" />
+<TGConnectingPoint num="2" id="5562" />
+<TGConnectingPoint num="3" id="5563" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4667" >
-<cdparam x="407" y="149" />
+<CONNECTOR type="5102" id="5573" index="2" uid="c60c2731-063f-42d0-8130-651aac53f0aa" >
+<cdparam x="408" y="156" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="4666" />
-<P1 x="407" y="149" id="4726" />
-<P2 x="407" y="188" id="4709" />
+<TGConnectingPoint num="0" id="5572" />
+<P1 x="408" y="156" id="5671" />
+<P2 x="408" y="201" id="5654" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4665" >
-<father id="4667" num="0" />
-<cdparam x="407" y="189" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5571" index="13" uid="7e1bb787-6153-44c5-a6d6-999e9d43d3a0" >
+<father id="5573" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4661" />
-<TGConnectingPoint num="1" id="4662" />
-<TGConnectingPoint num="2" id="4663" />
-<TGConnectingPoint num="3" id="4664" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5567" />
+<TGConnectingPoint num="1" id="5568" />
+<TGConnectingPoint num="2" id="5569" />
+<TGConnectingPoint num="3" id="5570" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4674" >
-<cdparam x="407" y="218" />
+<CONNECTOR type="5102" id="5580" index="3" uid="266fe0bc-2cec-4d2b-845e-4e18cdd9012e" >
+<cdparam x="408" y="231" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to choice" value="null" />
-<TGConnectingPoint num="0" id="4673" />
-<P1 x="407" y="218" id="4710" />
-<P2 x="407" y="254" id="4693" />
+<infoparam name="connector from Receive signal to state0" value="null" />
+<TGConnectingPoint num="0" id="5579" />
+<P1 x="408" y="231" id="5655" />
+<P2 x="408" y="292" id="5582" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4672" >
-<father id="4674" num="0" />
-<cdparam x="419" y="243" />
-<sizeparam width="108" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5578" index="14" uid="0d62c022-f9ea-4213-b9a9-0f206c386880" >
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<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4668" />
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-<TGConnectingPoint num="2" id="4670" />
-<TGConnectingPoint num="3" id="4671" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="checkingMessage()" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="4681" >
-<cdparam x="382" y="279" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from choice to Send signal" value="null" />
-<TGConnectingPoint num="0" id="4680" />
-<P1 x="382" y="279" id="4697" />
-<P2 x="290" y="357" id="4682" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4679" >
-<father id="4681" num="0" />
-<cdparam x="259" y="312" />
-<sizeparam width="85" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5574" />
+<TGConnectingPoint num="1" id="5575" />
+<TGConnectingPoint num="2" id="5576" />
+<TGConnectingPoint num="3" id="5577" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="applyReducePower(value)" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5106" id="5653" index="4" uid="3092abac-d15b-40f4-8d0f-35f0b1a98859" >
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+<sizeparam width="260" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4675" />
-<TGConnectingPoint num="1" id="4676" />
-<TGConnectingPoint num="2" id="4677" />
-<TGConnectingPoint num="3" id="4678" />
+<infoparam name="state0" value="WaitForReducePowerToBePerformed" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5581" />
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+<TGConnectingPoint num="14" id="5595" />
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+<TGConnectingPoint num="21" id="5602" />
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+<TGConnectingPoint num="69" id="5650" />
+<TGConnectingPoint num="70" id="5651" />
+<TGConnectingPoint num="71" id="5652" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="validMessage()" />
</extraparam>
-</SUBCOMPONENT>
+</COMPONENT>
-<COMPONENT type="5103" id="4692" >
-<cdparam x="174" y="362" />
-<sizeparam width="232" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="toPlausibityCheckMessage(id, position)" />
-<TGConnectingPoint num="0" id="4682" />
-<TGConnectingPoint num="1" id="4683" />
-<TGConnectingPoint num="2" id="4684" />
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-<TGConnectingPoint num="8" id="4690" />
-<TGConnectingPoint num="9" id="4691" />
-</COMPONENT>
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-<COMPONENT type="5107" id="4708" >
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-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="4693" />
-<TGConnectingPoint num="1" id="4694" />
-<TGConnectingPoint num="2" id="4695" />
-<TGConnectingPoint num="3" id="4696" />
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-<TGConnectingPoint num="9" id="4702" />
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-<TGConnectingPoint num="12" id="4705" />
-<TGConnectingPoint num="13" id="4706" />
-<TGConnectingPoint num="14" id="4707" />
-</COMPONENT>
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-<COMPONENT type="5104" id="4719" >
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-<sizeparam width="264" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5104" id="5664" index="5" uid="4e18c1fa-fc4f-45d7-b6a1-bd659c685cf2" >
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<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="getEmergencyBrakingMessage(id, position)" />
-<TGConnectingPoint num="0" id="4709" />
-<TGConnectingPoint num="1" id="4710" />
-<TGConnectingPoint num="2" id="4711" />
-<TGConnectingPoint num="3" id="4712" />
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-<TGConnectingPoint num="9" id="4718" />
-</COMPONENT>
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-<COMPONENT type="5106" id="4760" >
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-<sizeparam width="219" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Receive signal" value="getReducePowerOrder(value)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5654" />
+<TGConnectingPoint num="1" id="5655" />
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+<TGConnectingPoint num="7" id="5661" />
+<TGConnectingPoint num="8" id="5662" />
+<TGConnectingPoint num="9" id="5663" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="5737" index="6" uid="f84149a8-c4dd-4ce8-8666-311e1e8a731f" >
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<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingForMessageToAnalyze" />
-<TGConnectingPoint num="0" id="4720" />
-<TGConnectingPoint num="1" id="4721" />
-<TGConnectingPoint num="2" id="4722" />
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-<TGConnectingPoint num="16" id="4736" />
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-<TGConnectingPoint num="19" id="4739" />
-<TGConnectingPoint num="20" id="4740" />
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-<TGConnectingPoint num="22" id="4742" />
-<TGConnectingPoint num="23" id="4743" />
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-<TGConnectingPoint num="30" id="4750" />
-<TGConnectingPoint num="31" id="4751" />
-<TGConnectingPoint num="32" id="4752" />
-<TGConnectingPoint num="33" id="4753" />
-<TGConnectingPoint num="34" id="4754" />
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-<TGConnectingPoint num="37" id="4757" />
-<TGConnectingPoint num="38" id="4758" />
-<TGConnectingPoint num="39" id="4759" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="4762" >
+<infoparam name="state0" value="WaitForReducePowerOrder" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5665" />
+<TGConnectingPoint num="1" id="5666" />
+<TGConnectingPoint num="2" id="5667" />
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+<TGConnectingPoint num="70" id="5735" />
+<TGConnectingPoint num="71" id="5736" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="5739" index="7" uid="2e433aad-4057-42fe-9532-187d1e29f3c4" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="4761" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5738" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="DrivingPowerReductionStrategy" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="4775" >
-<cdparam x="408" y="342" />
+<AVATARStateMachineDiagramPanel name="BrakeManagement" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<CONNECTOR type="5102" id="5752" index="0" uid="afbf504a-8708-4f2e-bd18-7cdf252cb776" >
+<cdparam x="514" y="350" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4771" />
-<TGConnectingPoint num="1" id="4772" />
-<TGConnectingPoint num="2" id="4773" />
-<TGConnectingPoint num="3" id="4774" />
-<P1 x="408" y="342" id="4803" />
-<P2 x="550" y="124" id="4872" />
-<Point x="395" y="429" />
-<Point x="601" y="431" />
-<Point x="620" y="117" />
+<TGConnectingPoint num="0" id="5748" />
+<TGConnectingPoint num="1" id="5749" />
+<TGConnectingPoint num="2" id="5750" />
+<TGConnectingPoint num="3" id="5751" />
+<P1 x="497" y="343" id="5780" />
+<P2 x="570" y="148" id="5862" />
+<Point x="497" y="396" />
+<Point x="697" y="396" />
+<Point x="697" y="148" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4763" >
-<father id="4775" num="0" />
-<cdparam x="395" y="429" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5740" index="8" uid="704d11f9-899d-4350-81b8-8a1af3f09fb4" >
+<father id="5752" num="0" />
+<cdparam x="497" y="396" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4764" >
-<father id="4775" num="1" />
-<cdparam x="601" y="431" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="5741" index="9" uid="57cc5ae3-8284-49d3-9b20-9b443ec0668e" >
+<father id="5752" num="1" />
+<cdparam x="697" y="396" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4765" >
-<father id="4775" num="2" />
-<cdparam x="620" y="117" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="5742" index="10" uid="5da81ac7-0d27-4c3d-9dd6-17cfebfc8056" >
+<father id="5752" num="2" />
+<cdparam x="697" y="148" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4770" >
-<father id="4775" num="3" />
-<cdparam x="408" y="382" />
-<sizeparam width="324" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="5747" index="11" uid="3f6c0b38-48ee-40da-a275-35e5c0bd7360" >
+<father id="5752" num="3" />
+<cdparam x="508" y="363" />
+<sizeparam width="180" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4766" />
-<TGConnectingPoint num="1" id="4767" />
-<TGConnectingPoint num="2" id="4768" />
-<TGConnectingPoint num="3" id="4769" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="minReducePowerTime" />
-<afterMax value="maxReducePowerTime" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="reducePowerDone()" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="4782" >
+<new d="false" />
+<TGConnectingPoint num="0" id="5743" />
+<TGConnectingPoint num="1" id="5744" />
+<TGConnectingPoint num="2" id="5745" />
+<TGConnectingPoint num="3" id="5746" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="value" enabled="true"/>
+<afterMax value="brakeMaxDuration" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="brakingDone()" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5759" index="1" uid="161ed5cc-3cc7-4802-9297-ffea6bed163e" >
<cdparam x="407" y="70" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="4781" />
-<P1 x="407" y="70" id="4890" />
-<P2 x="408" y="106" id="4850" />
+<TGConnectingPoint num="0" id="5758" />
+<P1 x="475" y="89" id="5931" />
+<P2 x="484" y="124" id="5859" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4780" >
-<father id="4782" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5757" index="12" uid="7939c141-095d-46d0-b7e2-1b2f42df31f0" >
+<father id="5759" num="0" />
<cdparam x="407" y="110" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4776" />
-<TGConnectingPoint num="1" id="4777" />
-<TGConnectingPoint num="2" id="4778" />
-<TGConnectingPoint num="3" id="4779" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5753" />
+<TGConnectingPoint num="1" id="5754" />
+<TGConnectingPoint num="2" id="5755" />
+<TGConnectingPoint num="3" id="5756" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4789" >
-<cdparam x="408" y="156" />
+<CONNECTOR type="5102" id="5766" index="2" uid="9dcf3459-a71c-49fc-ba7b-ae6cf978eeb1" >
+<cdparam x="484" y="172" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="4788" />
-<P1 x="408" y="156" id="4855" />
-<P2 x="408" y="201" id="4838" />
+<TGConnectingPoint num="0" id="5765" />
+<P1 x="441" y="172" id="5872" />
+<P2 x="441" y="195" id="5847" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4787" >
-<father id="4789" num="0" />
-<cdparam x="408" y="196" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5764" index="13" uid="42a083a7-eb40-4695-9ecb-6890414cad53" >
+<father id="5766" num="0" />
+<cdparam x="484" y="212" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4783" />
-<TGConnectingPoint num="1" id="4784" />
-<TGConnectingPoint num="2" id="4785" />
-<TGConnectingPoint num="3" id="4786" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5760" />
+<TGConnectingPoint num="1" id="5761" />
+<TGConnectingPoint num="2" id="5762" />
+<TGConnectingPoint num="3" id="5763" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4796" >
-<cdparam x="408" y="231" />
+<CONNECTOR type="5102" id="5773" index="3" uid="ddcc9d9c-cca2-4323-a59c-ebc00db91220" >
+<cdparam x="485" y="230" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Receive signal to state0" value="null" />
-<TGConnectingPoint num="0" id="4795" />
-<P1 x="408" y="231" id="4839" />
-<P2 x="408" y="292" id="4798" />
+<TGConnectingPoint num="0" id="5772" />
+<P1 x="441" y="225" id="5848" />
+<P2 x="441" y="293" id="5782" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4794" >
-<father id="4796" num="0" />
-<cdparam x="408" y="271" />
-<sizeparam width="163" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5771" index="14" uid="f84924fa-26cf-45bf-ae0d-76331aa97d8d" >
+<father id="5773" num="0" />
+<cdparam x="447" y="243" />
+<sizeparam width="235" height="45" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4790" />
-<TGConnectingPoint num="1" id="4791" />
-<TGConnectingPoint num="2" id="4792" />
-<TGConnectingPoint num="3" id="4793" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5767" />
+<TGConnectingPoint num="1" id="5768" />
+<TGConnectingPoint num="2" id="5769" />
+<TGConnectingPoint num="3" id="5770" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="applyBraking(value)" enabled="true"/>
+<actions value="value = value * 10" enabled="true"/>
+<actions value="brakeMaxDuration = value + deltaBrake" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5106" id="5846" index="4" uid="e831102f-6438-4640-a038-99154ecf3afe" >
+<cdparam x="386" y="293" />
+<sizeparam width="223" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="state0" value="WaitingforBrakingToBeCompleted" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5774" />
+<TGConnectingPoint num="1" id="5775" />
+<TGConnectingPoint num="2" id="5776" />
+<TGConnectingPoint num="3" id="5777" />
+<TGConnectingPoint num="4" id="5778" />
+<TGConnectingPoint num="5" id="5779" />
+<TGConnectingPoint num="6" id="5780" />
+<TGConnectingPoint num="7" id="5781" />
+<TGConnectingPoint num="8" id="5782" />
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+<TGConnectingPoint num="10" id="5784" />
+<TGConnectingPoint num="11" id="5785" />
+<TGConnectingPoint num="12" id="5786" />
+<TGConnectingPoint num="13" id="5787" />
+<TGConnectingPoint num="14" id="5788" />
+<TGConnectingPoint num="15" id="5789" />
+<TGConnectingPoint num="16" id="5790" />
+<TGConnectingPoint num="17" id="5791" />
+<TGConnectingPoint num="18" id="5792" />
+<TGConnectingPoint num="19" id="5793" />
+<TGConnectingPoint num="20" id="5794" />
+<TGConnectingPoint num="21" id="5795" />
+<TGConnectingPoint num="22" id="5796" />
+<TGConnectingPoint num="23" id="5797" />
+<TGConnectingPoint num="24" id="5798" />
+<TGConnectingPoint num="25" id="5799" />
+<TGConnectingPoint num="26" id="5800" />
+<TGConnectingPoint num="27" id="5801" />
+<TGConnectingPoint num="28" id="5802" />
+<TGConnectingPoint num="29" id="5803" />
+<TGConnectingPoint num="30" id="5804" />
+<TGConnectingPoint num="31" id="5805" />
+<TGConnectingPoint num="32" id="5806" />
+<TGConnectingPoint num="33" id="5807" />
+<TGConnectingPoint num="34" id="5808" />
+<TGConnectingPoint num="35" id="5809" />
+<TGConnectingPoint num="36" id="5810" />
+<TGConnectingPoint num="37" id="5811" />
+<TGConnectingPoint num="38" id="5812" />
+<TGConnectingPoint num="39" id="5813" />
+<TGConnectingPoint num="40" id="5814" />
+<TGConnectingPoint num="41" id="5815" />
+<TGConnectingPoint num="42" id="5816" />
+<TGConnectingPoint num="43" id="5817" />
+<TGConnectingPoint num="44" id="5818" />
+<TGConnectingPoint num="45" id="5819" />
+<TGConnectingPoint num="46" id="5820" />
+<TGConnectingPoint num="47" id="5821" />
+<TGConnectingPoint num="48" id="5822" />
+<TGConnectingPoint num="49" id="5823" />
+<TGConnectingPoint num="50" id="5824" />
+<TGConnectingPoint num="51" id="5825" />
+<TGConnectingPoint num="52" id="5826" />
+<TGConnectingPoint num="53" id="5827" />
+<TGConnectingPoint num="54" id="5828" />
+<TGConnectingPoint num="55" id="5829" />
+<TGConnectingPoint num="56" id="5830" />
+<TGConnectingPoint num="57" id="5831" />
+<TGConnectingPoint num="58" id="5832" />
+<TGConnectingPoint num="59" id="5833" />
+<TGConnectingPoint num="60" id="5834" />
+<TGConnectingPoint num="61" id="5835" />
+<TGConnectingPoint num="62" id="5836" />
+<TGConnectingPoint num="63" id="5837" />
+<TGConnectingPoint num="64" id="5838" />
+<TGConnectingPoint num="65" id="5839" />
+<TGConnectingPoint num="66" id="5840" />
+<TGConnectingPoint num="67" id="5841" />
+<TGConnectingPoint num="68" id="5842" />
+<TGConnectingPoint num="69" id="5843" />
+<TGConnectingPoint num="70" id="5844" />
+<TGConnectingPoint num="71" id="5845" />
+<invariant />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="applyReducePower(value)" />
</extraparam>
-</SUBCOMPONENT>
+</COMPONENT>
-<COMPONENT type="5106" id="4837" >
-<cdparam x="278" y="292" />
-<sizeparam width="260" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitForReducePowerToBePerformed" />
-<TGConnectingPoint num="0" id="4797" />
-<TGConnectingPoint num="1" id="4798" />
-<TGConnectingPoint num="2" id="4799" />
-<TGConnectingPoint num="3" id="4800" />
-<TGConnectingPoint num="4" id="4801" />
-<TGConnectingPoint num="5" id="4802" />
-<TGConnectingPoint num="6" id="4803" />
-<TGConnectingPoint num="7" id="4804" />
-<TGConnectingPoint num="8" id="4805" />
-<TGConnectingPoint num="9" id="4806" />
-<TGConnectingPoint num="10" id="4807" />
-<TGConnectingPoint num="11" id="4808" />
-<TGConnectingPoint num="12" id="4809" />
-<TGConnectingPoint num="13" id="4810" />
-<TGConnectingPoint num="14" id="4811" />
-<TGConnectingPoint num="15" id="4812" />
-<TGConnectingPoint num="16" id="4813" />
-<TGConnectingPoint num="17" id="4814" />
-<TGConnectingPoint num="18" id="4815" />
-<TGConnectingPoint num="19" id="4816" />
-<TGConnectingPoint num="20" id="4817" />
-<TGConnectingPoint num="21" id="4818" />
-<TGConnectingPoint num="22" id="4819" />
-<TGConnectingPoint num="23" id="4820" />
-<TGConnectingPoint num="24" id="4821" />
-<TGConnectingPoint num="25" id="4822" />
-<TGConnectingPoint num="26" id="4823" />
-<TGConnectingPoint num="27" id="4824" />
-<TGConnectingPoint num="28" id="4825" />
-<TGConnectingPoint num="29" id="4826" />
-<TGConnectingPoint num="30" id="4827" />
-<TGConnectingPoint num="31" id="4828" />
-<TGConnectingPoint num="32" id="4829" />
-<TGConnectingPoint num="33" id="4830" />
-<TGConnectingPoint num="34" id="4831" />
-<TGConnectingPoint num="35" id="4832" />
-<TGConnectingPoint num="36" id="4833" />
-<TGConnectingPoint num="37" id="4834" />
-<TGConnectingPoint num="38" id="4835" />
-<TGConnectingPoint num="39" id="4836" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5104" id="4848" >
-<cdparam x="307" y="206" />
-<sizeparam width="203" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5104" id="5857" index="5" uid="cbe06433-d3f6-4c55-8da5-b238b57eded2" >
+<cdparam x="396" y="200" />
+<sizeparam width="90" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="getReducePowerOrder(value)" />
-<TGConnectingPoint num="0" id="4838" />
-<TGConnectingPoint num="1" id="4839" />
-<TGConnectingPoint num="2" id="4840" />
-<TGConnectingPoint num="3" id="4841" />
-<TGConnectingPoint num="4" id="4842" />
-<TGConnectingPoint num="5" id="4843" />
-<TGConnectingPoint num="6" id="4844" />
-<TGConnectingPoint num="7" id="4845" />
-<TGConnectingPoint num="8" id="4846" />
-<TGConnectingPoint num="9" id="4847" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="4889" >
-<cdparam x="267" y="106" />
-<sizeparam width="283" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Receive signal" value="brake(value)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5847" />
+<TGConnectingPoint num="1" id="5848" />
+<TGConnectingPoint num="2" id="5849" />
+<TGConnectingPoint num="3" id="5850" />
+<TGConnectingPoint num="4" id="5851" />
+<TGConnectingPoint num="5" id="5852" />
+<TGConnectingPoint num="6" id="5853" />
+<TGConnectingPoint num="7" id="5854" />
+<TGConnectingPoint num="8" id="5855" />
+<TGConnectingPoint num="9" id="5856" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="5930" index="6" uid="52b8c0f4-c7ed-4260-bc39-9076a42547f7" >
+<cdparam x="398" y="124" />
+<sizeparam width="172" height="48" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitForReducePowerOrder" />
-<TGConnectingPoint num="0" id="4849" />
-<TGConnectingPoint num="1" id="4850" />
-<TGConnectingPoint num="2" id="4851" />
-<TGConnectingPoint num="3" id="4852" />
-<TGConnectingPoint num="4" id="4853" />
-<TGConnectingPoint num="5" id="4854" />
-<TGConnectingPoint num="6" id="4855" />
-<TGConnectingPoint num="7" id="4856" />
-<TGConnectingPoint num="8" id="4857" />
-<TGConnectingPoint num="9" id="4858" />
-<TGConnectingPoint num="10" id="4859" />
-<TGConnectingPoint num="11" id="4860" />
-<TGConnectingPoint num="12" id="4861" />
-<TGConnectingPoint num="13" id="4862" />
-<TGConnectingPoint num="14" id="4863" />
-<TGConnectingPoint num="15" id="4864" />
-<TGConnectingPoint num="16" id="4865" />
-<TGConnectingPoint num="17" id="4866" />
-<TGConnectingPoint num="18" id="4867" />
-<TGConnectingPoint num="19" id="4868" />
-<TGConnectingPoint num="20" id="4869" />
-<TGConnectingPoint num="21" id="4870" />
-<TGConnectingPoint num="22" id="4871" />
-<TGConnectingPoint num="23" id="4872" />
-<TGConnectingPoint num="24" id="4873" />
-<TGConnectingPoint num="25" id="4874" />
-<TGConnectingPoint num="26" id="4875" />
-<TGConnectingPoint num="27" id="4876" />
-<TGConnectingPoint num="28" id="4877" />
-<TGConnectingPoint num="29" id="4878" />
-<TGConnectingPoint num="30" id="4879" />
-<TGConnectingPoint num="31" id="4880" />
-<TGConnectingPoint num="32" id="4881" />
-<TGConnectingPoint num="33" id="4882" />
-<TGConnectingPoint num="34" id="4883" />
-<TGConnectingPoint num="35" id="4884" />
-<TGConnectingPoint num="36" id="4885" />
-<TGConnectingPoint num="37" id="4886" />
-<TGConnectingPoint num="38" id="4887" />
-<TGConnectingPoint num="39" id="4888" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="4891" >
-<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="state0" value="WaitForBrakingOrder" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5858" />
+<TGConnectingPoint num="1" id="5859" />
+<TGConnectingPoint num="2" id="5860" />
+<TGConnectingPoint num="3" id="5861" />
+<TGConnectingPoint num="4" id="5862" />
+<TGConnectingPoint num="5" id="5863" />
+<TGConnectingPoint num="6" id="5864" />
+<TGConnectingPoint num="7" id="5865" />
+<TGConnectingPoint num="8" id="5866" />
+<TGConnectingPoint num="9" id="5867" />
+<TGConnectingPoint num="10" id="5868" />
+<TGConnectingPoint num="11" id="5869" />
+<TGConnectingPoint num="12" id="5870" />
+<TGConnectingPoint num="13" id="5871" />
+<TGConnectingPoint num="14" id="5872" />
+<TGConnectingPoint num="15" id="5873" />
+<TGConnectingPoint num="16" id="5874" />
+<TGConnectingPoint num="17" id="5875" />
+<TGConnectingPoint num="18" id="5876" />
+<TGConnectingPoint num="19" id="5877" />
+<TGConnectingPoint num="20" id="5878" />
+<TGConnectingPoint num="21" id="5879" />
+<TGConnectingPoint num="22" id="5880" />
+<TGConnectingPoint num="23" id="5881" />
+<TGConnectingPoint num="24" id="5882" />
+<TGConnectingPoint num="25" id="5883" />
+<TGConnectingPoint num="26" id="5884" />
+<TGConnectingPoint num="27" id="5885" />
+<TGConnectingPoint num="28" id="5886" />
+<TGConnectingPoint num="29" id="5887" />
+<TGConnectingPoint num="30" id="5888" />
+<TGConnectingPoint num="31" id="5889" />
+<TGConnectingPoint num="32" id="5890" />
+<TGConnectingPoint num="33" id="5891" />
+<TGConnectingPoint num="34" id="5892" />
+<TGConnectingPoint num="35" id="5893" />
+<TGConnectingPoint num="36" id="5894" />
+<TGConnectingPoint num="37" id="5895" />
+<TGConnectingPoint num="38" id="5896" />
+<TGConnectingPoint num="39" id="5897" />
+<TGConnectingPoint num="40" id="5898" />
+<TGConnectingPoint num="41" id="5899" />
+<TGConnectingPoint num="42" id="5900" />
+<TGConnectingPoint num="43" id="5901" />
+<TGConnectingPoint num="44" id="5902" />
+<TGConnectingPoint num="45" id="5903" />
+<TGConnectingPoint num="46" id="5904" />
+<TGConnectingPoint num="47" id="5905" />
+<TGConnectingPoint num="48" id="5906" />
+<TGConnectingPoint num="49" id="5907" />
+<TGConnectingPoint num="50" id="5908" />
+<TGConnectingPoint num="51" id="5909" />
+<TGConnectingPoint num="52" id="5910" />
+<TGConnectingPoint num="53" id="5911" />
+<TGConnectingPoint num="54" id="5912" />
+<TGConnectingPoint num="55" id="5913" />
+<TGConnectingPoint num="56" id="5914" />
+<TGConnectingPoint num="57" id="5915" />
+<TGConnectingPoint num="58" id="5916" />
+<TGConnectingPoint num="59" id="5917" />
+<TGConnectingPoint num="60" id="5918" />
+<TGConnectingPoint num="61" id="5919" />
+<TGConnectingPoint num="62" id="5920" />
+<TGConnectingPoint num="63" id="5921" />
+<TGConnectingPoint num="64" id="5922" />
+<TGConnectingPoint num="65" id="5923" />
+<TGConnectingPoint num="66" id="5924" />
+<TGConnectingPoint num="67" id="5925" />
+<TGConnectingPoint num="68" id="5926" />
+<TGConnectingPoint num="69" id="5927" />
+<TGConnectingPoint num="70" id="5928" />
+<TGConnectingPoint num="71" id="5929" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="5932" index="7" uid="defa32bb-a2ed-4087-ba19-25fa6728f80d" >
+<cdparam x="468" y="69" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="4890" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5931" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="DangerAvoidanceStrategy" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="4904" >
+<AVATARStateMachineDiagramPanel name="DangerAvoidanceStrategy" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<CONNECTOR type="5102" id="5945" index="0" uid="b834c5c2-2661-4674-91f1-1214c716e0c5" >
<cdparam x="512" y="766" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="4900" />
-<TGConnectingPoint num="1" id="4901" />
-<TGConnectingPoint num="2" id="4902" />
-<TGConnectingPoint num="3" id="4903" />
-<P1 x="512" y="766" id="4969" />
-<P2 x="636" y="162" id="5150" />
+<TGConnectingPoint num="0" id="5941" />
+<TGConnectingPoint num="1" id="5942" />
+<TGConnectingPoint num="2" id="5943" />
+<TGConnectingPoint num="3" id="5944" />
+<P1 x="512" y="766" id="6010" />
+<P2 x="636" y="162" id="6255" />
<Point x="516" y="826" />
<Point x="776" y="833" />
<Point x="781" y="165" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4892" >
-<father id="4904" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5933" index="20" uid="d96722d7-d6c8-4d4d-9593-fa42d0d6f4df" >
+<father id="5945" num="0" />
<cdparam x="516" y="826" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4893" >
-<father id="4904" num="1" />
+<SUBCOMPONENT type="-1" id="5934" index="21" uid="4ec55fdf-a3cd-472d-88aa-a3c5dd524e02" >
+<father id="5945" num="1" />
<cdparam x="776" y="833" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4894" >
-<father id="4904" num="2" />
+<SUBCOMPONENT type="-1" id="5935" index="22" uid="5bc1a94d-7235-430b-93d5-38d2e4384835" >
+<father id="5945" num="2" />
<cdparam x="781" y="165" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4899" >
-<father id="4904" num="3" />
+<SUBCOMPONENT type="-1" id="5940" index="23" uid="a252c078-0a67-4246-ba9c-c4d2b17d00c2" >
+<father id="5945" num="3" />
<cdparam x="512" y="806" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4895" />
-<TGConnectingPoint num="1" id="4896" />
-<TGConnectingPoint num="2" id="4897" />
-<TGConnectingPoint num="3" id="4898" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5936" />
+<TGConnectingPoint num="1" id="5937" />
+<TGConnectingPoint num="2" id="5938" />
+<TGConnectingPoint num="3" id="5939" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4911" >
+<CONNECTOR type="5102" id="5952" index="1" uid="197af73e-c497-4599-966e-37a7d12052d2" >
<cdparam x="518" y="602" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="4910" />
-<P1 x="510" y="605" id="4980" />
-<P2 x="511" y="642" id="4991" />
+<TGConnectingPoint num="0" id="5951" />
+<P1 x="510" y="605" id="6021" />
+<P2 x="511" y="642" id="6032" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4909" >
-<father id="4911" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5950" index="24" uid="f7d58b6d-82eb-4f6c-b46d-2dba8e1288f8" >
+<father id="5952" num="0" />
<cdparam x="518" y="642" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4905" />
-<TGConnectingPoint num="1" id="4906" />
-<TGConnectingPoint num="2" id="4907" />
-<TGConnectingPoint num="3" id="4908" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5946" />
+<TGConnectingPoint num="1" id="5947" />
+<TGConnectingPoint num="2" id="5948" />
+<TGConnectingPoint num="3" id="5949" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4918" >
+<CONNECTOR type="5102" id="5959" index="2" uid="e8e3ab44-96d9-48b3-aa41-49aa41e06596" >
<cdparam x="586" y="530" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4917" />
-<P1 x="510" y="530" id="5060" />
-<P2 x="510" y="575" id="4979" />
+<TGConnectingPoint num="0" id="5958" />
+<P1 x="510" y="530" id="6133" />
+<P2 x="510" y="575" id="6020" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4916" >
-<father id="4918" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5957" index="25" uid="6ef99717-b0c2-4947-a60b-cff417778eb0" >
+<father id="5959" num="0" />
<cdparam x="523" y="558" />
-<sizeparam width="244" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="244" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4912" />
-<TGConnectingPoint num="1" id="4913" />
-<TGConnectingPoint num="2" id="4914" />
-<TGConnectingPoint num="3" id="4915" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="value = 10 - (position - currentPosition)" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="4925" >
+<new d="false" />
+<TGConnectingPoint num="0" id="5953" />
+<TGConnectingPoint num="1" id="5954" />
+<TGConnectingPoint num="2" id="5955" />
+<TGConnectingPoint num="3" id="5956" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="value = 10 - (position - currentPosition)" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5966" index="3" uid="55068c52-f534-4cd4-a532-acd307f4ef89" >
<cdparam x="524" y="331" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4924" />
-<P1 x="524" y="331" id="5102" />
-<P2 x="560" y="480" id="5049" />
+<TGConnectingPoint num="0" id="5965" />
+<P1 x="524" y="331" id="6207" />
+<P2 x="560" y="480" id="6122" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4923" >
-<father id="4925" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5964" index="26" uid="f37d133b-e95f-46a5-9cf3-67063b22e0c3" >
+<father id="5966" num="0" />
<cdparam x="548" y="369" />
-<sizeparam width="44" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="44" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4919" />
-<TGConnectingPoint num="1" id="4920" />
-<TGConnectingPoint num="2" id="4921" />
-<TGConnectingPoint num="3" id="4922" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5960" />
+<TGConnectingPoint num="1" id="5961" />
+<TGConnectingPoint num="2" id="5962" />
+<TGConnectingPoint num="3" id="5963" />
<extraparam>
-<guard value="[ else ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ else ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4932" >
+<CONNECTOR type="5102" id="5973" index="4" uid="e2a3d6a2-7515-4f8d-9659-97ebf3599db1" >
<cdparam x="419" y="125" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="4931" />
-<P1 x="419" y="125" id="5168" />
-<P2 x="431" y="144" id="5135" />
+<TGConnectingPoint num="0" id="5972" />
+<P1 x="419" y="125" id="6305" />
+<P2 x="431" y="144" id="6240" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4930" >
-<father id="4932" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5971" index="27" uid="5edfcb14-b951-4044-9390-1c0e987d5eff" >
+<father id="5973" num="0" />
<cdparam x="419" y="165" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4926" />
-<TGConnectingPoint num="1" id="4927" />
-<TGConnectingPoint num="2" id="4928" />
-<TGConnectingPoint num="3" id="4929" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5967" />
+<TGConnectingPoint num="1" id="5968" />
+<TGConnectingPoint num="2" id="5969" />
+<TGConnectingPoint num="3" id="5970" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4939" >
+<CONNECTOR type="5102" id="5980" index="5" uid="0c46190b-36dd-4dce-aaa0-dbc4ec8aff07" >
<cdparam x="499" y="194" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="4938" />
-<P1 x="499" y="194" id="5133" />
-<P2 x="499" y="228" id="5116" />
+<TGConnectingPoint num="0" id="5979" />
+<P1 x="499" y="194" id="6238" />
+<P2 x="499" y="228" id="6221" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4937" >
-<father id="4939" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5978" index="28" uid="04aaf7ff-0777-436d-a497-a7445837a3b7" >
+<father id="5980" num="0" />
<cdparam x="499" y="234" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4933" />
-<TGConnectingPoint num="1" id="4934" />
-<TGConnectingPoint num="2" id="4935" />
-<TGConnectingPoint num="3" id="4936" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5974" />
+<TGConnectingPoint num="1" id="5975" />
+<TGConnectingPoint num="2" id="5976" />
+<TGConnectingPoint num="3" id="5977" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4946" >
+<CONNECTOR type="5102" id="5987" index="6" uid="1e6ab39f-becd-40ac-9ec8-c9a62fcca2e8" >
<cdparam x="499" y="258" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Receive signal to choice" value="null" />
-<TGConnectingPoint num="0" id="4945" />
-<P1 x="499" y="258" id="5117" />
-<P2 x="499" y="306" id="5100" />
+<TGConnectingPoint num="0" id="5986" />
+<P1 x="499" y="258" id="6222" />
+<P2 x="499" y="306" id="6205" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4944" >
-<father id="4946" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5985" index="29" uid="19aaf413-4301-4419-8abf-8f7e9da9de13" >
+<father id="5987" num="0" />
<cdparam x="499" y="298" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4940" />
-<TGConnectingPoint num="1" id="4941" />
-<TGConnectingPoint num="2" id="4942" />
-<TGConnectingPoint num="3" id="4943" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5981" />
+<TGConnectingPoint num="1" id="5982" />
+<TGConnectingPoint num="2" id="5983" />
+<TGConnectingPoint num="3" id="5984" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4953" >
+<CONNECTOR type="5102" id="5994" index="7" uid="d3323cdf-0da4-4e22-807c-dcf5cc632726" >
<cdparam x="474" y="331" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to Send signal" value="null" />
-<TGConnectingPoint num="0" id="4952" />
-<P1 x="474" y="331" id="5104" />
-<P2 x="393" y="394" id="5072" />
+<TGConnectingPoint num="0" id="5993" />
+<P1 x="474" y="331" id="6209" />
+<P2 x="393" y="394" id="6177" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4951" >
-<father id="4953" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5992" index="30" uid="43895013-b016-4f0c-9d41-49a4eccca93c" >
+<father id="5994" num="0" />
<cdparam x="356" y="357" />
-<sizeparam width="78" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="78" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4947" />
-<TGConnectingPoint num="1" id="4948" />
-<TGConnectingPoint num="2" id="4949" />
-<TGConnectingPoint num="3" id="4950" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5988" />
+<TGConnectingPoint num="1" id="5989" />
+<TGConnectingPoint num="2" id="5990" />
+<TGConnectingPoint num="3" id="5991" />
<extraparam>
-<guard value="[ speed > 5]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ speed > 5]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4960" >
+<CONNECTOR type="5102" id="6001" index="8" uid="5a781999-2439-4939-8f6f-273442a1bc3a" >
<cdparam x="390" y="432" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="4959" />
-<P1 x="393" y="424" id="5073" />
-<P2 x="436" y="480" id="5031" />
+<TGConnectingPoint num="0" id="6000" />
+<P1 x="393" y="424" id="6178" />
+<P2 x="436" y="480" id="6104" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4958" >
-<father id="4960" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5999" index="31" uid="86565a1c-2896-4ba7-b585-cee952dcf717" >
+<father id="6001" num="0" />
<cdparam x="390" y="472" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4954" />
-<TGConnectingPoint num="1" id="4955" />
-<TGConnectingPoint num="2" id="4956" />
-<TGConnectingPoint num="3" id="4957" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5995" />
+<TGConnectingPoint num="1" id="5996" />
+<TGConnectingPoint num="2" id="5997" />
+<TGConnectingPoint num="3" id="5998" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4967" >
+<CONNECTOR type="5102" id="6008" index="9" uid="ba0d8b74-a56a-4818-bb2a-6cad711a00b5" >
<cdparam x="537" y="692" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="4966" />
-<P1 x="511" y="692" id="4996" />
-<P2 x="512" y="736" id="4968" />
+<TGConnectingPoint num="0" id="6007" />
+<P1 x="511" y="692" id="6037" />
+<P2 x="512" y="736" id="6009" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4965" >
-<father id="4967" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6006" index="32" uid="43a6cad1-d87d-4225-986c-bf24716a6622" >
+<father id="6008" num="0" />
<cdparam x="534" y="724" />
-<sizeparam width="126" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="126" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4961" />
-<TGConnectingPoint num="1" id="4962" />
-<TGConnectingPoint num="2" id="4963" />
-<TGConnectingPoint num="3" id="4964" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="value = carinfo.myID" />
-</extraparam>
-</SUBCOMPONENT>
-
-<COMPONENT type="5103" id="4978" >
+<new d="false" />
+<TGConnectingPoint num="0" id="6002" />
+<TGConnectingPoint num="1" id="6003" />
+<TGConnectingPoint num="2" id="6004" />
+<TGConnectingPoint num="3" id="6005" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="value = carinfo.myID" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="6019" index="10" uid="7c02bdff-b93c-4f9c-bcb5-8f9af671fd53" >
<cdparam x="378" y="741" />
-<sizeparam width="269" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="269" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Send signal" value="forwardEmergency(value, currentPosition)" />
-<TGConnectingPoint num="0" id="4968" />
-<TGConnectingPoint num="1" id="4969" />
-<TGConnectingPoint num="2" id="4970" />
-<TGConnectingPoint num="3" id="4971" />
-<TGConnectingPoint num="4" id="4972" />
-<TGConnectingPoint num="5" id="4973" />
-<TGConnectingPoint num="6" id="4974" />
-<TGConnectingPoint num="7" id="4975" />
-<TGConnectingPoint num="8" id="4976" />
-<TGConnectingPoint num="9" id="4977" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="4989" >
+<new d="false" />
+<TGConnectingPoint num="0" id="6009" />
+<TGConnectingPoint num="1" id="6010" />
+<TGConnectingPoint num="2" id="6011" />
+<TGConnectingPoint num="3" id="6012" />
+<TGConnectingPoint num="4" id="6013" />
+<TGConnectingPoint num="5" id="6014" />
+<TGConnectingPoint num="6" id="6015" />
+<TGConnectingPoint num="7" id="6016" />
+<TGConnectingPoint num="8" id="6017" />
+<TGConnectingPoint num="9" id="6018" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="6030" index="11" uid="8ca51324-34c3-4406-ab0c-59e312e779b9" >
<cdparam x="446" y="580" />
-<sizeparam width="128" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="128" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Send signal" value="brakePower(value)" />
-<TGConnectingPoint num="0" id="4979" />
-<TGConnectingPoint num="1" id="4980" />
-<TGConnectingPoint num="2" id="4981" />
-<TGConnectingPoint num="3" id="4982" />
-<TGConnectingPoint num="4" id="4983" />
-<TGConnectingPoint num="5" id="4984" />
-<TGConnectingPoint num="6" id="4985" />
-<TGConnectingPoint num="7" id="4986" />
-<TGConnectingPoint num="8" id="4987" />
-<TGConnectingPoint num="9" id="4988" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="5030" >
+<new d="false" />
+<TGConnectingPoint num="0" id="6020" />
+<TGConnectingPoint num="1" id="6021" />
+<TGConnectingPoint num="2" id="6022" />
+<TGConnectingPoint num="3" id="6023" />
+<TGConnectingPoint num="4" id="6024" />
+<TGConnectingPoint num="5" id="6025" />
+<TGConnectingPoint num="6" id="6026" />
+<TGConnectingPoint num="7" id="6027" />
+<TGConnectingPoint num="8" id="6028" />
+<TGConnectingPoint num="9" id="6029" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="6103" index="12" uid="7fc6963c-3986-46c0-80f1-21c7e4d10ed9" >
<cdparam x="403" y="642" />
<sizeparam width="217" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="state0" value="ForwardManagement" />
-<TGConnectingPoint num="0" id="4990" />
-<TGConnectingPoint num="1" id="4991" />
-<TGConnectingPoint num="2" id="4992" />
-<TGConnectingPoint num="3" id="4993" />
-<TGConnectingPoint num="4" id="4994" />
-<TGConnectingPoint num="5" id="4995" />
-<TGConnectingPoint num="6" id="4996" />
-<TGConnectingPoint num="7" id="4997" />
-<TGConnectingPoint num="8" id="4998" />
-<TGConnectingPoint num="9" id="4999" />
-<TGConnectingPoint num="10" id="5000" />
-<TGConnectingPoint num="11" id="5001" />
-<TGConnectingPoint num="12" id="5002" />
-<TGConnectingPoint num="13" id="5003" />
-<TGConnectingPoint num="14" id="5004" />
-<TGConnectingPoint num="15" id="5005" />
-<TGConnectingPoint num="16" id="5006" />
-<TGConnectingPoint num="17" id="5007" />
-<TGConnectingPoint num="18" id="5008" />
-<TGConnectingPoint num="19" id="5009" />
-<TGConnectingPoint num="20" id="5010" />
-<TGConnectingPoint num="21" id="5011" />
-<TGConnectingPoint num="22" id="5012" />
-<TGConnectingPoint num="23" id="5013" />
-<TGConnectingPoint num="24" id="5014" />
-<TGConnectingPoint num="25" id="5015" />
-<TGConnectingPoint num="26" id="5016" />
-<TGConnectingPoint num="27" id="5017" />
-<TGConnectingPoint num="28" id="5018" />
-<TGConnectingPoint num="29" id="5019" />
-<TGConnectingPoint num="30" id="5020" />
-<TGConnectingPoint num="31" id="5021" />
-<TGConnectingPoint num="32" id="5022" />
-<TGConnectingPoint num="33" id="5023" />
-<TGConnectingPoint num="34" id="5024" />
-<TGConnectingPoint num="35" id="5025" />
-<TGConnectingPoint num="36" id="5026" />
-<TGConnectingPoint num="37" id="5027" />
-<TGConnectingPoint num="38" id="5028" />
-<TGConnectingPoint num="39" id="5029" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="5071" >
-<cdparam x="436" y="480" />
-<sizeparam width="201" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="BrakingManagement" />
-<TGConnectingPoint num="0" id="5031" />
-<TGConnectingPoint num="1" id="5032" />
-<TGConnectingPoint num="2" id="5033" />
-<TGConnectingPoint num="3" id="5034" />
-<TGConnectingPoint num="4" id="5035" />
-<TGConnectingPoint num="5" id="5036" />
-<TGConnectingPoint num="6" id="5037" />
-<TGConnectingPoint num="7" id="5038" />
-<TGConnectingPoint num="8" id="5039" />
-<TGConnectingPoint num="9" id="5040" />
-<TGConnectingPoint num="10" id="5041" />
-<TGConnectingPoint num="11" id="5042" />
-<TGConnectingPoint num="12" id="5043" />
-<TGConnectingPoint num="13" id="5044" />
-<TGConnectingPoint num="14" id="5045" />
-<TGConnectingPoint num="15" id="5046" />
-<TGConnectingPoint num="16" id="5047" />
-<TGConnectingPoint num="17" id="5048" />
-<TGConnectingPoint num="18" id="5049" />
-<TGConnectingPoint num="19" id="5050" />
-<TGConnectingPoint num="20" id="5051" />
-<TGConnectingPoint num="21" id="5052" />
-<TGConnectingPoint num="22" id="5053" />
-<TGConnectingPoint num="23" id="5054" />
-<TGConnectingPoint num="24" id="5055" />
-<TGConnectingPoint num="25" id="5056" />
-<TGConnectingPoint num="26" id="5057" />
-<TGConnectingPoint num="27" id="5058" />
-<TGConnectingPoint num="28" id="5059" />
-<TGConnectingPoint num="29" id="5060" />
-<TGConnectingPoint num="30" id="5061" />
-<TGConnectingPoint num="31" id="5062" />
-<TGConnectingPoint num="32" id="5063" />
-<TGConnectingPoint num="33" id="5064" />
-<TGConnectingPoint num="34" id="5065" />
-<TGConnectingPoint num="35" id="5066" />
-<TGConnectingPoint num="36" id="5067" />
-<TGConnectingPoint num="37" id="5068" />
-<TGConnectingPoint num="38" id="5069" />
-<TGConnectingPoint num="39" id="5070" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5103" id="5082" >
-<cdparam x="326" y="399" />
-<sizeparam width="135" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="reducePower(value)" />
-<TGConnectingPoint num="0" id="5072" />
-<TGConnectingPoint num="1" id="5073" />
-<TGConnectingPoint num="2" id="5074" />
-<TGConnectingPoint num="3" id="5075" />
-<TGConnectingPoint num="4" id="5076" />
-<TGConnectingPoint num="5" id="5077" />
-<TGConnectingPoint num="6" id="5078" />
-<TGConnectingPoint num="7" id="5079" />
-<TGConnectingPoint num="8" id="5080" />
-<TGConnectingPoint num="9" id="5081" />
-</COMPONENT>
-
-<COMPONENT type="301" id="5099" >
-<cdparam x="561" y="301" />
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</extraparam>
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-<computeMin value="" />
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</extraparam>
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<hidden value="false" />
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<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
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-</SUBCOMPONENT>
+<infoparam name="Send signal" value="reducePower(value)" />
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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-<TGConnectingPoint num="3" id="5200" />
+<infoparam name="UML Note" value="Have to reduce Power ?
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+<TGConnectingPoint num="3" id="6191" />
+<TGConnectingPoint num="4" id="6192" />
+<TGConnectingPoint num="5" id="6193" />
+<TGConnectingPoint num="6" id="6194" />
+<TGConnectingPoint num="7" id="6195" />
+<TGConnectingPoint num="8" id="6196" />
+<TGConnectingPoint num="9" id="6197" />
+<TGConnectingPoint num="10" id="6198" />
+<TGConnectingPoint num="11" id="6199" />
+<TGConnectingPoint num="12" id="6200" />
+<TGConnectingPoint num="13" id="6201" />
+<TGConnectingPoint num="14" id="6202" />
+<TGConnectingPoint num="15" id="6203" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="applyBraking(value)" />
-<actions value="value = value * 10" />
-<actions value="brakeMaxDuration = value + deltaBrake" />
+<Line value="Have to reduce Power ?" />
</extraparam>
-</SUBCOMPONENT>
+</COMPONENT>
-<COMPONENT type="5106" id="5244" >
-<cdparam x="386" y="293" />
-<sizeparam width="223" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5107" id="6220" index="16" uid="643a8f5d-8b52-4fdb-a96c-0f290d34508b" >
+<cdparam x="484" y="316" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingforBrakingToBeCompleted" />
-<TGConnectingPoint num="0" id="5204" />
-<TGConnectingPoint num="1" id="5205" />
-<TGConnectingPoint num="2" id="5206" />
-<TGConnectingPoint num="3" id="5207" />
-<TGConnectingPoint num="4" id="5208" />
-<TGConnectingPoint num="5" id="5209" />
-<TGConnectingPoint num="6" id="5210" />
-<TGConnectingPoint num="7" id="5211" />
-<TGConnectingPoint num="8" id="5212" />
-<TGConnectingPoint num="9" id="5213" />
-<TGConnectingPoint num="10" id="5214" />
-<TGConnectingPoint num="11" id="5215" />
-<TGConnectingPoint num="12" id="5216" />
-<TGConnectingPoint num="13" id="5217" />
-<TGConnectingPoint num="14" id="5218" />
-<TGConnectingPoint num="15" id="5219" />
-<TGConnectingPoint num="16" id="5220" />
-<TGConnectingPoint num="17" id="5221" />
-<TGConnectingPoint num="18" id="5222" />
-<TGConnectingPoint num="19" id="5223" />
-<TGConnectingPoint num="20" id="5224" />
-<TGConnectingPoint num="21" id="5225" />
-<TGConnectingPoint num="22" id="5226" />
-<TGConnectingPoint num="23" id="5227" />
-<TGConnectingPoint num="24" id="5228" />
-<TGConnectingPoint num="25" id="5229" />
-<TGConnectingPoint num="26" id="5230" />
-<TGConnectingPoint num="27" id="5231" />
-<TGConnectingPoint num="28" id="5232" />
-<TGConnectingPoint num="29" id="5233" />
-<TGConnectingPoint num="30" id="5234" />
-<TGConnectingPoint num="31" id="5235" />
-<TGConnectingPoint num="32" id="5236" />
-<TGConnectingPoint num="33" id="5237" />
-<TGConnectingPoint num="34" id="5238" />
-<TGConnectingPoint num="35" id="5239" />
-<TGConnectingPoint num="36" id="5240" />
-<TGConnectingPoint num="37" id="5241" />
-<TGConnectingPoint num="38" id="5242" />
-<TGConnectingPoint num="39" id="5243" />
-<invariant />
-<extraparam>
-</extraparam>
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6205" />
+<TGConnectingPoint num="1" id="6206" />
+<TGConnectingPoint num="2" id="6207" />
+<TGConnectingPoint num="3" id="6208" />
+<TGConnectingPoint num="4" id="6209" />
+<TGConnectingPoint num="5" id="6210" />
+<TGConnectingPoint num="6" id="6211" />
+<TGConnectingPoint num="7" id="6212" />
+<TGConnectingPoint num="8" id="6213" />
+<TGConnectingPoint num="9" id="6214" />
+<TGConnectingPoint num="10" id="6215" />
+<TGConnectingPoint num="11" id="6216" />
+<TGConnectingPoint num="12" id="6217" />
+<TGConnectingPoint num="13" id="6218" />
+<TGConnectingPoint num="14" id="6219" />
</COMPONENT>
-<COMPONENT type="5104" id="5255" >
-<cdparam x="396" y="200" />
-<sizeparam width="90" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5104" id="6231" index="17" uid="32168c7b-3e92-42ec-8424-435cd13b40e8" >
+<cdparam x="370" y="233" />
+<sizeparam width="258" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="brake(value)" />
-<TGConnectingPoint num="0" id="5245" />
-<TGConnectingPoint num="1" id="5246" />
-<TGConnectingPoint num="2" id="5247" />
-<TGConnectingPoint num="3" id="5248" />
-<TGConnectingPoint num="4" id="5249" />
-<TGConnectingPoint num="5" id="5250" />
-<TGConnectingPoint num="6" id="5251" />
-<TGConnectingPoint num="7" id="5252" />
-<TGConnectingPoint num="8" id="5253" />
-<TGConnectingPoint num="9" id="5254" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="5296" >
-<cdparam x="398" y="124" />
-<sizeparam width="172" height="48" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Receive signal" value="brake(speed, currentPosition, position)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6221" />
+<TGConnectingPoint num="1" id="6222" />
+<TGConnectingPoint num="2" id="6223" />
+<TGConnectingPoint num="3" id="6224" />
+<TGConnectingPoint num="4" id="6225" />
+<TGConnectingPoint num="5" id="6226" />
+<TGConnectingPoint num="6" id="6227" />
+<TGConnectingPoint num="7" id="6228" />
+<TGConnectingPoint num="8" id="6229" />
+<TGConnectingPoint num="9" id="6230" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="6304" index="18" uid="0fe652ac-6ad1-47d7-8b8f-ddcb98c0e55c" >
+<cdparam x="363" y="144" />
+<sizeparam width="273" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitForBrakingOrder" />
-<TGConnectingPoint num="0" id="5256" />
-<TGConnectingPoint num="1" id="5257" />
-<TGConnectingPoint num="2" id="5258" />
-<TGConnectingPoint num="3" id="5259" />
-<TGConnectingPoint num="4" id="5260" />
-<TGConnectingPoint num="5" id="5261" />
-<TGConnectingPoint num="6" id="5262" />
-<TGConnectingPoint num="7" id="5263" />
-<TGConnectingPoint num="8" id="5264" />
-<TGConnectingPoint num="9" id="5265" />
-<TGConnectingPoint num="10" id="5266" />
-<TGConnectingPoint num="11" id="5267" />
-<TGConnectingPoint num="12" id="5268" />
-<TGConnectingPoint num="13" id="5269" />
-<TGConnectingPoint num="14" id="5270" />
-<TGConnectingPoint num="15" id="5271" />
-<TGConnectingPoint num="16" id="5272" />
-<TGConnectingPoint num="17" id="5273" />
-<TGConnectingPoint num="18" id="5274" />
-<TGConnectingPoint num="19" id="5275" />
-<TGConnectingPoint num="20" id="5276" />
-<TGConnectingPoint num="21" id="5277" />
-<TGConnectingPoint num="22" id="5278" />
-<TGConnectingPoint num="23" id="5279" />
-<TGConnectingPoint num="24" id="5280" />
-<TGConnectingPoint num="25" id="5281" />
-<TGConnectingPoint num="26" id="5282" />
-<TGConnectingPoint num="27" id="5283" />
-<TGConnectingPoint num="28" id="5284" />
-<TGConnectingPoint num="29" id="5285" />
-<TGConnectingPoint num="30" id="5286" />
-<TGConnectingPoint num="31" id="5287" />
-<TGConnectingPoint num="32" id="5288" />
-<TGConnectingPoint num="33" id="5289" />
-<TGConnectingPoint num="34" id="5290" />
-<TGConnectingPoint num="35" id="5291" />
-<TGConnectingPoint num="36" id="5292" />
-<TGConnectingPoint num="37" id="5293" />
-<TGConnectingPoint num="38" id="5294" />
-<TGConnectingPoint num="39" id="5295" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="5298" >
-<cdparam x="468" y="69" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="state0" value="WaitingForActionsToTake" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6232" />
+<TGConnectingPoint num="1" id="6233" />
+<TGConnectingPoint num="2" id="6234" />
+<TGConnectingPoint num="3" id="6235" />
+<TGConnectingPoint num="4" id="6236" />
+<TGConnectingPoint num="5" id="6237" />
+<TGConnectingPoint num="6" id="6238" />
+<TGConnectingPoint num="7" id="6239" />
+<TGConnectingPoint num="8" id="6240" />
+<TGConnectingPoint num="9" id="6241" />
+<TGConnectingPoint num="10" id="6242" />
+<TGConnectingPoint num="11" id="6243" />
+<TGConnectingPoint num="12" id="6244" />
+<TGConnectingPoint num="13" id="6245" />
+<TGConnectingPoint num="14" id="6246" />
+<TGConnectingPoint num="15" id="6247" />
+<TGConnectingPoint num="16" id="6248" />
+<TGConnectingPoint num="17" id="6249" />
+<TGConnectingPoint num="18" id="6250" />
+<TGConnectingPoint num="19" id="6251" />
+<TGConnectingPoint num="20" id="6252" />
+<TGConnectingPoint num="21" id="6253" />
+<TGConnectingPoint num="22" id="6254" />
+<TGConnectingPoint num="23" id="6255" />
+<TGConnectingPoint num="24" id="6256" />
+<TGConnectingPoint num="25" id="6257" />
+<TGConnectingPoint num="26" id="6258" />
+<TGConnectingPoint num="27" id="6259" />
+<TGConnectingPoint num="28" id="6260" />
+<TGConnectingPoint num="29" id="6261" />
+<TGConnectingPoint num="30" id="6262" />
+<TGConnectingPoint num="31" id="6263" />
+<TGConnectingPoint num="32" id="6264" />
+<TGConnectingPoint num="33" id="6265" />
+<TGConnectingPoint num="34" id="6266" />
+<TGConnectingPoint num="35" id="6267" />
+<TGConnectingPoint num="36" id="6268" />
+<TGConnectingPoint num="37" id="6269" />
+<TGConnectingPoint num="38" id="6270" />
+<TGConnectingPoint num="39" id="6271" />
+<TGConnectingPoint num="40" id="6272" />
+<TGConnectingPoint num="41" id="6273" />
+<TGConnectingPoint num="42" id="6274" />
+<TGConnectingPoint num="43" id="6275" />
+<TGConnectingPoint num="44" id="6276" />
+<TGConnectingPoint num="45" id="6277" />
+<TGConnectingPoint num="46" id="6278" />
+<TGConnectingPoint num="47" id="6279" />
+<TGConnectingPoint num="48" id="6280" />
+<TGConnectingPoint num="49" id="6281" />
+<TGConnectingPoint num="50" id="6282" />
+<TGConnectingPoint num="51" id="6283" />
+<TGConnectingPoint num="52" id="6284" />
+<TGConnectingPoint num="53" id="6285" />
+<TGConnectingPoint num="54" id="6286" />
+<TGConnectingPoint num="55" id="6287" />
+<TGConnectingPoint num="56" id="6288" />
+<TGConnectingPoint num="57" id="6289" />
+<TGConnectingPoint num="58" id="6290" />
+<TGConnectingPoint num="59" id="6291" />
+<TGConnectingPoint num="60" id="6292" />
+<TGConnectingPoint num="61" id="6293" />
+<TGConnectingPoint num="62" id="6294" />
+<TGConnectingPoint num="63" id="6295" />
+<TGConnectingPoint num="64" id="6296" />
+<TGConnectingPoint num="65" id="6297" />
+<TGConnectingPoint num="66" id="6298" />
+<TGConnectingPoint num="67" id="6299" />
+<TGConnectingPoint num="68" id="6300" />
+<TGConnectingPoint num="69" id="6301" />
+<TGConnectingPoint num="70" id="6302" />
+<TGConnectingPoint num="71" id="6303" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="6306" index="19" uid="cbab9fea-2605-49b8-a86f-36b5eb571e60" >
+<cdparam x="412" y="105" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="5297" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6305" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="ObjectListManagement" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="5311" >
-<cdparam x="548" y="343" />
+<AVATARStateMachineDiagramPanel name="VehiculeDynamicsManagement" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<CONNECTOR type="5102" id="6313" index="0" uid="5a88b942-3194-40a0-a3ab-7ece7dbb00f7" >
+<cdparam x="686" y="231" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="5307" />
-<TGConnectingPoint num="1" id="5308" />
-<TGConnectingPoint num="2" id="5309" />
-<TGConnectingPoint num="3" id="5310" />
-<P1 x="548" y="343" id="5347" />
-<P2 x="606" y="211" id="5391" />
-<Point x="546" y="362" />
-<Point x="658" y="366" />
-<Point x="672" y="172" />
+<infoparam name="connector from state0 to Send signal" value="null" />
+<TGConnectingPoint num="0" id="6312" />
+<P1 x="686" y="231" id="6391" />
+<P2 x="697" y="301" id="6354" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5299" >
-<father id="5311" num="0" />
-<cdparam x="546" y="362" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5300" >
-<father id="5311" num="1" />
-<cdparam x="658" y="366" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6311" index="9" uid="f761276a-d1ae-426b-b1fb-053b494b2351" >
+<father id="6313" num="0" />
+<cdparam x="686" y="271" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6307" />
+<TGConnectingPoint num="1" id="6308" />
+<TGConnectingPoint num="2" id="6309" />
+<TGConnectingPoint num="3" id="6310" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5301" >
-<father id="5311" num="2" />
-<cdparam x="672" y="172" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+
+<CONNECTOR type="5102" id="6320" index="1" uid="e41487aa-16b1-41b4-bbb8-d0e3ab2496f3" >
+<cdparam x="513" y="231" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to Receive signal" value="null" />
+<TGConnectingPoint num="0" id="6319" />
+<P1 x="513" y="231" id="6404" />
+<P2 x="467" y="300" id="6365" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6318" index="10" uid="646aa757-77ab-49f3-858e-22077f536db4" >
+<father id="6320" num="0" />
+<cdparam x="513" y="271" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6314" />
+<TGConnectingPoint num="1" id="6315" />
+<TGConnectingPoint num="2" id="6316" />
+<TGConnectingPoint num="3" id="6317" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5306" >
-<father id="5311" num="3" />
-<cdparam x="548" y="383" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+
+<CONNECTOR type="5102" id="6327" index="2" uid="15d62be6-06db-46ef-8f51-1cd2cb277026" >
+<cdparam x="597" y="156" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from start state to state0" value="null" />
+<TGConnectingPoint num="0" id="6326" />
+<P1 x="539" y="137" id="6449" />
+<P2 x="549" y="181" id="6384" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6325" index="11" uid="2b588b3f-8b73-4f23-b0f1-17e078defba5" >
+<father id="6327" num="0" />
+<cdparam x="597" y="196" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5302" />
-<TGConnectingPoint num="1" id="5303" />
-<TGConnectingPoint num="2" id="5304" />
-<TGConnectingPoint num="3" id="5305" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6321" />
+<TGConnectingPoint num="1" id="6322" />
+<TGConnectingPoint num="2" id="6323" />
+<TGConnectingPoint num="3" id="6324" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5324" >
-<cdparam x="318" y="342" />
+<CONNECTOR type="5102" id="6340" index="3" uid="99bddd8c-800f-4b89-a014-904d8d4eca38" >
+<cdparam x="467" y="330" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Receive signal to state0" value="null" />
-<TGConnectingPoint num="0" id="5320" />
-<TGConnectingPoint num="1" id="5321" />
-<TGConnectingPoint num="2" id="5322" />
-<TGConnectingPoint num="3" id="5323" />
-<P1 x="318" y="342" id="5358" />
-<P2 x="332" y="211" id="5389" />
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<AutomaticDrawing data="true" />
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
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</SUBCOMPONENT>
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<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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</SUBCOMPONENT>
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</SUBCOMPONENT>
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<hidden value="false" />
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<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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<extraparam>
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</extraparam>
</SUBCOMPONENT>
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<AutomaticDrawing data="true" />
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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</SUBCOMPONENT>
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<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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-<extraparam>
-<guard value="[ ]" />
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</SUBCOMPONENT>
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<hidden value="false" />
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<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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<extraparam>
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</extraparam>
</SUBCOMPONENT>
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-<sizeparam width="171" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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<hidden value="false" />
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<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="getInfoOnObstacle(obstacle)" />
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-<TGConnectingPoint num="8" id="5354" />
-<TGConnectingPoint num="9" id="5355" />
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</COMPONENT>
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<hidden value="false" />
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<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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-</COMPONENT>
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<hidden value="false" />
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<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="state0" value="WaitingForUpdateOrRequestOnObstacle" />
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+
+<COMPONENT type="5100" id="6450" index="8" uid="b54de5c4-7c18-4d1e-bed4-cddc321557a6" >
+<cdparam x="532" y="117" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="5409" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6449" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="PlausibilityCheck" minX="10" maxX="1400" minY="10" maxY="1400" >
-<CONNECTOR type="5102" id="5417" >
+<AVATARStateMachineDiagramPanel name="PlausibilityCheck" minX="10" maxX="1400" minY="10" maxY="1400" zoom="1.0" >
+<CONNECTOR type="5102" id="6457" index="0" uid="c145cab8-0c0b-4578-9de2-42773aae9cd5" >
<cdparam x="452" y="393" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Receive signal to choice" value="null" />
-<TGConnectingPoint num="0" id="5416" />
-<P1 x="452" y="393" id="5545" />
-<P2 x="452" y="408" id="5764" />
+<TGConnectingPoint num="0" id="6456" />
+<P1 x="452" y="393" id="6585" />
+<P2 x="452" y="408" id="6868" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5415" >
-<father id="5417" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6455" index="34" uid="7da8489e-6726-439c-895c-0f39b7061497" >
+<father id="6457" num="0" />
<cdparam x="452" y="433" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5411" />
-<TGConnectingPoint num="1" id="5412" />
-<TGConnectingPoint num="2" id="5413" />
-<TGConnectingPoint num="3" id="5414" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6451" />
+<TGConnectingPoint num="1" id="6452" />
+<TGConnectingPoint num="2" id="6453" />
+<TGConnectingPoint num="3" id="6454" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5424" >
+<CONNECTOR type="5102" id="6464" index="1" uid="05b01fcd-6639-4585-9e9b-b71710e35b13" >
<cdparam x="708" y="685" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="5423" />
-<P1 x="708" y="685" id="5607" />
-<P2 x="351" y="555" id="5730" />
+<TGConnectingPoint num="0" id="6463" />
+<P1 x="708" y="685" id="6647" />
+<P2 x="351" y="555" id="6802" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5422" >
-<father id="5424" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6462" index="35" uid="2d95142f-4158-4cb6-9a80-cde6480b4112" >
+<father id="6464" num="0" />
<cdparam x="665" y="652" />
-<sizeparam width="39" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="39" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5418" />
-<TGConnectingPoint num="1" id="5419" />
-<TGConnectingPoint num="2" id="5420" />
-<TGConnectingPoint num="3" id="5421" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6458" />
+<TGConnectingPoint num="1" id="6459" />
+<TGConnectingPoint num="2" id="6460" />
+<TGConnectingPoint num="3" id="6461" />
<extraparam>
-<guard value="[ else ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ else ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5433" >
+<CONNECTOR type="5102" id="6473" index="2" uid="ba1a5691-737e-4f1d-bb9f-6478b38be7a6" >
<cdparam x="698" y="550" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="5431" />
-<TGConnectingPoint num="1" id="5432" />
-<P1 x="698" y="550" id="5651" />
-<P2 x="351" y="548" id="5750" />
+<TGConnectingPoint num="0" id="6471" />
+<TGConnectingPoint num="1" id="6472" />
+<P1 x="698" y="550" id="6691" />
+<P2 x="351" y="548" id="6822" />
<Point x="399" y="552" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5425" >
-<father id="5433" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6465" index="36" uid="9260c700-6981-4ef2-bbf4-e3dcb27ab4b3" >
+<father id="6473" num="0" />
<cdparam x="399" y="552" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5430" >
-<father id="5433" num="1" />
+<SUBCOMPONENT type="-1" id="6470" index="37" uid="b0314096-5dbc-4de4-9de5-2b50454d0e17" >
+<father id="6473" num="1" />
<cdparam x="647" y="579" />
-<sizeparam width="39" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="39" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5426" />
-<TGConnectingPoint num="1" id="5427" />
-<TGConnectingPoint num="2" id="5428" />
-<TGConnectingPoint num="3" id="5429" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6466" />
+<TGConnectingPoint num="1" id="6467" />
+<TGConnectingPoint num="2" id="6468" />
+<TGConnectingPoint num="3" id="6469" />
<extraparam>
-<guard value="[ else ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ else ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5446" >
+<CONNECTOR type="5102" id="6486" index="3" uid="60758809-5808-4f82-a54e-c056004b0adc" >
<cdparam x="761" y="906" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="5442" />
-<TGConnectingPoint num="1" id="5443" />
-<TGConnectingPoint num="2" id="5444" />
-<TGConnectingPoint num="3" id="5445" />
-<P1 x="761" y="906" id="5623" />
-<P2 x="574" y="163" id="5824" />
+<TGConnectingPoint num="0" id="6482" />
+<TGConnectingPoint num="1" id="6483" />
+<TGConnectingPoint num="2" id="6484" />
+<TGConnectingPoint num="3" id="6485" />
+<P1 x="761" y="906" id="6663" />
+<P2 x="574" y="163" id="6928" />
<Point x="763" y="952" />
<Point x="998" y="955" />
<Point x="987" y="163" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5434" >
-<father id="5446" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6474" index="38" uid="30565854-8b9e-4a0f-8855-4afa3963a680" >
+<father id="6486" num="0" />
<cdparam x="763" y="952" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5435" >
-<father id="5446" num="1" />
+<SUBCOMPONENT type="-1" id="6475" index="39" uid="d81b8187-bf9b-4a26-8b19-b19f722a0c89" >
+<father id="6486" num="1" />
<cdparam x="998" y="955" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5436" >
-<father id="5446" num="2" />
+<SUBCOMPONENT type="-1" id="6476" index="40" uid="1a23e8e0-5849-475d-aa63-db3b45176bac" >
+<father id="6486" num="2" />
<cdparam x="987" y="163" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5441" >
-<father id="5446" num="3" />
+<SUBCOMPONENT type="-1" id="6481" index="41" uid="ce2fd10c-c91c-406e-8ff1-aafe2be86be4" >
+<father id="6486" num="3" />
<cdparam x="761" y="946" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5437" />
-<TGConnectingPoint num="1" id="5438" />
-<TGConnectingPoint num="2" id="5439" />
-<TGConnectingPoint num="3" id="5440" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6477" />
+<TGConnectingPoint num="1" id="6478" />
+<TGConnectingPoint num="2" id="6479" />
+<TGConnectingPoint num="3" id="6480" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5453" >
+<CONNECTOR type="5102" id="6493" index="4" uid="b3b3c4bc-209e-4150-a387-597aa7aaf490" >
<cdparam x="609" y="497" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="5452" />
-<P1 x="609" y="497" id="5709" />
-<P2 x="723" y="525" id="5650" />
+<TGConnectingPoint num="0" id="6492" />
+<P1 x="609" y="497" id="6781" />
+<P2 x="723" y="525" id="6690" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5451" >
-<father id="5453" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6491" index="42" uid="14ee0759-2b66-4ef6-839f-182cb7e64a06" >
+<father id="6493" num="0" />
<cdparam x="675" y="507" />
-<sizeparam width="166" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="166" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5447" />
-<TGConnectingPoint num="1" id="5448" />
-<TGConnectingPoint num="2" id="5449" />
-<TGConnectingPoint num="3" id="5450" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6487" />
+<TGConnectingPoint num="1" id="6488" />
+<TGConnectingPoint num="2" id="6489" />
+<TGConnectingPoint num="3" id="6490" />
<extraparam>
-<guard value="[ else ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ else ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5460" >
+<CONNECTOR type="5102" id="6500" index="5" uid="0c054c33-b0dd-49fd-81d2-d4633f4b678f" >
<cdparam x="559" y="497" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="5459" />
-<P1 x="559" y="497" id="5708" />
-<P2 x="351" y="530" id="5727" />
+<TGConnectingPoint num="0" id="6499" />
+<P1 x="559" y="497" id="6780" />
+<P2 x="351" y="530" id="6799" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5458" >
-<father id="5460" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6498" index="43" uid="80b715d9-b48a-4093-8613-5846b894fcf4" >
+<father id="6500" num="0" />
<cdparam x="423" y="498" />
-<sizeparam width="74" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="74" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5454" />
-<TGConnectingPoint num="1" id="5455" />
-<TGConnectingPoint num="2" id="5456" />
-<TGConnectingPoint num="3" id="5457" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6494" />
+<TGConnectingPoint num="1" id="6495" />
+<TGConnectingPoint num="2" id="6496" />
+<TGConnectingPoint num="3" id="6497" />
<extraparam>
-<guard value="[ speed < 3]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ speed < 3]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5467" >
+<CONNECTOR type="5102" id="6507" index="6" uid="3ca042d4-db8c-4cb3-b832-56166a005db8" >
<cdparam x="477" y="433" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to choice" value="null" />
-<TGConnectingPoint num="0" id="5466" />
-<P1 x="477" y="433" id="5766" />
-<P2 x="584" y="472" id="5707" />
+<TGConnectingPoint num="0" id="6506" />
+<P1 x="477" y="433" id="6870" />
+<P2 x="584" y="472" id="6779" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5465" >
-<father id="5467" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6505" index="44" uid="7d02d61a-f4e4-4ca1-a670-3d99a6ee63d7" >
+<father id="6507" num="0" />
<cdparam x="507" y="439" />
-<sizeparam width="86" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="86" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5461" />
-<TGConnectingPoint num="1" id="5462" />
-<TGConnectingPoint num="2" id="5463" />
-<TGConnectingPoint num="3" id="5464" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6501" />
+<TGConnectingPoint num="1" id="6502" />
+<TGConnectingPoint num="2" id="6503" />
+<TGConnectingPoint num="3" id="6504" />
<extraparam>
-<guard value="[ obstacle > 0]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ obstacle > 0]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5480" >
+<CONNECTOR type="5102" id="6520" index="7" uid="4fb1e109-3e06-4cbc-8246-aad9832a046e" >
<cdparam x="285" y="555" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="5476" />
-<TGConnectingPoint num="1" id="5477" />
-<TGConnectingPoint num="2" id="5478" />
-<TGConnectingPoint num="3" id="5479" />
-<P1 x="285" y="555" id="5729" />
-<P2 x="333" y="176" id="5816" />
+<TGConnectingPoint num="0" id="6516" />
+<TGConnectingPoint num="1" id="6517" />
+<TGConnectingPoint num="2" id="6518" />
+<TGConnectingPoint num="3" id="6519" />
+<P1 x="285" y="555" id="6801" />
+<P2 x="333" y="176" id="6920" />
<Point x="280" y="606" />
<Point x="196" y="609" />
<Point x="196" y="176" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5468" >
-<father id="5480" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6508" index="45" uid="c9da74ed-8d08-4b43-a48e-859af30d1309" >
+<father id="6520" num="0" />
<cdparam x="280" y="606" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5469" >
-<father id="5480" num="1" />
+<SUBCOMPONENT type="-1" id="6509" index="46" uid="821b731b-0b2d-4e8b-948a-1b9a47eb3149" >
+<father id="6520" num="1" />
<cdparam x="196" y="609" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5470" >
-<father id="5480" num="2" />
+<SUBCOMPONENT type="-1" id="6510" index="47" uid="b47560dd-786a-4779-b78d-8b32f96c0515" >
+<father id="6520" num="2" />
<cdparam x="196" y="176" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5475" >
-<father id="5480" num="3" />
+<SUBCOMPONENT type="-1" id="6515" index="48" uid="bfaffcdf-7c01-495d-be98-6555c2b4794e" >
+<father id="6520" num="3" />
<cdparam x="231" y="581" />
-<sizeparam width="115" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="115" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5471" />
-<TGConnectingPoint num="1" id="5472" />
-<TGConnectingPoint num="2" id="5473" />
-<TGConnectingPoint num="3" id="5474" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="emergencyIgnored()" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="5487" >
+<new d="false" />
+<TGConnectingPoint num="0" id="6511" />
+<TGConnectingPoint num="1" id="6512" />
+<TGConnectingPoint num="2" id="6513" />
+<TGConnectingPoint num="3" id="6514" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="emergencyIgnored()" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="6527" index="8" uid="6dab3524-5954-43b7-ab35-0d5c5960f3d0" >
<cdparam x="427" y="433" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="5486" />
-<P1 x="427" y="433" id="5765" />
-<P2 x="285" y="505" id="5724" />
+<TGConnectingPoint num="0" id="6526" />
+<P1 x="427" y="433" id="6869" />
+<P2 x="285" y="505" id="6796" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5485" >
-<father id="5487" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6525" index="49" uid="d33589a9-2f8d-4401-b50a-3b7989d20eb3" >
+<father id="6527" num="0" />
<cdparam x="278" y="444" />
-<sizeparam width="96" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="96" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5481" />
-<TGConnectingPoint num="1" id="5482" />
-<TGConnectingPoint num="2" id="5483" />
-<TGConnectingPoint num="3" id="5484" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6521" />
+<TGConnectingPoint num="1" id="6522" />
+<TGConnectingPoint num="2" id="6523" />
+<TGConnectingPoint num="3" id="6524" />
<extraparam>
-<guard value="[ obstacle == 0]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ obstacle == 0]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5494" >
+<CONNECTOR type="5102" id="6534" index="9" uid="4b72cba3-dddc-449b-abab-2bea1ee0256e" >
<cdparam x="452" y="132" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="5493" />
-<P1 x="452" y="132" id="5854" />
-<P2 x="453" y="151" id="5814" />
+<TGConnectingPoint num="0" id="6533" />
+<P1 x="452" y="132" id="6990" />
+<P2 x="453" y="151" id="6918" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5492" >
-<father id="5494" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6532" index="50" uid="417b9d0d-3309-4edc-93e8-34239ad75ccb" >
+<father id="6534" num="0" />
<cdparam x="452" y="172" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5488" />
-<TGConnectingPoint num="1" id="5489" />
-<TGConnectingPoint num="2" id="5490" />
-<TGConnectingPoint num="3" id="5491" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6528" />
+<TGConnectingPoint num="1" id="6529" />
+<TGConnectingPoint num="2" id="6530" />
+<TGConnectingPoint num="3" id="6531" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5501" >
+<CONNECTOR type="5102" id="6541" index="10" uid="c34b6e97-fcfb-40e7-b448-07ccf009860d" >
<cdparam x="453" y="201" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="5500" />
-<P1 x="453" y="201" id="5819" />
-<P2 x="453" y="221" id="5802" />
+<TGConnectingPoint num="0" id="6540" />
+<P1 x="453" y="201" id="6923" />
+<P2 x="453" y="221" id="6906" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5499" >
-<father id="5501" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6539" index="51" uid="8a93e72b-0235-416c-8259-41e11f7d4c50" >
+<father id="6541" num="0" />
<cdparam x="453" y="241" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5495" />
-<TGConnectingPoint num="1" id="5496" />
-<TGConnectingPoint num="2" id="5497" />
-<TGConnectingPoint num="3" id="5498" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6535" />
+<TGConnectingPoint num="1" id="6536" />
+<TGConnectingPoint num="2" id="6537" />
+<TGConnectingPoint num="3" id="6538" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5508" >
+<CONNECTOR type="5102" id="6548" index="11" uid="654b9766-3a0c-4c60-aa4a-e35134846f37" >
<cdparam x="453" y="251" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Receive signal to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="5507" />
-<P1 x="453" y="251" id="5803" />
-<P2 x="453" y="275" id="5791" />
+<TGConnectingPoint num="0" id="6547" />
+<P1 x="453" y="251" id="6907" />
+<P2 x="453" y="275" id="6895" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5506" >
-<father id="5508" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6546" index="52" uid="7a6139e9-08c6-445f-9785-b43c8b56ca2f" >
+<father id="6548" num="0" />
<cdparam x="453" y="291" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5502" />
-<TGConnectingPoint num="1" id="5503" />
-<TGConnectingPoint num="2" id="5504" />
-<TGConnectingPoint num="3" id="5505" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6542" />
+<TGConnectingPoint num="1" id="6543" />
+<TGConnectingPoint num="2" id="6544" />
+<TGConnectingPoint num="3" id="6545" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5515" >
+<CONNECTOR type="5102" id="6555" index="12" uid="8857bb22-d4da-4258-a380-08233444629e" >
<cdparam x="453" y="305" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Receive signal to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="5514" />
-<P1 x="453" y="305" id="5792" />
-<P2 x="452" y="326" id="5780" />
+<TGConnectingPoint num="0" id="6554" />
+<P1 x="453" y="305" id="6896" />
+<P2 x="452" y="326" id="6884" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5513" >
-<father id="5515" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6553" index="53" uid="a1970344-1f74-4cfc-83d6-764c7fb9a143" >
+<father id="6555" num="0" />
<cdparam x="453" y="345" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5509" />
-<TGConnectingPoint num="1" id="5510" />
-<TGConnectingPoint num="2" id="5511" />
-<TGConnectingPoint num="3" id="5512" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6549" />
+<TGConnectingPoint num="1" id="6550" />
+<TGConnectingPoint num="2" id="6551" />
+<TGConnectingPoint num="3" id="6552" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5522" >
+<CONNECTOR type="5102" id="6562" index="13" uid="672935b3-a20f-4e6f-8653-dea693e1b6d2" >
<cdparam x="452" y="386" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Receive signal to choice" value="null" />
-<TGConnectingPoint num="0" id="5521" />
-<P1 x="452" y="356" id="5781" />
-<P2 x="452" y="363" id="5544" />
+<TGConnectingPoint num="0" id="6561" />
+<P1 x="452" y="356" id="6885" />
+<P2 x="452" y="363" id="6584" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5520" >
-<father id="5522" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6560" index="54" uid="84a41161-8f6c-43ef-a32f-5585187eef62" >
+<father id="6562" num="0" />
<cdparam x="452" y="426" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5516" />
-<TGConnectingPoint num="1" id="5517" />
-<TGConnectingPoint num="2" id="5518" />
-<TGConnectingPoint num="3" id="5519" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6556" />
+<TGConnectingPoint num="1" id="6557" />
+<TGConnectingPoint num="2" id="6558" />
+<TGConnectingPoint num="3" id="6559" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5529" >
+<CONNECTOR type="5102" id="6569" index="14" uid="155700a9-f195-409c-b4eb-5392fb9d9e72" >
<cdparam x="763" y="841" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="5528" />
-<P1 x="763" y="841" id="5672" />
-<P2 x="761" y="876" id="5622" />
+<TGConnectingPoint num="0" id="6568" />
+<P1 x="763" y="841" id="6712" />
+<P2 x="761" y="876" id="6662" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5527" >
-<father id="5529" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6567" index="55" uid="746112f4-e153-4a21-a0b3-f3902b703e05" >
+<father id="6569" num="0" />
<cdparam x="763" y="881" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5523" />
-<TGConnectingPoint num="1" id="5524" />
-<TGConnectingPoint num="2" id="5525" />
-<TGConnectingPoint num="3" id="5526" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6563" />
+<TGConnectingPoint num="1" id="6564" />
+<TGConnectingPoint num="2" id="6565" />
+<TGConnectingPoint num="3" id="6566" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5536" >
+<CONNECTOR type="5102" id="6576" index="15" uid="ee2c731d-905b-4868-8539-0baea8b6dd5f" >
<cdparam x="723" y="575" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to choice" value="null" />
-<TGConnectingPoint num="0" id="5535" />
-<P1 x="723" y="575" id="5656" />
-<P2 x="733" y="660" id="5606" />
+<TGConnectingPoint num="0" id="6575" />
+<P1 x="723" y="575" id="6696" />
+<P2 x="733" y="660" id="6646" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5534" >
-<father id="5536" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6574" index="56" uid="797261d9-8e75-4112-aab3-3579d979878d" >
+<father id="6576" num="0" />
<cdparam x="734" y="596" />
-<sizeparam width="310" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="310" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5530" />
-<TGConnectingPoint num="1" id="5531" />
-<TGConnectingPoint num="2" id="5532" />
-<TGConnectingPoint num="3" id="5533" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6570" />
+<TGConnectingPoint num="1" id="6571" />
+<TGConnectingPoint num="2" id="6572" />
+<TGConnectingPoint num="3" id="6573" />
<extraparam>
-<guard value="[ (list.id0 == id) or (list.id1 == id) or (list.id2 == id)]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ (list.id0 == id) or (list.id1 == id) or (list.id2 == id)]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5543" >
+<CONNECTOR type="5102" id="6583" index="16" uid="1ee110f8-a670-485f-a663-2b7ff9bb88f2" >
<cdparam x="733" y="710" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="5542" />
-<P1 x="733" y="710" id="5612" />
-<P2 x="730" y="791" id="5683" />
+<TGConnectingPoint num="0" id="6582" />
+<P1 x="733" y="710" id="6652" />
+<P2 x="730" y="791" id="6723" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5541" >
-<father id="5543" num="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6581" index="57" uid="bd6fb006-2e7e-4f31-b33d-81a47fd56f64" >
+<father id="6583" num="0" />
<cdparam x="737" y="736" />
-<sizeparam width="173" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="173" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5537" />
-<TGConnectingPoint num="1" id="5538" />
-<TGConnectingPoint num="2" id="5539" />
-<TGConnectingPoint num="3" id="5540" />
-<extraparam>
-<guard value="[ position > currentPosition]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="emergencyTakenIntoAccount()" />
-</extraparam>
-</SUBCOMPONENT>
-
-<COMPONENT type="5104" id="5554" >
+<new d="false" />
+<TGConnectingPoint num="0" id="6577" />
+<TGConnectingPoint num="1" id="6578" />
+<TGConnectingPoint num="2" id="6579" />
+<TGConnectingPoint num="3" id="6580" />
+<extraparam>
+<guard value="[ position > currentPosition]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="emergencyTakenIntoAccount()" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5104" id="6594" index="17" uid="93bb4635-569e-406a-9517-fddc4bab1e66" >
<cdparam x="397" y="368" />
-<sizeparam width="110" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="110" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="Receive signal" value="getNodeList(list)" />
-<TGConnectingPoint num="0" id="5544" />
-<TGConnectingPoint num="1" id="5545" />
-<TGConnectingPoint num="2" id="5546" />
-<TGConnectingPoint num="3" id="5547" />
-<TGConnectingPoint num="4" id="5548" />
-<TGConnectingPoint num="5" id="5549" />
-<TGConnectingPoint num="6" id="5550" />
-<TGConnectingPoint num="7" id="5551" />
-<TGConnectingPoint num="8" id="5552" />
-<TGConnectingPoint num="9" id="5553" />
-</COMPONENT>
-
-<COMPONENT type="301" id="5571" >
+<new d="false" />
+<TGConnectingPoint num="0" id="6584" />
+<TGConnectingPoint num="1" id="6585" />
+<TGConnectingPoint num="2" id="6586" />
+<TGConnectingPoint num="3" id="6587" />
+<TGConnectingPoint num="4" id="6588" />
+<TGConnectingPoint num="5" id="6589" />
+<TGConnectingPoint num="6" id="6590" />
+<TGConnectingPoint num="7" id="6591" />
+<TGConnectingPoint num="8" id="6592" />
+<TGConnectingPoint num="9" id="6593" />
+</COMPONENT>
+
+<COMPONENT type="301" id="6611" index="18" uid="ac51f654-bced-418d-8dab-078730c03a70" >
<cdparam x="617" y="435" />
<sizeparam width="83" height="35" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="UML Note" value="Going fast?
" />
-<TGConnectingPoint num="0" id="5555" />
-<TGConnectingPoint num="1" id="5556" />
-<TGConnectingPoint num="2" id="5557" />
-<TGConnectingPoint num="3" id="5558" />
-<TGConnectingPoint num="4" id="5559" />
-<TGConnectingPoint num="5" id="5560" />
-<TGConnectingPoint num="6" id="5561" />
-<TGConnectingPoint num="7" id="5562" />
-<TGConnectingPoint num="8" id="5563" />
-<TGConnectingPoint num="9" id="5564" />
-<TGConnectingPoint num="10" id="5565" />
-<TGConnectingPoint num="11" id="5566" />
-<TGConnectingPoint num="12" id="5567" />
-<TGConnectingPoint num="13" id="5568" />
-<TGConnectingPoint num="14" id="5569" />
-<TGConnectingPoint num="15" id="5570" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6595" />
+<TGConnectingPoint num="1" id="6596" />
+<TGConnectingPoint num="2" id="6597" />
+<TGConnectingPoint num="3" id="6598" />
+<TGConnectingPoint num="4" id="6599" />
+<TGConnectingPoint num="5" id="6600" />
+<TGConnectingPoint num="6" id="6601" />
+<TGConnectingPoint num="7" id="6602" />
+<TGConnectingPoint num="8" id="6603" />
+<TGConnectingPoint num="9" id="6604" />
+<TGConnectingPoint num="10" id="6605" />
+<TGConnectingPoint num="11" id="6606" />
+<TGConnectingPoint num="12" id="6607" />
+<TGConnectingPoint num="13" id="6608" />
+<TGConnectingPoint num="14" id="6609" />
+<TGConnectingPoint num="15" id="6610" />
<extraparam>
<Line value="Going fast?" />
</extraparam>
</COMPONENT>
-<COMPONENT type="301" id="5588" >
+<COMPONENT type="301" id="6628" index="19" uid="2178112d-93c9-474e-8d1d-da6b8a9cff2b" >
<cdparam x="582" y="390" />
<sizeparam width="212" height="35" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="UML Note" value="Radar also detected an obstacle?
" />
-<TGConnectingPoint num="0" id="5572" />
-<TGConnectingPoint num="1" id="5573" />
-<TGConnectingPoint num="2" id="5574" />
-<TGConnectingPoint num="3" id="5575" />
-<TGConnectingPoint num="4" id="5576" />
-<TGConnectingPoint num="5" id="5577" />
-<TGConnectingPoint num="6" id="5578" />
-<TGConnectingPoint num="7" id="5579" />
-<TGConnectingPoint num="8" id="5580" />
-<TGConnectingPoint num="9" id="5581" />
-<TGConnectingPoint num="10" id="5582" />
-<TGConnectingPoint num="11" id="5583" />
-<TGConnectingPoint num="12" id="5584" />
-<TGConnectingPoint num="13" id="5585" />
-<TGConnectingPoint num="14" id="5586" />
-<TGConnectingPoint num="15" id="5587" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6612" />
+<TGConnectingPoint num="1" id="6613" />
+<TGConnectingPoint num="2" id="6614" />
+<TGConnectingPoint num="3" id="6615" />
+<TGConnectingPoint num="4" id="6616" />
+<TGConnectingPoint num="5" id="6617" />
+<TGConnectingPoint num="6" id="6618" />
+<TGConnectingPoint num="7" id="6619" />
+<TGConnectingPoint num="8" id="6620" />
+<TGConnectingPoint num="9" id="6621" />
+<TGConnectingPoint num="10" id="6622" />
+<TGConnectingPoint num="11" id="6623" />
+<TGConnectingPoint num="12" id="6624" />
+<TGConnectingPoint num="13" id="6625" />
+<TGConnectingPoint num="14" id="6626" />
+<TGConnectingPoint num="15" id="6627" />
<extraparam>
<Line value="Radar also detected an obstacle?" />
</extraparam>
</COMPONENT>
-<COMPONENT type="301" id="5605" >
+<COMPONENT type="301" id="6645" index="20" uid="c99a7fa7-1a88-4a58-9b0c-10b1cc9dbd7f" >
<cdparam x="775" y="658" />
<sizeparam width="115" height="35" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="UML Note" value="Obstacle ahead?
" />
-<TGConnectingPoint num="0" id="5589" />
-<TGConnectingPoint num="1" id="5590" />
-<TGConnectingPoint num="2" id="5591" />
-<TGConnectingPoint num="3" id="5592" />
-<TGConnectingPoint num="4" id="5593" />
-<TGConnectingPoint num="5" id="5594" />
-<TGConnectingPoint num="6" id="5595" />
-<TGConnectingPoint num="7" id="5596" />
-<TGConnectingPoint num="8" id="5597" />
-<TGConnectingPoint num="9" id="5598" />
-<TGConnectingPoint num="10" id="5599" />
-<TGConnectingPoint num="11" id="5600" />
-<TGConnectingPoint num="12" id="5601" />
-<TGConnectingPoint num="13" id="5602" />
-<TGConnectingPoint num="14" id="5603" />
-<TGConnectingPoint num="15" id="5604" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6629" />
+<TGConnectingPoint num="1" id="6630" />
+<TGConnectingPoint num="2" id="6631" />
+<TGConnectingPoint num="3" id="6632" />
+<TGConnectingPoint num="4" id="6633" />
+<TGConnectingPoint num="5" id="6634" />
+<TGConnectingPoint num="6" id="6635" />
+<TGConnectingPoint num="7" id="6636" />
+<TGConnectingPoint num="8" id="6637" />
+<TGConnectingPoint num="9" id="6638" />
+<TGConnectingPoint num="10" id="6639" />
+<TGConnectingPoint num="11" id="6640" />
+<TGConnectingPoint num="12" id="6641" />
+<TGConnectingPoint num="13" id="6642" />
+<TGConnectingPoint num="14" id="6643" />
+<TGConnectingPoint num="15" id="6644" />
<extraparam>
<Line value="Obstacle ahead?" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5107" id="5621" >
+<COMPONENT type="5107" id="6661" index="21" uid="f8df4bb9-21f4-465e-a862-3f384b546ae4" >
<cdparam x="718" y="670" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="5606" />
-<TGConnectingPoint num="1" id="5607" />
-<TGConnectingPoint num="2" id="5608" />
-<TGConnectingPoint num="3" id="5609" />
-<TGConnectingPoint num="4" id="5610" />
-<TGConnectingPoint num="5" id="5611" />
-<TGConnectingPoint num="6" id="5612" />
-<TGConnectingPoint num="7" id="5613" />
-<TGConnectingPoint num="8" id="5614" />
-<TGConnectingPoint num="9" id="5615" />
-<TGConnectingPoint num="10" id="5616" />
-<TGConnectingPoint num="11" id="5617" />
-<TGConnectingPoint num="12" id="5618" />
-<TGConnectingPoint num="13" id="5619" />
-<TGConnectingPoint num="14" id="5620" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="5632" >
+<new d="false" />
+<TGConnectingPoint num="0" id="6646" />
+<TGConnectingPoint num="1" id="6647" />
+<TGConnectingPoint num="2" id="6648" />
+<TGConnectingPoint num="3" id="6649" />
+<TGConnectingPoint num="4" id="6650" />
+<TGConnectingPoint num="5" id="6651" />
+<TGConnectingPoint num="6" id="6652" />
+<TGConnectingPoint num="7" id="6653" />
+<TGConnectingPoint num="8" id="6654" />
+<TGConnectingPoint num="9" id="6655" />
+<TGConnectingPoint num="10" id="6656" />
+<TGConnectingPoint num="11" id="6657" />
+<TGConnectingPoint num="12" id="6658" />
+<TGConnectingPoint num="13" id="6659" />
+<TGConnectingPoint num="14" id="6660" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="6672" index="22" uid="31e1dfc8-d8f0-41a7-856f-00bdc0c04e73" >
<cdparam x="644" y="881" />
-<sizeparam width="234" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="234" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="Send signal" value="brake(speed, currentPosition, position)" />
-<TGConnectingPoint num="0" id="5622" />
-<TGConnectingPoint num="1" id="5623" />
-<TGConnectingPoint num="2" id="5624" />
-<TGConnectingPoint num="3" id="5625" />
-<TGConnectingPoint num="4" id="5626" />
-<TGConnectingPoint num="5" id="5627" />
-<TGConnectingPoint num="6" id="5628" />
-<TGConnectingPoint num="7" id="5629" />
-<TGConnectingPoint num="8" id="5630" />
-<TGConnectingPoint num="9" id="5631" />
-</COMPONENT>
-
-<COMPONENT type="301" id="5649" >
+<new d="false" />
+<TGConnectingPoint num="0" id="6662" />
+<TGConnectingPoint num="1" id="6663" />
+<TGConnectingPoint num="2" id="6664" />
+<TGConnectingPoint num="3" id="6665" />
+<TGConnectingPoint num="4" id="6666" />
+<TGConnectingPoint num="5" id="6667" />
+<TGConnectingPoint num="6" id="6668" />
+<TGConnectingPoint num="7" id="6669" />
+<TGConnectingPoint num="8" id="6670" />
+<TGConnectingPoint num="9" id="6671" />
+</COMPONENT>
+
+<COMPONENT type="301" id="6689" index="23" uid="658b811b-3e64-4322-ac98-4e7179fec086" >
<cdparam x="765" y="511" />
<sizeparam width="75" height="35" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="UML Note" value="KnownID?
" />
-<TGConnectingPoint num="0" id="5633" />
-<TGConnectingPoint num="1" id="5634" />
-<TGConnectingPoint num="2" id="5635" />
-<TGConnectingPoint num="3" id="5636" />
-<TGConnectingPoint num="4" id="5637" />
-<TGConnectingPoint num="5" id="5638" />
-<TGConnectingPoint num="6" id="5639" />
-<TGConnectingPoint num="7" id="5640" />
-<TGConnectingPoint num="8" id="5641" />
-<TGConnectingPoint num="9" id="5642" />
-<TGConnectingPoint num="10" id="5643" />
-<TGConnectingPoint num="11" id="5644" />
-<TGConnectingPoint num="12" id="5645" />
-<TGConnectingPoint num="13" id="5646" />
-<TGConnectingPoint num="14" id="5647" />
-<TGConnectingPoint num="15" id="5648" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6673" />
+<TGConnectingPoint num="1" id="6674" />
+<TGConnectingPoint num="2" id="6675" />
+<TGConnectingPoint num="3" id="6676" />
+<TGConnectingPoint num="4" id="6677" />
+<TGConnectingPoint num="5" id="6678" />
+<TGConnectingPoint num="6" id="6679" />
+<TGConnectingPoint num="7" id="6680" />
+<TGConnectingPoint num="8" id="6681" />
+<TGConnectingPoint num="9" id="6682" />
+<TGConnectingPoint num="10" id="6683" />
+<TGConnectingPoint num="11" id="6684" />
+<TGConnectingPoint num="12" id="6685" />
+<TGConnectingPoint num="13" id="6686" />
+<TGConnectingPoint num="14" id="6687" />
+<TGConnectingPoint num="15" id="6688" />
<extraparam>
<Line value="KnownID?" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5107" id="5665" >
+<COMPONENT type="5107" id="6705" index="24" uid="47b9f2e7-93d0-4998-88ea-0121a74053b0" >
<cdparam x="708" y="535" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="5650" />
-<TGConnectingPoint num="1" id="5651" />
-<TGConnectingPoint num="2" id="5652" />
-<TGConnectingPoint num="3" id="5653" />
-<TGConnectingPoint num="4" id="5654" />
-<TGConnectingPoint num="5" id="5655" />
-<TGConnectingPoint num="6" id="5656" />
-<TGConnectingPoint num="7" id="5657" />
-<TGConnectingPoint num="8" id="5658" />
-<TGConnectingPoint num="9" id="5659" />
-<TGConnectingPoint num="10" id="5660" />
-<TGConnectingPoint num="11" id="5661" />
-<TGConnectingPoint num="12" id="5662" />
-<TGConnectingPoint num="13" id="5663" />
-<TGConnectingPoint num="14" id="5664" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="5706" >
+<new d="false" />
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<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="state0" value="WaitingForEmergencyMessage" />
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-</COMPONENT>
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-<COMPONENT type="5100" id="5855" >
+<new d="false" />
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+</COMPONENT>
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<cdparam x="445" y="112" />
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="5854" />
+<new d="false" />
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</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="VehiculeDynamicsManagement" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="5862" >
-<cdparam x="686" y="231" />
+<AVATARStateMachineDiagramPanel name="ObjectListManagement" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<CONNECTOR type="5102" id="7004" index="0" uid="bfb78001-1be6-45fc-8cbc-405c18c33416" >
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-<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="5861" />
-<P1 x="686" y="231" id="5940" />
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+<infoparam name="connector from Send signal to state0" value="null" />
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<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5860" >
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+<new d="false" />
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
+<infoparam name="point " value="null" />
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</SUBCOMPONENT>
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-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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-<TGConnectingPoint num="3" id="5866" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
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-<CONNECTOR type="5102" id="5876" >
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-<infoparam name="connector from start state to state0" value="null" />
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-<AutomaticDrawing data="true" />
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-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="6999" index="12" uid="59e14e26-2c14-4959-bf3d-80e2ede68190" >
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<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5870" />
-<TGConnectingPoint num="1" id="5871" />
-<TGConnectingPoint num="2" id="5872" />
-<TGConnectingPoint num="3" id="5873" />
+<new d="false" />
+<TGConnectingPoint num="0" id="6995" />
+<TGConnectingPoint num="1" id="6996" />
+<TGConnectingPoint num="2" id="6997" />
+<TGConnectingPoint num="3" id="6998" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5889" >
-<cdparam x="467" y="330" />
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<infoparam name="connector from Receive signal to state0" value="null" />
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-<Point x="466" y="362" />
-<Point x="356" y="376" />
-<Point x="363" y="193" />
+<TGConnectingPoint num="0" id="7013" />
+<TGConnectingPoint num="1" id="7014" />
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<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5877" >
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-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
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-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5879" >
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-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5884" >
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-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5880" />
-<TGConnectingPoint num="1" id="5881" />
-<TGConnectingPoint num="2" id="5882" />
-<TGConnectingPoint num="3" id="5883" />
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+<TGConnectingPoint num="2" id="7010" />
+<TGConnectingPoint num="3" id="7011" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
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+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
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+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5902" >
-<cdparam x="697" y="331" />
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<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Send signal to state0" value="null" />
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-<P2 x="755" y="199" id="5948" />
-<Point x="695" y="350" />
-<Point x="807" y="354" />
-<Point x="821" y="160" />
+<infoparam name="connector from start state to state0" value="null" />
+<TGConnectingPoint num="0" id="7023" />
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<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5890" >
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-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
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-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="7022" index="17" uid="310344f1-e896-4528-afbc-c4d0045de0f3" >
+<father id="7024" num="0" />
+<cdparam x="448" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7018" />
+<TGConnectingPoint num="1" id="7019" />
+<TGConnectingPoint num="2" id="7020" />
+<TGConnectingPoint num="3" id="7021" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5892" >
-<father id="5902" num="2" />
-<cdparam x="821" y="160" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+
+<CONNECTOR type="5102" id="7031" index="3" uid="f9efa52b-fe59-497b-8066-a760db55e5bb" >
+<cdparam x="364" y="243" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to Receive signal" value="null" />
+<TGConnectingPoint num="0" id="7030" />
+<P1 x="364" y="243" id="7089" />
+<P2 x="318" y="312" id="7050" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="7029" index="18" uid="4f1cf65c-4e15-408d-9dc0-7a67d0b82e74" >
+<father id="7031" num="0" />
+<cdparam x="364" y="283" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7025" />
+<TGConnectingPoint num="1" id="7026" />
+<TGConnectingPoint num="2" id="7027" />
+<TGConnectingPoint num="3" id="7028" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5897" >
-<father id="5902" num="3" />
-<cdparam x="697" y="371" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+
+<CONNECTOR type="5102" id="7038" index="4" uid="6d2b8e6b-610e-4834-a5da-983273fc739c" >
+<cdparam x="537" y="243" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to Send signal" value="null" />
+<TGConnectingPoint num="0" id="7037" />
+<P1 x="537" y="243" id="7076" />
+<P2 x="548" y="313" id="7039" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="7036" index="19" uid="412e614b-2bc7-44a4-b026-4a07e050ae1f" >
+<father id="7038" num="0" />
+<cdparam x="537" y="283" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5893" />
-<TGConnectingPoint num="1" id="5894" />
-<TGConnectingPoint num="2" id="5895" />
-<TGConnectingPoint num="3" id="5896" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7032" />
+<TGConnectingPoint num="1" id="7033" />
+<TGConnectingPoint num="2" id="7034" />
+<TGConnectingPoint num="3" id="7035" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5103" id="5913" >
-<cdparam x="625" y="306" />
-<sizeparam width="145" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="7049" index="5" uid="ffcb1f82-28de-4252-b563-3f61c9de4102" >
+<cdparam x="463" y="318" />
+<sizeparam width="171" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="getInfoOnSpeed(speed)" />
-<TGConnectingPoint num="0" id="5903" />
-<TGConnectingPoint num="1" id="5904" />
-<TGConnectingPoint num="2" id="5905" />
-<TGConnectingPoint num="3" id="5906" />
-<TGConnectingPoint num="4" id="5907" />
-<TGConnectingPoint num="5" id="5908" />
-<TGConnectingPoint num="6" id="5909" />
-<TGConnectingPoint num="7" id="5910" />
-<TGConnectingPoint num="8" id="5911" />
-<TGConnectingPoint num="9" id="5912" />
-</COMPONENT>
-
-<COMPONENT type="5104" id="5924" >
-<cdparam x="390" y="305" />
-<sizeparam width="155" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Send signal" value="getInfoOnObstacle(obstacle)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7039" />
+<TGConnectingPoint num="1" id="7040" />
+<TGConnectingPoint num="2" id="7041" />
+<TGConnectingPoint num="3" id="7042" />
+<TGConnectingPoint num="4" id="7043" />
+<TGConnectingPoint num="5" id="7044" />
+<TGConnectingPoint num="6" id="7045" />
+<TGConnectingPoint num="7" id="7046" />
+<TGConnectingPoint num="8" id="7047" />
+<TGConnectingPoint num="9" id="7048" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="7060" index="6" uid="fe9e513a-879d-4178-9c4e-2e61990c11b7" >
+<cdparam x="233" y="317" />
+<sizeparam width="170" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="updateOnSpeed(speed)" />
-<TGConnectingPoint num="0" id="5914" />
-<TGConnectingPoint num="1" id="5915" />
-<TGConnectingPoint num="2" id="5916" />
-<TGConnectingPoint num="3" id="5917" />
-<TGConnectingPoint num="4" id="5918" />
-<TGConnectingPoint num="5" id="5919" />
-<TGConnectingPoint num="6" id="5920" />
-<TGConnectingPoint num="7" id="5921" />
-<TGConnectingPoint num="8" id="5922" />
-<TGConnectingPoint num="9" id="5923" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="5965" >
-<cdparam x="481" y="181" />
+<infoparam name="Receive signal" value="isObstacleAhead(obstacle)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7050" />
+<TGConnectingPoint num="1" id="7051" />
+<TGConnectingPoint num="2" id="7052" />
+<TGConnectingPoint num="3" id="7053" />
+<TGConnectingPoint num="4" id="7054" />
+<TGConnectingPoint num="5" id="7055" />
+<TGConnectingPoint num="6" id="7056" />
+<TGConnectingPoint num="7" id="7057" />
+<TGConnectingPoint num="8" id="7058" />
+<TGConnectingPoint num="9" id="7059" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="7133" index="7" uid="32978a90-f315-49e1-89f5-cac8742353e6" >
+<cdparam x="332" y="193" />
<sizeparam width="274" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="state0" value="WaitingForUpdateOrRequestOnObstacle" />
-<TGConnectingPoint num="0" id="5925" />
-<TGConnectingPoint num="1" id="5926" />
-<TGConnectingPoint num="2" id="5927" />
-<TGConnectingPoint num="3" id="5928" />
-<TGConnectingPoint num="4" id="5929" />
-<TGConnectingPoint num="5" id="5930" />
-<TGConnectingPoint num="6" id="5931" />
-<TGConnectingPoint num="7" id="5932" />
-<TGConnectingPoint num="8" id="5933" />
-<TGConnectingPoint num="9" id="5934" />
-<TGConnectingPoint num="10" id="5935" />
-<TGConnectingPoint num="11" id="5936" />
-<TGConnectingPoint num="12" id="5937" />
-<TGConnectingPoint num="13" id="5938" />
-<TGConnectingPoint num="14" id="5939" />
-<TGConnectingPoint num="15" id="5940" />
-<TGConnectingPoint num="16" id="5941" />
-<TGConnectingPoint num="17" id="5942" />
-<TGConnectingPoint num="18" id="5943" />
-<TGConnectingPoint num="19" id="5944" />
-<TGConnectingPoint num="20" id="5945" />
-<TGConnectingPoint num="21" id="5946" />
-<TGConnectingPoint num="22" id="5947" />
-<TGConnectingPoint num="23" id="5948" />
-<TGConnectingPoint num="24" id="5949" />
-<TGConnectingPoint num="25" id="5950" />
-<TGConnectingPoint num="26" id="5951" />
-<TGConnectingPoint num="27" id="5952" />
-<TGConnectingPoint num="28" id="5953" />
-<TGConnectingPoint num="29" id="5954" />
-<TGConnectingPoint num="30" id="5955" />
-<TGConnectingPoint num="31" id="5956" />
-<TGConnectingPoint num="32" id="5957" />
-<TGConnectingPoint num="33" id="5958" />
-<TGConnectingPoint num="34" id="5959" />
-<TGConnectingPoint num="35" id="5960" />
-<TGConnectingPoint num="36" id="5961" />
-<TGConnectingPoint num="37" id="5962" />
-<TGConnectingPoint num="38" id="5963" />
-<TGConnectingPoint num="39" id="5964" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="5967" >
-<cdparam x="532" y="117" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7061" />
+<TGConnectingPoint num="1" id="7062" />
+<TGConnectingPoint num="2" id="7063" />
+<TGConnectingPoint num="3" id="7064" />
+<TGConnectingPoint num="4" id="7065" />
+<TGConnectingPoint num="5" id="7066" />
+<TGConnectingPoint num="6" id="7067" />
+<TGConnectingPoint num="7" id="7068" />
+<TGConnectingPoint num="8" id="7069" />
+<TGConnectingPoint num="9" id="7070" />
+<TGConnectingPoint num="10" id="7071" />
+<TGConnectingPoint num="11" id="7072" />
+<TGConnectingPoint num="12" id="7073" />
+<TGConnectingPoint num="13" id="7074" />
+<TGConnectingPoint num="14" id="7075" />
+<TGConnectingPoint num="15" id="7076" />
+<TGConnectingPoint num="16" id="7077" />
+<TGConnectingPoint num="17" id="7078" />
+<TGConnectingPoint num="18" id="7079" />
+<TGConnectingPoint num="19" id="7080" />
+<TGConnectingPoint num="20" id="7081" />
+<TGConnectingPoint num="21" id="7082" />
+<TGConnectingPoint num="22" id="7083" />
+<TGConnectingPoint num="23" id="7084" />
+<TGConnectingPoint num="24" id="7085" />
+<TGConnectingPoint num="25" id="7086" />
+<TGConnectingPoint num="26" id="7087" />
+<TGConnectingPoint num="27" id="7088" />
+<TGConnectingPoint num="28" id="7089" />
+<TGConnectingPoint num="29" id="7090" />
+<TGConnectingPoint num="30" id="7091" />
+<TGConnectingPoint num="31" id="7092" />
+<TGConnectingPoint num="32" id="7093" />
+<TGConnectingPoint num="33" id="7094" />
+<TGConnectingPoint num="34" id="7095" />
+<TGConnectingPoint num="35" id="7096" />
+<TGConnectingPoint num="36" id="7097" />
+<TGConnectingPoint num="37" id="7098" />
+<TGConnectingPoint num="38" id="7099" />
+<TGConnectingPoint num="39" id="7100" />
+<TGConnectingPoint num="40" id="7101" />
+<TGConnectingPoint num="41" id="7102" />
+<TGConnectingPoint num="42" id="7103" />
+<TGConnectingPoint num="43" id="7104" />
+<TGConnectingPoint num="44" id="7105" />
+<TGConnectingPoint num="45" id="7106" />
+<TGConnectingPoint num="46" id="7107" />
+<TGConnectingPoint num="47" id="7108" />
+<TGConnectingPoint num="48" id="7109" />
+<TGConnectingPoint num="49" id="7110" />
+<TGConnectingPoint num="50" id="7111" />
+<TGConnectingPoint num="51" id="7112" />
+<TGConnectingPoint num="52" id="7113" />
+<TGConnectingPoint num="53" id="7114" />
+<TGConnectingPoint num="54" id="7115" />
+<TGConnectingPoint num="55" id="7116" />
+<TGConnectingPoint num="56" id="7117" />
+<TGConnectingPoint num="57" id="7118" />
+<TGConnectingPoint num="58" id="7119" />
+<TGConnectingPoint num="59" id="7120" />
+<TGConnectingPoint num="60" id="7121" />
+<TGConnectingPoint num="61" id="7122" />
+<TGConnectingPoint num="62" id="7123" />
+<TGConnectingPoint num="63" id="7124" />
+<TGConnectingPoint num="64" id="7125" />
+<TGConnectingPoint num="65" id="7126" />
+<TGConnectingPoint num="66" id="7127" />
+<TGConnectingPoint num="67" id="7128" />
+<TGConnectingPoint num="68" id="7129" />
+<TGConnectingPoint num="69" id="7130" />
+<TGConnectingPoint num="70" id="7131" />
+<TGConnectingPoint num="71" id="7132" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="7135" index="8" uid="d1ca4e2b-6fa0-44c7-b47a-ac919fc289bc" >
+<cdparam x="383" y="129" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="5966" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7134" />
</COMPONENT>
@@ -13543,1642 +16080,1719 @@ Otherwise, the most far away
<Modeling type="ADD" nameTab="Avatar Deployment" >
<ADDDiagramPanel name="Deployment Diagram" minX="10" maxX="1400" minY="10" maxY="900" attributes="0" masterClockFrequency="200" >
-<COMPONENT type="5363" id="5992" >
+<COMPONENT type="5363" id="7160" index="0" uid="4bbc063e-4d85-4caf-b3de-2d253e473679" >
<cdparam x="492" y="462" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Bus0" value="name" />
-<TGConnectingPoint num="0" id="5968" />
-<TGConnectingPoint num="1" id="5969" />
-<TGConnectingPoint num="2" id="5970" />
-<TGConnectingPoint num="3" id="5971" />
-<TGConnectingPoint num="4" id="5972" />
-<TGConnectingPoint num="5" id="5973" />
-<TGConnectingPoint num="6" id="5974" />
-<TGConnectingPoint num="7" id="5975" />
-<TGConnectingPoint num="8" id="5976" />
-<TGConnectingPoint num="9" id="5977" />
-<TGConnectingPoint num="10" id="5978" />
-<TGConnectingPoint num="11" id="5979" />
-<TGConnectingPoint num="12" id="5980" />
-<TGConnectingPoint num="13" id="5981" />
-<TGConnectingPoint num="14" id="5982" />
-<TGConnectingPoint num="15" id="5983" />
-<TGConnectingPoint num="16" id="5984" />
-<TGConnectingPoint num="17" id="5985" />
-<TGConnectingPoint num="18" id="5986" />
-<TGConnectingPoint num="19" id="5987" />
-<TGConnectingPoint num="20" id="5988" />
-<TGConnectingPoint num="21" id="5989" />
-<TGConnectingPoint num="22" id="5990" />
-<TGConnectingPoint num="23" id="5991" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7136" />
+<TGConnectingPoint num="1" id="7137" />
+<TGConnectingPoint num="2" id="7138" />
+<TGConnectingPoint num="3" id="7139" />
+<TGConnectingPoint num="4" id="7140" />
+<TGConnectingPoint num="5" id="7141" />
+<TGConnectingPoint num="6" id="7142" />
+<TGConnectingPoint num="7" id="7143" />
+<TGConnectingPoint num="8" id="7144" />
+<TGConnectingPoint num="9" id="7145" />
+<TGConnectingPoint num="10" id="7146" />
+<TGConnectingPoint num="11" id="7147" />
+<TGConnectingPoint num="12" id="7148" />
+<TGConnectingPoint num="13" id="7149" />
+<TGConnectingPoint num="14" id="7150" />
+<TGConnectingPoint num="15" id="7151" />
+<TGConnectingPoint num="16" id="7152" />
+<TGConnectingPoint num="17" id="7153" />
+<TGConnectingPoint num="18" id="7154" />
+<TGConnectingPoint num="19" id="7155" />
+<TGConnectingPoint num="20" id="7156" />
+<TGConnectingPoint num="21" id="7157" />
+<TGConnectingPoint num="22" id="7158" />
+<TGConnectingPoint num="23" id="7159" />
<extraparam>
<info stereotype="VGSB" nodeName="Bus0" />
<attributes index="0" nbOfAttachedInitiators="0" nbOfAttachedTargets="0" minLatency="0" fifoDepth="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5363" id="6017" >
+<COMPONENT type="5363" id="7185" index="1" uid="20ce69d4-8f4b-4c05-9936-f09e1756eec9" >
<cdparam x="455" y="392" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Crossbar1" value="name" />
-<TGConnectingPoint num="0" id="5993" />
-<TGConnectingPoint num="1" id="5994" />
-<TGConnectingPoint num="2" id="5995" />
-<TGConnectingPoint num="3" id="5996" />
-<TGConnectingPoint num="4" id="5997" />
-<TGConnectingPoint num="5" id="5998" />
-<TGConnectingPoint num="6" id="5999" />
-<TGConnectingPoint num="7" id="6000" />
-<TGConnectingPoint num="8" id="6001" />
-<TGConnectingPoint num="9" id="6002" />
-<TGConnectingPoint num="10" id="6003" />
-<TGConnectingPoint num="11" id="6004" />
-<TGConnectingPoint num="12" id="6005" />
-<TGConnectingPoint num="13" id="6006" />
-<TGConnectingPoint num="14" id="6007" />
-<TGConnectingPoint num="15" id="6008" />
-<TGConnectingPoint num="16" id="6009" />
-<TGConnectingPoint num="17" id="6010" />
-<TGConnectingPoint num="18" id="6011" />
-<TGConnectingPoint num="19" id="6012" />
-<TGConnectingPoint num="20" id="6013" />
-<TGConnectingPoint num="21" id="6014" />
-<TGConnectingPoint num="22" id="6015" />
-<TGConnectingPoint num="23" id="6016" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7161" />
+<TGConnectingPoint num="1" id="7162" />
+<TGConnectingPoint num="2" id="7163" />
+<TGConnectingPoint num="3" id="7164" />
+<TGConnectingPoint num="4" id="7165" />
+<TGConnectingPoint num="5" id="7166" />
+<TGConnectingPoint num="6" id="7167" />
+<TGConnectingPoint num="7" id="7168" />
+<TGConnectingPoint num="8" id="7169" />
+<TGConnectingPoint num="9" id="7170" />
+<TGConnectingPoint num="10" id="7171" />
+<TGConnectingPoint num="11" id="7172" />
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<info stereotype="TTY" nodeName="TTY2" />
<attributes index="2" />
</extraparam>
</COMPONENT>
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<extraparam>
<info stereotype="RAM" nodeName="Memory0" />
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</COMPONENT>
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<extraparam>
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</extraparam>
</SUBCOMPONENT>
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<extraparam>
-<info value="GPSSensor/out setPosition" channelName="GPSSensor/out setPosition(int currentPosition) #--# NeighbourhoodTableManagement/in setPosition(int currentPosition)" fullChannelName="" referenceDiagram="AVATAR Design" />
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</extraparam>
</SUBCOMPONENT>
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<infoparam name="TGComponent" value="SpeedSensor/out updateOnSpeed" />
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<extraparam>
<info value="SpeedSensor/out updateOnSpeed" channelName="SpeedSensor/out updateOnSpeed(int speed) #--# VehiculeDynamicsManagement/in updateOnSpeed(int speed)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
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<extraparam>
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</extraparam>
</SUBCOMPONENT>
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</COMPONENT>
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<extraparam>
-<info value="DangerAvoidanceStrategy/out brakePower" channelName="DangerAvoidanceStrategy/out brakePower(int value) #--# BrakeManagement/in brake(int value)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="NeighbourhoodTableManagement/out sendTable" channelName="NeighbourhoodTableManagement/out sendTable(int currentPosition, NodeList list) #--# PlausibilityCheck/in getNodeList(NodeList list)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
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-<sizeparam width="361" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5362" id="7846" index="69" uid="94de2e03-391f-4c5d-b4c1-a05e41478755" >
+<father id="7880" num="1" />
+<cdparam x="966" y="629" />
+<sizeparam width="333" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-204" minY="0" maxY="69" />
+<cdrectangleparam minX="0" maxX="-176" minY="0" maxY="69" />
<infoparam name="TGComponent" value="CorrectnessChecking/out toPlausibityCheckMessage" />
-<TGConnectingPoint num="0" id="6670" />
-<TGConnectingPoint num="1" id="6671" />
-<TGConnectingPoint num="2" id="6672" />
-<TGConnectingPoint num="3" id="6673" />
-<TGConnectingPoint num="4" id="6674" />
-<TGConnectingPoint num="5" id="6675" />
-<TGConnectingPoint num="6" id="6676" />
-<TGConnectingPoint num="7" id="6677" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7838" />
+<TGConnectingPoint num="1" id="7839" />
+<TGConnectingPoint num="2" id="7840" />
+<TGConnectingPoint num="3" id="7841" />
+<TGConnectingPoint num="4" id="7842" />
+<TGConnectingPoint num="5" id="7843" />
+<TGConnectingPoint num="6" id="7844" />
+<TGConnectingPoint num="7" id="7845" />
<extraparam>
<info value="CorrectnessChecking/out toPlausibityCheckMessage" channelName="CorrectnessChecking/out toPlausibityCheckMessage(int id, int position) #--# PlausibilityCheck/in getEmergencyMessageToVerify(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5362" id="6687" >
-<father id="6712" num="2" />
-<cdparam x="964" y="657" />
-<sizeparam width="335" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5362" id="7855" index="70" uid="245a80f9-56c5-4806-940c-eed7fcb76340" >
+<father id="7880" num="2" />
+<cdparam x="1020" y="614" />
+<sizeparam width="279" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-178" minY="0" maxY="69" />
-<infoparam name="TGComponent" value="NeighbourhoodTableManagement/out sendTable" />
-<TGConnectingPoint num="0" id="6679" />
-<TGConnectingPoint num="1" id="6680" />
-<TGConnectingPoint num="2" id="6681" />
-<TGConnectingPoint num="3" id="6682" />
-<TGConnectingPoint num="4" id="6683" />
-<TGConnectingPoint num="5" id="6684" />
-<TGConnectingPoint num="6" id="6685" />
-<TGConnectingPoint num="7" id="6686" />
+<cdrectangleparam minX="0" maxX="-122" minY="0" maxY="69" />
+<infoparam name="TGComponent" value="DangerAvoidanceStrategy/out brakePower" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7847" />
+<TGConnectingPoint num="1" id="7848" />
+<TGConnectingPoint num="2" id="7849" />
+<TGConnectingPoint num="3" id="7850" />
+<TGConnectingPoint num="4" id="7851" />
+<TGConnectingPoint num="5" id="7852" />
+<TGConnectingPoint num="6" id="7853" />
+<TGConnectingPoint num="7" id="7854" />
<extraparam>
-<info value="NeighbourhoodTableManagement/out sendTable" channelName="NeighbourhoodTableManagement/out sendTable(int currentPosition, NodeList list) #--# PlausibilityCheck/in getNodeList(NodeList list)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DangerAvoidanceStrategy/out brakePower" channelName="DangerAvoidanceStrategy/out brakePower(int value) #--# BrakeManagement/in brake(int value)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5355" id="6764" >
+<COMPONENT type="5355" id="7932" index="19" uid="9e68e775-a581-4733-941a-221da00cfedb" >
<cdparam x="369" y="259" />
<sizeparam width="157" height="109" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Memory1" value="name" />
-<TGConnectingPoint num="0" id="6740" />
-<TGConnectingPoint num="1" id="6741" />
-<TGConnectingPoint num="2" id="6742" />
-<TGConnectingPoint num="3" id="6743" />
-<TGConnectingPoint num="4" id="6744" />
-<TGConnectingPoint num="5" id="6745" />
-<TGConnectingPoint num="6" id="6746" />
-<TGConnectingPoint num="7" id="6747" />
-<TGConnectingPoint num="8" id="6748" />
-<TGConnectingPoint num="9" id="6749" />
-<TGConnectingPoint num="10" id="6750" />
-<TGConnectingPoint num="11" id="6751" />
-<TGConnectingPoint num="12" id="6752" />
-<TGConnectingPoint num="13" id="6753" />
-<TGConnectingPoint num="14" id="6754" />
-<TGConnectingPoint num="15" id="6755" />
-<TGConnectingPoint num="16" id="6756" />
-<TGConnectingPoint num="17" id="6757" />
-<TGConnectingPoint num="18" id="6758" />
-<TGConnectingPoint num="19" id="6759" />
-<TGConnectingPoint num="20" id="6760" />
-<TGConnectingPoint num="21" id="6761" />
-<TGConnectingPoint num="22" id="6762" />
-<TGConnectingPoint num="23" id="6763" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7908" />
+<TGConnectingPoint num="1" id="7909" />
+<TGConnectingPoint num="2" id="7910" />
+<TGConnectingPoint num="3" id="7911" />
+<TGConnectingPoint num="4" id="7912" />
+<TGConnectingPoint num="5" id="7913" />
+<TGConnectingPoint num="6" id="7914" />
+<TGConnectingPoint num="7" id="7915" />
+<TGConnectingPoint num="8" id="7916" />
+<TGConnectingPoint num="9" id="7917" />
+<TGConnectingPoint num="10" id="7918" />
+<TGConnectingPoint num="11" id="7919" />
+<TGConnectingPoint num="12" id="7920" />
+<TGConnectingPoint num="13" id="7921" />
+<TGConnectingPoint num="14" id="7922" />
+<TGConnectingPoint num="15" id="7923" />
+<TGConnectingPoint num="16" id="7924" />
+<TGConnectingPoint num="17" id="7925" />
+<TGConnectingPoint num="18" id="7926" />
+<TGConnectingPoint num="19" id="7927" />
+<TGConnectingPoint num="20" id="7928" />
+<TGConnectingPoint num="21" id="7929" />
+<TGConnectingPoint num="22" id="7930" />
+<TGConnectingPoint num="23" id="7931" />
<extraparam>
<info stereotype="RAM" nodeName="Memory1" />
-<attributes byteDataSize="33554432" index="1" />
+<attributes byteDataSize="33554432" index="1" processCode="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="5362" id="6721" >
-<father id="6764" num="0" />
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-<sizeparam width="410" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5362" id="7889" index="71" uid="088917c5-1d22-40a1-a403-d90f8bb05829" >
+<father id="7932" num="0" />
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+<sizeparam width="386" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-253" minY="0" maxY="69" />
-<infoparam name="TGComponent" value="DSRSC_Management/out forwardEmergencyBrakingMessage" />
-<TGConnectingPoint num="0" id="6713" />
-<TGConnectingPoint num="1" id="6714" />
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-<TGConnectingPoint num="5" id="6718" />
-<TGConnectingPoint num="6" id="6719" />
-<TGConnectingPoint num="7" id="6720" />
+<cdrectangleparam minX="0" maxX="-229" minY="0" maxY="69" />
+<infoparam name="TGComponent" value="DSRSC_Management/in broadcastEmergencyBrakingMessage" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7881" />
+<TGConnectingPoint num="1" id="7882" />
+<TGConnectingPoint num="2" id="7883" />
+<TGConnectingPoint num="3" id="7884" />
+<TGConnectingPoint num="4" id="7885" />
+<TGConnectingPoint num="5" id="7886" />
+<TGConnectingPoint num="6" id="7887" />
+<TGConnectingPoint num="7" id="7888" />
<extraparam>
-<info value="DSRSC_Management/out forwardEmergencyBrakingMessage" channelName="DSRSC_Management/out forwardEmergencyBrakingMessage(int id, int position) #--# CorrectnessChecking/in getEmergencyBrakingMessage(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DSRSC_Management/in broadcastEmergencyBrakingMessage" channelName="DSRSC_Management/in broadcastEmergencyBrakingMessage(int id, int position) #--# DangerAvoidanceStrategy/out forwardEmergency(int myID, int currentPosition)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5362" id="6730" >
-<father id="6764" num="1" />
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-<sizeparam width="283" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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+<sizeparam width="261" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-126" minY="0" maxY="69" />
+<cdrectangleparam minX="0" maxX="-104" minY="0" maxY="69" />
<infoparam name="TGComponent" value="DSRSC_Management/out setCarPosition" />
-<TGConnectingPoint num="0" id="6722" />
-<TGConnectingPoint num="1" id="6723" />
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-<TGConnectingPoint num="5" id="6727" />
-<TGConnectingPoint num="6" id="6728" />
-<TGConnectingPoint num="7" id="6729" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7890" />
+<TGConnectingPoint num="1" id="7891" />
+<TGConnectingPoint num="2" id="7892" />
+<TGConnectingPoint num="3" id="7893" />
+<TGConnectingPoint num="4" id="7894" />
+<TGConnectingPoint num="5" id="7895" />
+<TGConnectingPoint num="6" id="7896" />
+<TGConnectingPoint num="7" id="7897" />
<extraparam>
<info value="DSRSC_Management/out setCarPosition" channelName="DSRSC_Management/out setCarPosition(int id, int position) #--# NeighbourhoodTableManagement/in addANode(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5362" id="6739" >
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-<sizeparam width="416" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5362" id="7907" index="73" uid="34b842f5-ab0a-4ec9-9570-f064cd5d4431" >
+<father id="7932" num="2" />
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+<sizeparam width="381" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-259" minY="0" maxY="69" />
-<infoparam name="TGComponent" value="DSRSC_Management/in broadcastEmergencyBrakingMessage" />
-<TGConnectingPoint num="0" id="6731" />
-<TGConnectingPoint num="1" id="6732" />
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-<TGConnectingPoint num="5" id="6736" />
-<TGConnectingPoint num="6" id="6737" />
-<TGConnectingPoint num="7" id="6738" />
+<cdrectangleparam minX="0" maxX="-224" minY="0" maxY="69" />
+<infoparam name="TGComponent" value="DSRSC_Management/out forwardEmergencyBrakingMessage" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7899" />
+<TGConnectingPoint num="1" id="7900" />
+<TGConnectingPoint num="2" id="7901" />
+<TGConnectingPoint num="3" id="7902" />
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+<TGConnectingPoint num="5" id="7904" />
+<TGConnectingPoint num="6" id="7905" />
+<TGConnectingPoint num="7" id="7906" />
<extraparam>
-<info value="DSRSC_Management/in broadcastEmergencyBrakingMessage" channelName="DSRSC_Management/in broadcastEmergencyBrakingMessage(int id, int position) #--# DangerAvoidanceStrategy/out forwardEmergency(int myID, int currentPosition)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DSRSC_Management/out forwardEmergencyBrakingMessage" channelName="DSRSC_Management/out forwardEmergencyBrakingMessage(int id, int position) #--# CorrectnessChecking/in getEmergencyBrakingMessage(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5355" id="6798" >
+<COMPONENT type="5355" id="7966" index="20" uid="d690c4bd-8ba2-4769-8c42-8333bf8dfce9" >
<cdparam x="1218" y="105" />
<sizeparam width="157" height="109" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Memory2" value="name" />
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-<TGConnectingPoint num="20" id="6794" />
-<TGConnectingPoint num="21" id="6795" />
-<TGConnectingPoint num="22" id="6796" />
-<TGConnectingPoint num="23" id="6797" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7942" />
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+<TGConnectingPoint num="3" id="7945" />
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+<TGConnectingPoint num="8" id="7950" />
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+<TGConnectingPoint num="12" id="7954" />
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+<TGConnectingPoint num="14" id="7956" />
+<TGConnectingPoint num="15" id="7957" />
+<TGConnectingPoint num="16" id="7958" />
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+<TGConnectingPoint num="18" id="7960" />
+<TGConnectingPoint num="19" id="7961" />
+<TGConnectingPoint num="20" id="7962" />
+<TGConnectingPoint num="21" id="7963" />
+<TGConnectingPoint num="22" id="7964" />
+<TGConnectingPoint num="23" id="7965" />
<extraparam>
<info stereotype="RAM" nodeName="Memory2" />
-<attributes byteDataSize="33554432" index="2" />
+<attributes byteDataSize="33554432" index="2" processCode="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="5362" id="6773" >
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-<sizeparam width="308" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-151" minY="0" maxY="69" />
+<cdrectangleparam minX="0" maxX="-128" minY="0" maxY="69" />
<infoparam name="TGComponent" value="DangerAvoidanceStrategy/out reducePower" />
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-<TGConnectingPoint num="2" id="6767" />
-<TGConnectingPoint num="3" id="6768" />
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-<TGConnectingPoint num="5" id="6770" />
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-<TGConnectingPoint num="7" id="6772" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7933" />
+<TGConnectingPoint num="1" id="7934" />
+<TGConnectingPoint num="2" id="7935" />
+<TGConnectingPoint num="3" id="7936" />
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+<TGConnectingPoint num="5" id="7938" />
+<TGConnectingPoint num="6" id="7939" />
+<TGConnectingPoint num="7" id="7940" />
<extraparam>
<info value="DangerAvoidanceStrategy/out reducePower" channelName="DangerAvoidanceStrategy/out reducePower(int value) #--# DrivingPowerReductionStrategy/in getReducePowerOrder(int value)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5350" id="6799" >
+<CONNECTOR type="5350" id="7967" index="21" uid="2b2d7fb9-b1a0-4f7c-a071-40cba1902129" >
<cdparam x="749" y="383" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="749" y="383" id="6394" />
-<P2 x="705" y="404" id="6004" />
+<P1 x="749" y="383" id="7562" />
+<P2 x="705" y="404" id="7172" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6801" >
+<CONNECTOR type="5350" id="7969" index="22" uid="17bcd9d2-7290-4496-ab1a-f2a72e79e610" >
<cdparam x="784" y="450" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="784" y="450" id="6444" />
-<P2 x="742" y="474" id="5979" />
+<P1 x="784" y="450" id="7612" />
+<P2 x="742" y="474" id="7147" />
<Point x="742" y="479" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
-</CONNECTOR><SUBCOMPONENT type="-1" id="6800" >
-<father id="6801" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="7968" index="75" uid="eb327750-4e11-4237-8b58-d5a69774cde5" >
+<father id="7969" num="0" />
<cdparam x="742" y="479" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="5350" id="6802" >
+<CONNECTOR type="5350" id="7970" index="23" uid="cb5693e6-8c61-42d8-b4b0-a98c364ee7e8" >
<cdparam x="617" y="512" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="617" y="512" id="5974" />
-<P2 x="589" y="534" id="6417" />
+<P1 x="617" y="512" id="7142" />
+<P2 x="589" y="534" id="7585" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6803" >
+<CONNECTOR type="5350" id="7971" index="24" uid="04b65560-0b6c-401a-bd0f-21b0d6c4c1b7" >
<cdparam x="447" y="479" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="447" y="479" id="6370" />
-<P2 x="492" y="487" id="5971" />
+<P1 x="447" y="479" id="7538" />
+<P2 x="492" y="487" id="7139" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6804" >
+<CONNECTOR type="5350" id="7972" index="25" uid="589c37de-bf46-44db-9b43-d8a640ee6b30" >
<cdparam x="580" y="442" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="580" y="442" id="5999" />
-<P2 x="554" y="462" id="5976" />
+<P1 x="580" y="442" id="7167" />
+<P2 x="554" y="462" id="7144" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6805" >
+<CONNECTOR type="5350" id="7973" index="26" uid="d0aed358-3265-4450-8654-d5a26fc17c23" >
<cdparam x="447" y="368" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="447" y="368" id="6746" />
-<P2 x="455" y="392" id="5993" />
+<P1 x="447" y="368" id="7914" />
+<P2 x="455" y="392" id="7161" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6806" >
+<CONNECTOR type="5350" id="7974" index="27" uid="6cedf744-ec4c-47d8-96e5-c7557043474e" >
<cdparam x="1142" y="588" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="1142" y="588" id="6688" />
-<P2 x="1034" y="475" id="6448" />
+<P1 x="1142" y="588" id="7856" />
+<P2 x="1034" y="475" id="7616" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6807" >
+<CONNECTOR type="5350" id="7975" index="28" uid="208e84c7-2165-4d9d-9d06-d8c1fbc824b6" >
<cdparam x="990" y="281" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="1218" y="214" id="6779" />
-<P2 x="999" y="358" id="6393" />
+<P1 x="1218" y="214" id="7947" />
+<P2 x="999" y="358" id="7561" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6808" >
+<CONNECTOR type="5350" id="7976" index="29" uid="2ce7e8e4-34f6-4672-a94d-1facb5d27c8f" >
<cdparam x="1134" y="504" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="1154" y="493" id="6551" />
-<P2 x="1034" y="450" id="6445" />
+<P1 x="1154" y="493" id="7719" />
+<P2 x="1034" y="450" id="7613" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6809" >
+<CONNECTOR type="5350" id="7977" index="30" uid="1cfb0172-22e9-400b-b6d7-c5e8e93fec95" >
<cdparam x="434" y="583" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="402" y="560" id="6520" />
-<P2 x="464" y="559" id="6419" />
+<P1 x="402" y="560" id="7688" />
+<P2 x="464" y="559" id="7587" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6810" >
+<CONNECTOR type="5350" id="7978" index="31" uid="c1d96f9e-0c12-4dfb-b83f-d6a13dedd627" >
<cdparam x="601" y="663" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="577" y="800" id="6046" />
-<P2 x="589" y="584" id="6422" />
+<P1 x="577" y="800" id="7214" />
+<P2 x="589" y="584" id="7590" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6811" >
+<CONNECTOR type="5350" id="7979" index="32" uid="7f6a7411-6711-4a5b-bfc7-e33620af176a" >
<cdparam x="212" y="553" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="212" y="553" id="6638" />
-<P2 x="197" y="504" id="6371" />
+<P1 x="212" y="553" id="7806" />
+<P2 x="197" y="504" id="7539" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6812" >
+<CONNECTOR type="5350" id="7980" index="33" uid="6e7877ec-a040-4ead-8e22-b9458487a6b9" >
<cdparam x="933" y="282" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="925" y="292" id="6580" />
-<P2 x="936" y="358" id="6400" />
+<P1 x="925" y="292" id="7748" />
+<P2 x="936" y="358" id="7568" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6813" >
+<CONNECTOR type="5350" id="7981" index="34" uid="54f15898-8101-4235-8aa1-832fa7e3a02e" >
<cdparam x="573" y="364" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="573" y="364" id="6505" />
-<P2 x="580" y="392" id="5994" />
+<P1 x="573" y="364" id="7673" />
+<P2 x="580" y="392" id="7162" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6814" >
+<CONNECTOR type="5350" id="7982" index="35" uid="d35da11f-d42b-4589-86d5-54e3a254f743" >
<cdparam x="160" y="492" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="160" y="492" id="6470" />
-<P2 x="197" y="491" id="6378" />
+<P1 x="160" y="492" id="7638" />
+<P2 x="197" y="491" id="7546" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6815" >
+<CONNECTOR type="5350" id="7983" index="36" uid="b70a12e5-69f0-47e6-a7c1-862f68e8f3b1" >
<cdparam x="1036" y="595" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="757" y="604" id="6109" />
-<P2 x="714" y="559" id="6420" />
+<P1 x="757" y="604" id="7277" />
+<P2 x="714" y="559" id="7588" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6816" >
+<CONNECTOR type="5350" id="7984" index="37" uid="a7feb0b8-1d47-4601-aba6-2714df35cc8e" >
<cdparam x="1050" y="359" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="1050" y="342" id="6265" />
-<P2 x="971" y="425" id="6450" />
+<P1 x="1050" y="342" id="7433" />
+<P2 x="971" y="425" id="7618" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6818" >
+<CONNECTOR type="5350" id="7986" index="38" uid="9eb21d11-c513-4398-a0fe-5e11b33d5ccc" >
<cdparam x="894" y="188" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="894" y="166" id="6224" />
-<P2 x="874" y="358" id="6392" />
+<P1 x="894" y="166" id="7392" />
+<P2 x="874" y="358" id="7560" />
<Point x="849" y="309" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
-</CONNECTOR><SUBCOMPONENT type="-1" id="6817" >
-<father id="6818" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="7985" index="76" uid="9b3fc91e-70e7-428f-82cf-f3886f381f88" >
+<father id="7986" num="0" />
<cdparam x="849" y="309" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="5350" id="6819" >
+<CONNECTOR type="5350" id="7987" index="39" uid="3c7bc2ee-369d-41fe-add8-f7945e5c5459" >
<cdparam x="495" y="249" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="495" y="249" id="6181" />
-<P2 x="517" y="392" id="6001" />
+<P1 x="495" y="249" id="7349" />
+<P2 x="517" y="392" id="7169" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="6820" >
+<CONNECTOR type="5350" id="7988" index="40" uid="03d82bf4-c989-4363-bb09-0e7e8743160c" >
<cdparam x="112" y="354" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="112" y="354" id="6355" />
-<P2 x="197" y="454" id="6366" />
+<P1 x="112" y="354" id="7523" />
+<P2 x="197" y="454" id="7534" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<spy value="false" />
</extraparam>
diff --git a/modeling/Netcom/DemoSept2016.xml b/modeling/Netcom/DemoSept2016.xml
index db733a040abd6779a1b8c4c63baa3680c160342c..dd59f42b38895790394d8bb00c6ed2a376599be8 100644
--- a/modeling/Netcom/DemoSept2016.xml
+++ b/modeling/Netcom/DemoSept2016.xml
@@ -1,24 +1,27 @@
-<?xml version="1.0" encoding="ISO-8859-1"?>
+<?xml version="1.0" encoding="UTF-8"?>
-<TURTLEGMODELING version="0.98-beta4">
+<TURTLEGMODELING version="3.0 beta" ANIMATE_INTERACTIVE_SIMULATION="true" ACTIVATE_PENALTIES="true" UPDATE_INFORMATION_DIPLO_SIM="true" ANIMATE_WITH_INFO_DIPLO_SIM="true" OPEN_DIAG_DIPLO_SIM="false" LAST_SELECTED_MAIN_TAB="4" LAST_SELECTED_SUB_TAB="0">
<Modeling type="TML CP" nameTab="CP_Memory_Copy" >
-<CommunicationPatternDiagramPanel name="MainCP" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1507" id="2" >
+<CommunicationPatternDiagramPanel name="MainCP" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1507" id="2" index="0" uid="afb4053b-3e24-4a4f-b84e-e72a1f6b3980" >
<cdparam x="390" y="343" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="stop state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="1" />
</COMPONENT>
-<COMPONENT type="1510" id="6" >
+<COMPONENT type="1510" id="6" index="1" uid="afa75c01-a1b5-4cc0-af10-9de9a2ddd14a" >
<cdparam x="141" y="185" />
-<sizeparam width="164" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="164" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="for loop" value="for(i=counter;i>0;i = i-1)" />
+<new d="false" />
<TGConnectingPoint num="0" id="3" />
<TGConnectingPoint num="1" id="4" />
<TGConnectingPoint num="2" id="5" />
@@ -27,7 +30,7 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="301" id="23" >
+<COMPONENT type="301" id="23" index="2" uid="89f53062-76dd-4571-a438-54ff011c5e50" >
<cdparam x="559" y="109" />
<sizeparam width="354" height="39" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
@@ -36,6 +39,7 @@
- samplesToLoad (depends on the application model)
- the source and destination addresses
" />
+<new d="false" />
<TGConnectingPoint num="0" id="7" />
<TGConnectingPoint num="1" id="8" />
<TGConnectingPoint num="2" id="9" />
@@ -59,12 +63,14 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="1505" id="34" >
+<COMPONENT type="1505" id="34" index="3" uid="aed5812f-4879-4ae2-b43b-733b73356ef7" >
<cdparam x="161" y="108" />
-<sizeparam width="124" height="35" minWidth="70" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="124" height="35" minWidth="70" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Configure" value="Reference to a SD" />
+<new d="false" />
<TGConnectingPoint num="0" id="24" />
<TGConnectingPoint num="1" id="25" />
<TGConnectingPoint num="2" id="26" />
@@ -77,21 +83,24 @@
<TGConnectingPoint num="9" id="33" />
</COMPONENT>
-<COMPONENT type="1507" id="36" >
+<COMPONENT type="1507" id="36" index="4" uid="26d0196b-6f6f-4efc-8311-9b1653075d95" >
<cdparam x="213" y="280" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="stop state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="35" />
</COMPONENT>
-<COMPONENT type="1505" id="47" >
+<COMPONENT type="1505" id="47" index="5" uid="075d7beb-f703-44f1-941e-d19a73be6e5b" >
<cdparam x="338" y="245" />
-<sizeparam width="124" height="35" minWidth="70" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="124" height="35" minWidth="70" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="TransferCycle" value="Reference to a SD" />
+<new d="false" />
<TGConnectingPoint num="0" id="37" />
<TGConnectingPoint num="1" id="38" />
<TGConnectingPoint num="2" id="39" />
@@ -104,16 +113,17 @@
<TGConnectingPoint num="9" id="46" />
</COMPONENT>
-<COMPONENT type="1506" id="49" >
+<COMPONENT type="1506" id="49" index="6" uid="f4554794-7f95-4146-9afd-e136f37f84e7" >
<cdparam x="216" y="37" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="48" />
</COMPONENT>
-<CONNECTOR type="1501" id="51" >
+<CONNECTOR type="1501" id="51" index="7" uid="f5bb220f-61f5-4c98-8b72-2d8327267ab8" >
<cdparam x="78" y="272" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
@@ -121,57 +131,64 @@
<P2 x="400" y="240" id="37" />
<Point x="400" y="199" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="50" >
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="50" index="12" uid="50640db3-b927-4eb7-a3a2-696b5f78de0f" >
<father id="51" num="0" />
<cdparam x="400" y="199" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="1501" id="52" >
+<CONNECTOR type="1501" id="52" index="8" uid="cdc413bb-ad2d-4278-89e4-274aa02b686f" >
<cdparam x="13" y="363" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="400" y="285" id="38" />
<P2 x="400" y="338" id="1" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="53" >
+<CONNECTOR type="1501" id="53" index="9" uid="f9c401cd-fa96-40ff-98e2-89e872580465" >
<cdparam x="118" y="312" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="223" y="210" id="5" />
<P2 x="223" y="275" id="35" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="54" >
+<CONNECTOR type="1501" id="54" index="10" uid="0236d2af-8af8-4e13-9af1-2a55e8a35e45" >
<cdparam x="221" y="23" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="223" y="57" id="48" />
<P2 x="223" y="103" id="24" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="55" >
+<CONNECTOR type="1501" id="55" index="11" uid="2674eae7-6cfe-45c4-8451-b4dcf7ddc3cc" >
<cdparam x="118" y="129" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="223" y="148" id="25" />
<P2 x="223" y="180" id="3" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</CommunicationPatternDiagramPanel>
-<TMLSDPanel name="Configure" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1522" id="130" >
+<TMLSDPanel name="Configure" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1522" id="130" index="0" uid="c9f0dccc-3b11-4bb1-bf81-45678a243948" >
<cdparam x="220" y="55" />
<sizeparam width="10" height="750" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="CPU_Controller" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="56" />
<TGConnectingPoint num="1" id="57" />
<TGConnectingPoint num="2" id="58" />
@@ -258,13 +275,14 @@
</TMLSDPanel>
-<TMLSDPanel name="TransferCycle" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1520" id="180" >
+<TMLSDPanel name="TransferCycle" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1520" id="180" index="0" uid="e1c6f334-196b-4094-9b1d-dd8b4874748d" >
<cdparam x="1045" y="58" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Dst_Storage_Instance" value="Storage instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="131" />
<TGConnectingPoint num="1" id="132" />
<TGConnectingPoint num="2" id="133" />
@@ -323,12 +341,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="1521" id="230" >
+<COMPONENT type="1521" id="230" index="1" uid="74eec963-9016-4f9f-8e21-402cc5c8501a" >
<cdparam x="841" y="58" />
<sizeparam width="10" height="501" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Transfer_Instance2" value="Transfer instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="181" />
<TGConnectingPoint num="1" id="182" />
<TGConnectingPoint num="2" id="183" />
@@ -387,12 +406,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="1521" id="280" >
+<COMPONENT type="1521" id="280" index="2" uid="b3894b97-60c1-4468-9465-67e1638db04d" >
<cdparam x="367" y="58" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Transfer_Instance_1" value="Transfer instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="231" />
<TGConnectingPoint num="1" id="232" />
<TGConnectingPoint num="2" id="233" />
@@ -451,12 +471,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="1520" id="330" >
+<COMPONENT type="1520" id="330" index="3" uid="9979cf27-eaf7-4b9d-b1d4-575fb4b55638" >
<cdparam x="618" y="58" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Src_Storage_Instance" value="Storage instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="281" />
<TGConnectingPoint num="1" id="282" />
<TGConnectingPoint num="2" id="283" />
@@ -515,12 +536,13 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="1522" id="380" >
+<COMPONENT type="1522" id="380" index="4" uid="e28068b7-b58f-49c1-a667-d42659eb55ae" >
<cdparam x="136" y="58" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="CPU_Controller" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="331" />
<TGConnectingPoint num="1" id="332" />
<TGConnectingPoint num="2" id="333" />
@@ -579,49 +601,53 @@
</extraparam>
</COMPONENT>
-<CONNECTOR type="1523" id="381" >
+<CONNECTOR type="1523" id="381" index="5" uid="0800d4eb-8331-40d8-80c1-77a17b13970d" >
<cdparam x="846" y="309" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Write" value="Write(destinationAddress, 1)" />
<P1 x="846" y="208" id="195" />
<P2 x="1050" y="208" id="145" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="destinationAddress" />
<Param index="1" id="1" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="382" >
+<CONNECTOR type="1523" id="382" index="6" uid="f9ff23d8-13de-4868-9750-32d0638cb22a" >
<cdparam x="141" y="278" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Write" value="Write(destinationAddress, 1)" />
<P1 x="141" y="178" id="342" />
<P2 x="846" y="178" id="192" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="destinationAddress" />
<Param index="1" id="1" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="383" >
+<CONNECTOR type="1523" id="383" index="7" uid="82e67592-105e-47c0-8eda-99d89897f8ac" >
<cdparam x="372" y="118" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Read" value="Read(sourceAddress, 1)" />
<P1 x="372" y="148" id="239" />
<P2 x="623" y="148" id="289" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="sourceAddress" />
<Param index="1" id="1" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="384" >
+<CONNECTOR type="1523" id="384" index="8" uid="f21a54dc-9c59-4a9c-b3e9-4a7e2866666f" >
<cdparam x="158" y="87" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Read" value="Read(sourceAddress, 1)" />
<P1 x="141" y="118" id="336" />
<P2 x="372" y="118" id="236" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="sourceAddress" />
<Param index="1" id="1" />
@@ -636,22 +662,25 @@
<Modeling type="TML CP" nameTab="DMA_transfer" >
-<CommunicationPatternDiagramPanel name="MainCP" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1507" id="386" >
+<CommunicationPatternDiagramPanel name="MainCP" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1507" id="386" index="0" uid="678b3096-8d73-477d-ace7-c89ab429bc73" >
<cdparam x="381" y="392" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="stop state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="385" />
</COMPONENT>
-<COMPONENT type="1510" id="390" >
+<COMPONENT type="1510" id="390" index="1" uid="b91add5a-614f-40f7-965f-42e92c2fc6ad" >
<cdparam x="107" y="220" />
-<sizeparam width="164" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="164" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="for loop" value="for(i=counter;i>0;i = i-1)" />
+<new d="false" />
<TGConnectingPoint num="0" id="387" />
<TGConnectingPoint num="1" id="388" />
<TGConnectingPoint num="2" id="389" />
@@ -660,9 +689,9 @@
</extraparam>
</COMPONENT>
-<COMPONENT type="301" id="407" >
+<COMPONENT type="301" id="407" index="2" uid="f5ff982d-dad7-40a3-be7b-f91f34ebf7fb" >
<cdparam x="606" y="40" />
-<sizeparam width="313" height="75" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="291" height="75" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="UML Note" value="Some parameters are mapping dependent:
@@ -672,6 +701,7 @@
This model supposes that the DMA informs the
CPU via interrupts (no polling messages)
" />
+<new d="false" />
<TGConnectingPoint num="0" id="391" />
<TGConnectingPoint num="1" id="392" />
<TGConnectingPoint num="2" id="393" />
@@ -698,21 +728,24 @@ CPU via interrupts (no polling messages)
</extraparam>
</COMPONENT>
-<COMPONENT type="1507" id="409" >
+<COMPONENT type="1507" id="409" index="3" uid="053a5768-fc0c-4ea4-b501-9d85bdf4aa9a" >
<cdparam x="179" y="374" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="stop state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="408" />
</COMPONENT>
-<COMPONENT type="1505" id="420" >
+<COMPONENT type="1505" id="420" index="4" uid="1609881f-7e3a-4419-816a-409e3f3f30b2" >
<cdparam x="329" y="300" />
-<sizeparam width="124" height="35" minWidth="70" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="124" height="35" minWidth="70" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="DMACycle_SD" value="Reference to a SD" />
+<new d="false" />
<TGConnectingPoint num="0" id="410" />
<TGConnectingPoint num="1" id="411" />
<TGConnectingPoint num="2" id="412" />
@@ -725,12 +758,14 @@ CPU via interrupts (no polling messages)
<TGConnectingPoint num="9" id="419" />
</COMPONENT>
-<COMPONENT type="1505" id="431" >
+<COMPONENT type="1505" id="431" index="5" uid="3300e901-3b96-4a66-98ca-4142d01d1325" >
<cdparam x="127" y="299" />
-<sizeparam width="124" height="35" minWidth="70" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="124" height="35" minWidth="70" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="TerminateDMA_SD" value="Reference to a SD" />
+<new d="false" />
<TGConnectingPoint num="0" id="421" />
<TGConnectingPoint num="1" id="422" />
<TGConnectingPoint num="2" id="423" />
@@ -743,12 +778,14 @@ CPU via interrupts (no polling messages)
<TGConnectingPoint num="9" id="430" />
</COMPONENT>
-<COMPONENT type="1505" id="442" >
+<COMPONENT type="1505" id="442" index="6" uid="b535db4a-adbd-4515-95d0-2d9df311195b" >
<cdparam x="127" y="129" />
-<sizeparam width="124" height="35" minWidth="70" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="124" height="35" minWidth="70" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="ConfigureDMA_SD" value="Reference to a SD" />
+<new d="false" />
<TGConnectingPoint num="0" id="432" />
<TGConnectingPoint num="1" id="433" />
<TGConnectingPoint num="2" id="434" />
@@ -761,32 +798,35 @@ CPU via interrupts (no polling messages)
<TGConnectingPoint num="9" id="441" />
</COMPONENT>
-<COMPONENT type="1506" id="444" >
+<COMPONENT type="1506" id="444" index="7" uid="fb728ecf-a388-4c68-b0f3-6d66844252af" >
<cdparam x="182" y="65" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="443" />
</COMPONENT>
-<CONNECTOR type="1501" id="445" >
+<CONNECTOR type="1501" id="445" index="8" uid="2c652cf6-7aaa-41b7-ad50-2f2c3c6bcb6b" >
<cdparam x="189" y="339" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="189" y="339" id="422" />
<P2 x="189" y="369" id="408" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="446" >
+<CONNECTOR type="1501" id="446" index="9" uid="a2cb458c-fefa-485e-b6b4-4b904a1cf158" >
<cdparam x="10" y="379" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="391" y="340" id="411" />
<P2 x="391" y="387" id="385" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="448" >
+<CONNECTOR type="1501" id="448" index="10" uid="8ba92df0-1eb1-47c3-8c00-5555f3fd66ce" >
<cdparam x="10" y="293" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
@@ -794,49 +834,55 @@ CPU via interrupts (no polling messages)
<P2 x="391" y="295" id="410" />
<Point x="391" y="234" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="447" >
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="447" index="14" uid="6830e086-8d23-45de-a9cb-d912b3227f70" >
<father id="448" num="0" />
<cdparam x="391" y="234" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="1501" id="449" >
+<CONNECTOR type="1501" id="449" index="11" uid="648df06a-73a0-4cff-9055-576f55d9581b" >
<cdparam x="37" y="293" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="189" y="245" id="389" />
<P2 x="189" y="294" id="421" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="450" >
+<CONNECTOR type="1501" id="450" index="12" uid="555395f3-dde4-4390-bf16-442ec64a1d8d" >
<cdparam x="10" y="124" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="189" y="169" id="433" />
<P2 x="189" y="215" id="387" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="451" >
+<CONNECTOR type="1501" id="451" index="13" uid="c8b92715-4fce-4d02-9206-af7bba22b236" >
<cdparam x="187" y="61" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="189" y="85" id="443" />
<P2 x="189" y="124" id="432" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</CommunicationPatternDiagramPanel>
-<TMLSDPanel name="ConfigureDMA_SD" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1521" id="501" >
+<TMLSDPanel name="ConfigureDMA_SD" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1521" id="501" index="0" uid="57b33aaf-2a5a-40ed-83d8-3d235d012317" >
<cdparam x="386" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Transfer_Instance_1" value="Transfer instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="452" />
<TGConnectingPoint num="1" id="453" />
<TGConnectingPoint num="2" id="454" />
@@ -895,12 +941,13 @@ CPU via interrupts (no polling messages)
</extraparam>
</COMPONENT>
-<COMPONENT type="1522" id="551" >
+<COMPONENT type="1522" id="551" index="1" uid="f6c744fb-3347-499a-bb54-1ad42a1e21cd" >
<cdparam x="611" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="DMA_Controller_1" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="502" />
<TGConnectingPoint num="1" id="503" />
<TGConnectingPoint num="2" id="504" />
@@ -959,12 +1006,13 @@ CPU via interrupts (no polling messages)
</extraparam>
</COMPONENT>
-<COMPONENT type="1522" id="601" >
+<COMPONENT type="1522" id="601" index="2" uid="5ed44a07-ffc6-479a-a23e-97299794cefb" >
<cdparam x="167" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="CPU_Controller_1" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="552" />
<TGConnectingPoint num="1" id="553" />
<TGConnectingPoint num="2" id="554" />
@@ -1023,26 +1071,28 @@ CPU via interrupts (no polling messages)
</extraparam>
</COMPONENT>
-<CONNECTOR type="1523" id="602" >
+<CONNECTOR type="1523" id="602" index="3" uid="dee68c75-9a05-4e14-916c-b50d7861019c" >
<cdparam x="391" y="166" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="TransferRequest" value="TransferRequest(counter, sourceAddress, destinationAddress)" />
<P1 x="391" y="126" id="458" />
<P2 x="616" y="126" id="508" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="counter" />
<Param index="1" id="sourceAddress" />
<Param index="2" id="destinationAddress" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="603" >
+<CONNECTOR type="1523" id="603" index="4" uid="10c3484b-3293-480e-8ed6-aa164bd5ad2d" >
<cdparam x="172" y="136" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="TransferRequest" value="TransferRequest(counter, sourceAddress, destinationAddress)" />
<P1 x="172" y="96" id="555" />
<P2 x="391" y="96" id="455" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="counter" />
<Param index="1" id="sourceAddress" />
@@ -1052,13 +1102,14 @@ CPU via interrupts (no polling messages)
</TMLSDPanel>
-<TMLSDPanel name="DMACycle_SD" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1520" id="653" >
+<TMLSDPanel name="DMACycle_SD" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1520" id="653" index="0" uid="767e3005-ed2a-41e5-bb50-12c9b06f098f" >
<cdparam x="1072" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Dst_Storage_Instance_1" value="Storage instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="604" />
<TGConnectingPoint num="1" id="605" />
<TGConnectingPoint num="2" id="606" />
@@ -1117,12 +1168,13 @@ CPU via interrupts (no polling messages)
</extraparam>
</COMPONENT>
-<COMPONENT type="1521" id="703" >
+<COMPONENT type="1521" id="703" index="1" uid="08c19acb-c10d-493a-8849-107c53adf6a4" >
<cdparam x="861" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Transfer_Instance_3" value="Transfer instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="654" />
<TGConnectingPoint num="1" id="655" />
<TGConnectingPoint num="2" id="656" />
@@ -1181,12 +1233,13 @@ CPU via interrupts (no polling messages)
</extraparam>
</COMPONENT>
-<COMPONENT type="1521" id="753" >
+<COMPONENT type="1521" id="753" index="2" uid="a9140b16-ef33-42eb-bc2f-b41736875070" >
<cdparam x="392" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Transfer_Instance_2" value="Transfer instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="704" />
<TGConnectingPoint num="1" id="705" />
<TGConnectingPoint num="2" id="706" />
@@ -1245,12 +1298,13 @@ CPU via interrupts (no polling messages)
</extraparam>
</COMPONENT>
-<COMPONENT type="1520" id="803" >
+<COMPONENT type="1520" id="803" index="3" uid="280c4895-86ef-4e71-9c93-5b810c318ef7" >
<cdparam x="643" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Src_Storage_Instance_1" value="Storage instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="754" />
<TGConnectingPoint num="1" id="755" />
<TGConnectingPoint num="2" id="756" />
@@ -1309,12 +1363,13 @@ CPU via interrupts (no polling messages)
</extraparam>
</COMPONENT>
-<COMPONENT type="1522" id="862" >
+<COMPONENT type="1522" id="862" index="4" uid="eba87b59-f68f-4b17-bece-6f660102a11f" >
<cdparam x="161" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="DMA_Controller_1" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="813" />
<TGConnectingPoint num="1" id="814" />
<TGConnectingPoint num="2" id="815" />
@@ -1372,13 +1427,14 @@ CPU via interrupts (no polling messages)
<Attribute access="2" id="counter" value="" type="0" typeOther="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1524" id="812" >
+<SUBCOMPONENT type="1524" id="812" index="9" uid="67d02b45-df0e-4103-bfda-902a0c209077" >
<father id="862" num="0" />
<cdparam x="166" y="200" />
-<sizeparam width="146" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="146" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="5" maxX="5" minY="10" maxY="470" />
<infoparam name="action state" value="counter = counter - 1" />
+<new d="false" />
<TGConnectingPoint num="0" id="804" />
<TGConnectingPoint num="1" id="805" />
<TGConnectingPoint num="2" id="806" />
@@ -1389,49 +1445,53 @@ CPU via interrupts (no polling messages)
<TGConnectingPoint num="7" id="811" />
</SUBCOMPONENT>
-<CONNECTOR type="1523" id="863" >
+<CONNECTOR type="1523" id="863" index="5" uid="3c067bd1-68cb-4b72-9a3d-d0b6cc136fc2" >
<cdparam x="866" y="246" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Write" value="Write(destinationAddress, 1)" />
<P1 x="866" y="206" id="668" />
<P2 x="1077" y="206" id="618" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="destinationAddress" />
<Param index="1" id="1" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="864" >
+<CONNECTOR type="1523" id="864" index="6" uid="01f80042-7bac-455b-ab92-b05be8b8fb22" >
<cdparam x="166" y="216" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Write" value="Write(destinationAddress, 1)" />
<P1 x="166" y="176" id="824" />
<P2 x="866" y="176" id="665" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="destinationAddress" />
<Param index="1" id="1" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="865" >
+<CONNECTOR type="1523" id="865" index="7" uid="a70ceedc-4830-4ea7-a280-7099737cf1f3" >
<cdparam x="397" y="126" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Read" value="Read(sourceAddress, 1)" />
<P1 x="397" y="146" id="712" />
<P2 x="648" y="146" id="762" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="sourceAddress" />
<Param index="1" id="1" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="866" >
+<CONNECTOR type="1523" id="866" index="8" uid="00d40d66-658b-48c2-a541-6b70c3d37173" >
<cdparam x="183" y="95" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Read" value="Read(sourceAddress, 1)" />
<P1 x="166" y="116" id="818" />
<P2 x="397" y="116" id="709" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="sourceAddress" />
<Param index="1" id="1" />
@@ -1440,13 +1500,14 @@ CPU via interrupts (no polling messages)
</TMLSDPanel>
-<TMLSDPanel name="TerminateDMA_SD" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1521" id="916" >
+<TMLSDPanel name="TerminateDMA_SD" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1521" id="916" index="0" uid="8527ac17-70e4-46ec-ac23-ec9a1a10785f" >
<cdparam x="332" y="52" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Transfer_Instance_4" value="Transfer instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="867" />
<TGConnectingPoint num="1" id="868" />
<TGConnectingPoint num="2" id="869" />
@@ -1505,12 +1566,13 @@ CPU via interrupts (no polling messages)
</extraparam>
</COMPONENT>
-<COMPONENT type="1522" id="966" >
+<COMPONENT type="1522" id="966" index="1" uid="bca90de4-2f9d-4eb2-a418-69011c5fb34d" >
<cdparam x="557" y="52" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="DMA_Controller_1" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="917" />
<TGConnectingPoint num="1" id="918" />
<TGConnectingPoint num="2" id="919" />
@@ -1569,12 +1631,13 @@ CPU via interrupts (no polling messages)
</extraparam>
</COMPONENT>
-<COMPONENT type="1522" id="1016" >
+<COMPONENT type="1522" id="1016" index="2" uid="1d5c3037-9b3d-42b9-a7fe-147c9dff081f" >
<cdparam x="113" y="52" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="CPU_Controller_1" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="967" />
<TGConnectingPoint num="1" id="968" />
<TGConnectingPoint num="2" id="969" />
@@ -1633,23 +1696,25 @@ CPU via interrupts (no polling messages)
</extraparam>
</COMPONENT>
-<CONNECTOR type="1523" id="1017" >
+<CONNECTOR type="1523" id="1017" index="3" uid="401a4cc5-cb55-49cb-84e2-2bd999c2c367" >
<cdparam x="337" y="112" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="TransferTerminated" value="TransferTerminated()" />
<P1 x="337" y="112" id="872" />
<P2 x="118" y="112" id="972" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="1018" >
+<CONNECTOR type="1523" id="1018" index="4" uid="d5c387e2-183e-427b-9fdb-512bcfcf5cd4" >
<cdparam x="562" y="82" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="TransferTerminated" value="TransferTerminated()" />
<P1 x="562" y="82" id="919" />
<P2 x="337" y="82" id="869" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
</extraparam>
</CONNECTOR>
@@ -1662,28 +1727,30 @@ CPU via interrupts (no polling messages)
<Modeling type="TML CP" nameTab="Double_DMA_transfer" >
-<CommunicationPatternDiagramPanel name="MainCP" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1507" id="1020" >
+<CommunicationPatternDiagramPanel name="MainCP" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1507" id="1020" index="0" uid="020c6371-7599-4085-9f2b-b1b2866f7fc6" >
<cdparam x="234" y="316" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="stop state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="1019" />
</COMPONENT>
-<COMPONENT type="1506" id="1022" >
+<COMPONENT type="1506" id="1022" index="1" uid="c899acf2-ae29-426a-92b8-e76b72c72281" >
<cdparam x="237" y="80" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="1021" />
</COMPONENT>
-<COMPONENT type="301" id="1039" >
+<COMPONENT type="301" id="1039" index="2" uid="f371ff1f-a2e2-4572-873f-24c0e30a3b94" >
<cdparam x="448" y="98" />
-<sizeparam width="396" height="75" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="367" height="75" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="UML Note" value="Some parameters are mapping dependent:
@@ -1693,6 +1760,7 @@ CPU via interrupts (no polling messages)
This model supposes that the DMA replies via
INTERRUPTS
" />
+<new d="false" />
<TGConnectingPoint num="0" id="1023" />
<TGConnectingPoint num="1" id="1024" />
<TGConnectingPoint num="2" id="1025" />
@@ -1719,12 +1787,14 @@ INTERRUPTS
</extraparam>
</COMPONENT>
-<COMPONENT type="1504" id="1050" >
+<COMPONENT type="1504" id="1050" index="3" uid="108b30b3-5d57-463f-a114-49e943b79a4b" >
<cdparam x="183" y="230" />
-<sizeparam width="123" height="35" minWidth="70" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="123" height="35" minWidth="70" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="DMATransfer2" value="Reference to a CP" />
+<new d="false" />
<TGConnectingPoint num="0" id="1040" />
<TGConnectingPoint num="1" id="1041" />
<TGConnectingPoint num="2" id="1042" />
@@ -1737,12 +1807,14 @@ INTERRUPTS
<TGConnectingPoint num="9" id="1049" />
</COMPONENT>
-<COMPONENT type="1504" id="1061" >
+<COMPONENT type="1504" id="1061" index="4" uid="fd7dc706-3b9c-4511-b9bf-832b498b52b3" >
<cdparam x="183" y="139" />
-<sizeparam width="123" height="35" minWidth="70" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="123" height="35" minWidth="70" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="DMATransfer1" value="Reference to a CP" />
+<new d="false" />
<TGConnectingPoint num="0" id="1051" />
<TGConnectingPoint num="1" id="1052" />
<TGConnectingPoint num="2" id="1053" />
@@ -1755,49 +1827,55 @@ INTERRUPTS
<TGConnectingPoint num="9" id="1060" />
</COMPONENT>
-<CONNECTOR type="1501" id="1062" >
+<CONNECTOR type="1501" id="1062" index="5" uid="e5012dd7-23f1-49ba-8336-83681b9a0ddf" >
<cdparam x="246" y="268" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="244" y="270" id="1041" />
<P2 x="244" y="311" id="1019" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="1063" >
+<CONNECTOR type="1501" id="1063" index="6" uid="275bfe1a-ebe6-4614-91fc-f472ff442535" >
<cdparam x="244" y="179" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="244" y="179" id="1052" />
<P2 x="244" y="225" id="1040" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="1064" >
+<CONNECTOR type="1501" id="1064" index="7" uid="9fa887a4-b2d2-4701-8a74-a70317b617c5" >
<cdparam x="242" y="116" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="244" y="100" id="1021" />
<P2 x="244" y="134" id="1051" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</CommunicationPatternDiagramPanel>
-<CommunicationPatternDiagramPanel name="DMATransfer1" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1507" id="1066" >
+<CommunicationPatternDiagramPanel name="DMATransfer1" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1507" id="1066" index="0" uid="075d1de1-b16b-4fd1-92d6-52a72aa57f22" >
<cdparam x="437" y="337" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="stop state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="1065" />
</COMPONENT>
-<COMPONENT type="1510" id="1070" >
+<COMPONENT type="1510" id="1070" index="1" uid="de6ac336-f6e3-4b14-8251-10fc9d06ef78" >
<cdparam x="184" y="193" />
-<sizeparam width="164" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="164" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="for loop" value="for(i=counter1;i>0;i=i-1)" />
+<new d="false" />
<TGConnectingPoint num="0" id="1067" />
<TGConnectingPoint num="1" id="1068" />
<TGConnectingPoint num="2" id="1069" />
@@ -1806,21 +1884,24 @@ INTERRUPTS
</extraparam>
</COMPONENT>
-<COMPONENT type="1507" id="1072" >
+<COMPONENT type="1507" id="1072" index="2" uid="3031ee4d-2567-4d36-9f4d-054237d5fb41" >
<cdparam x="256" y="350" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="stop state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="1071" />
</COMPONENT>
-<COMPONENT type="1505" id="1083" >
+<COMPONENT type="1505" id="1083" index="3" uid="85cc7935-e241-4b74-a119-b7fdb5f78f39" >
<cdparam x="385" y="250" />
-<sizeparam width="124" height="35" minWidth="70" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="124" height="35" minWidth="70" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="DMACycle_SD1" value="Reference to a SD" />
+<new d="false" />
<TGConnectingPoint num="0" id="1073" />
<TGConnectingPoint num="1" id="1074" />
<TGConnectingPoint num="2" id="1075" />
@@ -1833,12 +1914,14 @@ INTERRUPTS
<TGConnectingPoint num="9" id="1082" />
</COMPONENT>
-<COMPONENT type="1505" id="1094" >
+<COMPONENT type="1505" id="1094" index="4" uid="98a341ca-7679-4c6e-ba08-8fd1bba8ee15" >
<cdparam x="204" y="275" />
-<sizeparam width="124" height="35" minWidth="70" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="124" height="35" minWidth="70" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="TerminateDMA_SD1" value="Reference to a SD" />
+<new d="false" />
<TGConnectingPoint num="0" id="1084" />
<TGConnectingPoint num="1" id="1085" />
<TGConnectingPoint num="2" id="1086" />
@@ -1851,12 +1934,14 @@ INTERRUPTS
<TGConnectingPoint num="9" id="1093" />
</COMPONENT>
-<COMPONENT type="1505" id="1105" >
+<COMPONENT type="1505" id="1105" index="5" uid="15c1785b-33b8-40ba-a342-a687357d6e81" >
<cdparam x="203" y="99" />
-<sizeparam width="124" height="35" minWidth="70" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="124" height="35" minWidth="70" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="ConfigureDMA_SD1" value="Reference to a SD" />
+<new d="false" />
<TGConnectingPoint num="0" id="1095" />
<TGConnectingPoint num="1" id="1096" />
<TGConnectingPoint num="2" id="1097" />
@@ -1869,16 +1954,17 @@ INTERRUPTS
<TGConnectingPoint num="9" id="1104" />
</COMPONENT>
-<COMPONENT type="1506" id="1107" >
+<COMPONENT type="1506" id="1107" index="6" uid="0c6429e6-12cb-4b57-b228-c56c92e09730" >
<cdparam x="258" y="35" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="1106" />
</COMPONENT>
-<CONNECTOR type="1501" id="1109" >
+<CONNECTOR type="1501" id="1109" index="7" uid="d0aaf627-fb15-4e1b-a4e9-f4600e12502d" >
<cdparam x="331" y="207" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
@@ -1886,74 +1972,84 @@ INTERRUPTS
<P2 x="447" y="245" id="1073" />
<Point x="447" y="207" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1108" >
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1108" index="13" uid="5b4717e1-6829-4bd7-b9e7-c44e37865e15" >
<father id="1109" num="0" />
<cdparam x="447" y="207" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="1501" id="1110" >
+<CONNECTOR type="1501" id="1110" index="8" uid="a56ee134-df05-4fef-9121-e58325ef8457" >
<cdparam x="99" y="298" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="266" y="218" id="1069" />
<P2 x="266" y="270" id="1084" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="1111" >
+<CONNECTOR type="1501" id="1111" index="9" uid="5f0df0a7-e089-490d-a49a-147e98d6303b" >
<cdparam x="77" y="391" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="447" y="290" id="1074" />
<P2 x="447" y="332" id="1065" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="1112" >
+<CONNECTOR type="1501" id="1112" index="10" uid="96896193-0f0c-4102-906a-e70cff9fc302" >
<cdparam x="266" y="315" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="266" y="315" id="1085" />
<P2 x="266" y="345" id="1071" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="1113" >
+<CONNECTOR type="1501" id="1113" index="11" uid="d78e3112-9f2c-46f9-ad2d-3e151fb63e19" >
<cdparam x="265" y="139" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="265" y="139" id="1096" />
<P2 x="266" y="188" id="1067" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="1114" >
+<CONNECTOR type="1501" id="1114" index="12" uid="a293a734-eb33-407b-8b6b-1d2c02aedfbd" >
<cdparam x="263" y="31" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="265" y="55" id="1106" />
<P2 x="265" y="94" id="1095" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</CommunicationPatternDiagramPanel>
-<CommunicationPatternDiagramPanel name="DMATransfer2" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1507" id="1116" >
+<CommunicationPatternDiagramPanel name="DMATransfer2" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1507" id="1116" index="0" uid="6b16dad9-6327-45f4-9e15-c4b4fe558c66" >
<cdparam x="416" y="344" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="stop state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="1115" />
</COMPONENT>
-<COMPONENT type="1510" id="1120" >
+<COMPONENT type="1510" id="1120" index="1" uid="3651a928-ca4c-4db3-a7a6-d56d6a3d67dd" >
<cdparam x="154" y="195" />
-<sizeparam width="172" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="172" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="for loop" value="for(i=counter2;i>0;i = i-1)" />
+<new d="false" />
<TGConnectingPoint num="0" id="1117" />
<TGConnectingPoint num="1" id="1118" />
<TGConnectingPoint num="2" id="1119" />
@@ -1962,21 +2058,24 @@ INTERRUPTS
</extraparam>
</COMPONENT>
-<COMPONENT type="1507" id="1122" >
+<COMPONENT type="1507" id="1122" index="2" uid="f859891f-a3dc-481c-a32c-90919b1a64a0" >
<cdparam x="230" y="371" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="stop state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="1121" />
</COMPONENT>
-<COMPONENT type="1505" id="1133" >
+<COMPONENT type="1505" id="1133" index="3" uid="ca6a887f-b151-4c75-9d0c-8d1fb9e55747" >
<cdparam x="364" y="256" />
-<sizeparam width="124" height="35" minWidth="70" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="124" height="35" minWidth="70" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="DMACycle_SD2" value="Reference to a SD" />
+<new d="false" />
<TGConnectingPoint num="0" id="1123" />
<TGConnectingPoint num="1" id="1124" />
<TGConnectingPoint num="2" id="1125" />
@@ -1989,12 +2088,14 @@ INTERRUPTS
<TGConnectingPoint num="9" id="1132" />
</COMPONENT>
-<COMPONENT type="1505" id="1144" >
+<COMPONENT type="1505" id="1144" index="4" uid="3caf6a80-b161-4aa9-9196-ac5a53e45b04" >
<cdparam x="178" y="296" />
-<sizeparam width="124" height="35" minWidth="70" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="124" height="35" minWidth="70" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="TerminateDMA_SD2" value="Reference to a SD" />
+<new d="false" />
<TGConnectingPoint num="0" id="1134" />
<TGConnectingPoint num="1" id="1135" />
<TGConnectingPoint num="2" id="1136" />
@@ -2007,12 +2108,14 @@ INTERRUPTS
<TGConnectingPoint num="9" id="1143" />
</COMPONENT>
-<COMPONENT type="1505" id="1155" >
+<COMPONENT type="1505" id="1155" index="5" uid="97a9167c-6957-47dd-8a4f-2d6081ce184c" >
<cdparam x="178" y="103" />
-<sizeparam width="124" height="35" minWidth="70" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="124" height="35" minWidth="70" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="ConfigureDMA_SD2" value="Reference to a SD" />
+<new d="false" />
<TGConnectingPoint num="0" id="1145" />
<TGConnectingPoint num="1" id="1146" />
<TGConnectingPoint num="2" id="1147" />
@@ -2025,16 +2128,17 @@ INTERRUPTS
<TGConnectingPoint num="9" id="1154" />
</COMPONENT>
-<COMPONENT type="1506" id="1157" >
+<COMPONENT type="1506" id="1157" index="6" uid="8dc46a33-8905-49db-9aa7-c863c74d4368" >
<cdparam x="233" y="39" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="1156" />
</COMPONENT>
-<CONNECTOR type="1501" id="1159" >
+<CONNECTOR type="1501" id="1159" index="7" uid="ed580b54-b670-4fb1-8ba7-dfadf0e66984" >
<cdparam x="322" y="209" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
@@ -2042,65 +2146,73 @@ INTERRUPTS
<P2 x="426" y="251" id="1123" />
<Point x="426" y="209" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1158" >
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1158" index="13" uid="92376de6-e8f2-4d84-a26c-593309e01107" >
<father id="1159" num="0" />
<cdparam x="426" y="209" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="1501" id="1160" >
+<CONNECTOR type="1501" id="1160" index="8" uid="26fc264b-6968-433a-baf5-8c5d13abbb4d" >
<cdparam x="12" y="432" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="426" y="296" id="1124" />
<P2 x="426" y="339" id="1115" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="1161" >
+<CONNECTOR type="1501" id="1161" index="9" uid="0f4896bf-e67f-439b-a53b-a462dc38db2e" >
<cdparam x="58" y="331" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="240" y="220" id="1119" />
<P2 x="240" y="291" id="1134" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="1162" >
+<CONNECTOR type="1501" id="1162" index="10" uid="45db4ad4-5185-4784-adc4-389f9316384e" >
<cdparam x="240" y="336" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="240" y="336" id="1135" />
<P2 x="240" y="366" id="1121" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="1163" >
+<CONNECTOR type="1501" id="1163" index="11" uid="abb14478-2fe7-4338-8e37-bb52a85f9a16" >
<cdparam x="240" y="143" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="240" y="143" id="1146" />
<P2 x="240" y="190" id="1117" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="1501" id="1164" >
+<CONNECTOR type="1501" id="1164" index="12" uid="c2472fa7-5c46-4e54-9eaf-8fed105afe3f" >
<cdparam x="238" y="35" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="240" y="59" id="1156" />
<P2 x="240" y="98" id="1145" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</CommunicationPatternDiagramPanel>
-<TMLSDPanel name="ConfigureDMA_SD1" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1521" id="1214" >
+<TMLSDPanel name="ConfigureDMA_SD1" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1521" id="1214" index="0" uid="74047d89-2d30-44e6-a3ab-7469f705e849" >
<cdparam x="386" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Transfer_Instance_1" value="Transfer instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1165" />
<TGConnectingPoint num="1" id="1166" />
<TGConnectingPoint num="2" id="1167" />
@@ -2159,12 +2271,13 @@ INTERRUPTS
</extraparam>
</COMPONENT>
-<COMPONENT type="1522" id="1273" >
+<COMPONENT type="1522" id="1273" index="1" uid="d79f8d47-07e6-4f3f-a2ba-b4692b13fb33" >
<cdparam x="611" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="DMA_Controller_1" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1224" />
<TGConnectingPoint num="1" id="1225" />
<TGConnectingPoint num="2" id="1226" />
@@ -2222,13 +2335,14 @@ INTERRUPTS
<Attribute access="2" id="counter1" value="" type="0" typeOther="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1524" id="1223" >
+<SUBCOMPONENT type="1524" id="1223" index="5" uid="13ff4de3-b7e2-4acd-8e4b-b23df35b377b" >
<father id="1273" num="0" />
<cdparam x="616" y="151" />
-<sizeparam width="194" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="194" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="5" maxX="5" minY="10" maxY="470" />
<infoparam name="action state" value="counter1 = bytesToTransfer1" />
+<new d="false" />
<TGConnectingPoint num="0" id="1215" />
<TGConnectingPoint num="1" id="1216" />
<TGConnectingPoint num="2" id="1217" />
@@ -2239,12 +2353,13 @@ INTERRUPTS
<TGConnectingPoint num="7" id="1222" />
</SUBCOMPONENT>
-<COMPONENT type="1522" id="1323" >
+<COMPONENT type="1522" id="1323" index="2" uid="5b380a35-4f88-4ce6-8df7-4a50a7f4aec3" >
<cdparam x="167" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="CPU_Controller_1" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1274" />
<TGConnectingPoint num="1" id="1275" />
<TGConnectingPoint num="2" id="1276" />
@@ -2303,26 +2418,28 @@ INTERRUPTS
</extraparam>
</COMPONENT>
-<CONNECTOR type="1523" id="1324" >
+<CONNECTOR type="1523" id="1324" index="3" uid="c733dd50-24a8-47e9-beca-a8689be6d12a" >
<cdparam x="391" y="166" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="TransferRequest" value="TransferRequest(counter1, sourceAddress1, destinationAddress1)" />
<P1 x="391" y="126" id="1171" />
<P2 x="616" y="126" id="1230" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="counter1" />
<Param index="1" id="sourceAddress1" />
<Param index="2" id="destinationAddress1" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="1325" >
+<CONNECTOR type="1523" id="1325" index="4" uid="7b5f7682-45a7-4514-9a2a-7fc73409f627" >
<cdparam x="172" y="136" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="TransferRequest" value="TransferRequest(counter1, sourceAddress1, destinationAddress1)" />
<P1 x="172" y="96" id="1277" />
<P2 x="391" y="96" id="1168" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="counter1" />
<Param index="1" id="sourceAddress1" />
@@ -2332,13 +2449,14 @@ INTERRUPTS
</TMLSDPanel>
-<TMLSDPanel name="DMACycle_SD1" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1520" id="1375" >
+<TMLSDPanel name="DMACycle_SD1" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1520" id="1375" index="0" uid="38016fd1-26ce-4c21-8d7f-e421dad0330f" >
<cdparam x="1072" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Dst_Storage_Instance_1" value="Storage instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1326" />
<TGConnectingPoint num="1" id="1327" />
<TGConnectingPoint num="2" id="1328" />
@@ -2397,12 +2515,13 @@ INTERRUPTS
</extraparam>
</COMPONENT>
-<COMPONENT type="1521" id="1425" >
+<COMPONENT type="1521" id="1425" index="1" uid="893ea8f7-466e-4ecb-90c7-c7f02a6b3740" >
<cdparam x="861" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Transfer_Instance_3" value="Transfer instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1376" />
<TGConnectingPoint num="1" id="1377" />
<TGConnectingPoint num="2" id="1378" />
@@ -2461,12 +2580,13 @@ INTERRUPTS
</extraparam>
</COMPONENT>
-<COMPONENT type="1521" id="1475" >
+<COMPONENT type="1521" id="1475" index="2" uid="baace74a-16c2-4ff5-9b50-3d7cacdc3b38" >
<cdparam x="392" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Transfer_Instance_2" value="Transfer instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1426" />
<TGConnectingPoint num="1" id="1427" />
<TGConnectingPoint num="2" id="1428" />
@@ -2525,12 +2645,13 @@ INTERRUPTS
</extraparam>
</COMPONENT>
-<COMPONENT type="1520" id="1525" >
+<COMPONENT type="1520" id="1525" index="3" uid="3650088b-105e-4937-8d07-ba3bd1dfbb18" >
<cdparam x="643" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Src_Storage_Instance_1" value="Storage instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1476" />
<TGConnectingPoint num="1" id="1477" />
<TGConnectingPoint num="2" id="1478" />
@@ -2589,12 +2710,13 @@ INTERRUPTS
</extraparam>
</COMPONENT>
-<COMPONENT type="1522" id="1584" >
+<COMPONENT type="1522" id="1584" index="4" uid="f63b28b8-541e-4358-8b3e-17b20a3a247e" >
<cdparam x="161" y="56" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="DMA_Controller_1" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1535" />
<TGConnectingPoint num="1" id="1536" />
<TGConnectingPoint num="2" id="1537" />
@@ -2652,13 +2774,14 @@ INTERRUPTS
<Attribute access="2" id="counter1" value="" type="0" typeOther="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1524" id="1534" >
+<SUBCOMPONENT type="1524" id="1534" index="9" uid="681e64cd-79b8-4571-b3d4-d5a2e78f4459" >
<father id="1584" num="0" />
<cdparam x="166" y="252" />
-<sizeparam width="146" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="146" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="5" maxX="5" minY="10" maxY="470" />
<infoparam name="action state" value="counter = counter - 1" />
+<new d="false" />
<TGConnectingPoint num="0" id="1526" />
<TGConnectingPoint num="1" id="1527" />
<TGConnectingPoint num="2" id="1528" />
@@ -2669,49 +2792,53 @@ INTERRUPTS
<TGConnectingPoint num="7" id="1533" />
</SUBCOMPONENT>
-<CONNECTOR type="1523" id="1585" >
+<CONNECTOR type="1523" id="1585" index="5" uid="25da5ea6-b0e6-4aff-a495-7482de4beadf" >
<cdparam x="866" y="246" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Write" value="Write(destinationAddress1, 1)" />
<P1 x="866" y="266" id="1396" />
<P2 x="1077" y="266" id="1346" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="destinationAddress1" />
<Param index="1" id="1" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="1586" >
+<CONNECTOR type="1523" id="1586" index="6" uid="c055dbe3-dfd8-49c4-8a6d-8ec027acac1e" >
<cdparam x="166" y="216" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Write" value="Write(destinationAddress1, 1)" />
<P1 x="166" y="236" id="1552" />
<P2 x="866" y="236" id="1393" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="destinationAddress1" />
<Param index="1" id="1" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="1587" >
+<CONNECTOR type="1523" id="1587" index="7" uid="c10674ad-12bc-47d5-b6ab-45081059b07e" >
<cdparam x="397" y="126" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Read" value="Read(sourceAddress1, 1)" />
<P1 x="397" y="146" id="1434" />
<P2 x="648" y="146" id="1484" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="sourceAddress1" />
<Param index="1" id="1" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="1588" >
+<CONNECTOR type="1523" id="1588" index="8" uid="2f67bab9-dff3-4805-9777-9ae2ac4b936b" >
<cdparam x="183" y="95" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Read" value="Read(sourceAddress1, 1)" />
<P1 x="166" y="116" id="1540" />
<P2 x="397" y="116" id="1431" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="sourceAddress1" />
<Param index="1" id="1" />
@@ -2720,8 +2847,8 @@ INTERRUPTS
</TMLSDPanel>
-<TMLSDPanel name="TerminateDMA_SD1" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="301" id="1605" >
+<TMLSDPanel name="TerminateDMA_SD1" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="301" id="1605" index="0" uid="cd469a13-11e1-43f7-a2c4-01175a326581" >
<cdparam x="716" y="60" />
<sizeparam width="286" height="65" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
@@ -2730,6 +2857,7 @@ INTERRUPTS
transfer instance of the ConfigureTransfer
sequence diagram.
" />
+<new d="false" />
<TGConnectingPoint num="0" id="1589" />
<TGConnectingPoint num="1" id="1590" />
<TGConnectingPoint num="2" id="1591" />
@@ -2753,12 +2881,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1521" id="1655" >
+<COMPONENT type="1521" id="1655" index="1" uid="9b21d13f-8505-47d5-997f-32ac670939ff" >
<cdparam x="332" y="52" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Transfer_Instance_4" value="Transfer instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1606" />
<TGConnectingPoint num="1" id="1607" />
<TGConnectingPoint num="2" id="1608" />
@@ -2817,12 +2946,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1522" id="1705" >
+<COMPONENT type="1522" id="1705" index="2" uid="be9984d0-c24b-4289-b73c-98a74687911b" >
<cdparam x="557" y="52" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="DMA_Controller_1" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1656" />
<TGConnectingPoint num="1" id="1657" />
<TGConnectingPoint num="2" id="1658" />
@@ -2881,12 +3011,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1522" id="1755" >
+<COMPONENT type="1522" id="1755" index="3" uid="6a5f9336-cfe3-436a-98d8-e767db09c37e" >
<cdparam x="113" y="52" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="CPU_Controller_1" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1706" />
<TGConnectingPoint num="1" id="1707" />
<TGConnectingPoint num="2" id="1708" />
@@ -2945,36 +3076,39 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<CONNECTOR type="1523" id="1756" >
+<CONNECTOR type="1523" id="1756" index="4" uid="4e698c65-689e-4ddc-b0dc-d9a672e8a4bc" >
<cdparam x="337" y="112" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="TransferTerminated" value="TransferTerminated()" />
<P1 x="337" y="112" id="1611" />
<P2 x="118" y="112" id="1711" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="1757" >
+<CONNECTOR type="1523" id="1757" index="5" uid="b3050626-021b-49f0-9587-3e86598cddfb" >
<cdparam x="562" y="82" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="TransferTerminated" value="TransferTerminated()" />
<P1 x="562" y="82" id="1658" />
<P2 x="337" y="82" id="1608" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
</extraparam>
</CONNECTOR>
</TMLSDPanel>
-<TMLSDPanel name="ConfigureDMA_SD2" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1521" id="1807" >
+<TMLSDPanel name="ConfigureDMA_SD2" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1521" id="1807" index="0" uid="48e52d40-d4b1-4252-b763-d243b06377b9" >
<cdparam x="384" y="54" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Transfer_Instance_5" value="Transfer instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1758" />
<TGConnectingPoint num="1" id="1759" />
<TGConnectingPoint num="2" id="1760" />
@@ -3033,12 +3167,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1522" id="1857" >
+<COMPONENT type="1522" id="1857" index="1" uid="55841336-d73e-49c2-9f7a-3d7f1eaf7966" >
<cdparam x="609" y="54" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="DMA_Controller_2" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1808" />
<TGConnectingPoint num="1" id="1809" />
<TGConnectingPoint num="2" id="1810" />
@@ -3097,12 +3232,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1522" id="1907" >
+<COMPONENT type="1522" id="1907" index="2" uid="72462ce0-bd61-4acf-924a-18932fca014c" >
<cdparam x="165" y="54" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="CPU_Controller_2" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1858" />
<TGConnectingPoint num="1" id="1859" />
<TGConnectingPoint num="2" id="1860" />
@@ -3161,26 +3297,28 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<CONNECTOR type="1523" id="1908" >
+<CONNECTOR type="1523" id="1908" index="3" uid="1b6e0c2f-968f-4f6b-9964-61962c11db68" >
<cdparam x="389" y="164" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="TransferRequest" value="TransferRequest(counter2, sourceAddress2, destinationAddress2)" />
<P1 x="389" y="124" id="1764" />
<P2 x="614" y="124" id="1814" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="counter2" />
<Param index="1" id="sourceAddress2" />
<Param index="2" id="destinationAddress2" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="1909" >
+<CONNECTOR type="1523" id="1909" index="4" uid="ec008214-f018-48f3-996a-c751c99329fd" >
<cdparam x="170" y="134" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="TransferRequest" value="TransferRequest(counter2, sourceAddress2, destinationAddress2)" />
<P1 x="170" y="94" id="1861" />
<P2 x="389" y="94" id="1761" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="counter2" />
<Param index="1" id="sourceAddress2" />
@@ -3190,13 +3328,14 @@ sequence diagram.
</TMLSDPanel>
-<TMLSDPanel name="DMACycle_SD2" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1520" id="1959" >
+<TMLSDPanel name="DMACycle_SD2" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1520" id="1959" index="0" uid="c582a2d1-49de-4868-8f12-8c15e323ea2e" >
<cdparam x="1037" y="57" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Dst_Storage_Instance_2" value="Storage instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1910" />
<TGConnectingPoint num="1" id="1911" />
<TGConnectingPoint num="2" id="1912" />
@@ -3255,12 +3394,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1521" id="2009" >
+<COMPONENT type="1521" id="2009" index="1" uid="52effd22-6d9a-412d-9681-9cb2ee74f4a0" >
<cdparam x="826" y="57" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Transfer_Instance_7" value="Transfer instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="1960" />
<TGConnectingPoint num="1" id="1961" />
<TGConnectingPoint num="2" id="1962" />
@@ -3319,12 +3459,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1521" id="2059" >
+<COMPONENT type="1521" id="2059" index="2" uid="bf9a0064-c1a4-46ba-95bd-c080339e720e" >
<cdparam x="357" y="57" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Transfer_Instance_6" value="Transfer instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2010" />
<TGConnectingPoint num="1" id="2011" />
<TGConnectingPoint num="2" id="2012" />
@@ -3383,12 +3524,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1520" id="2109" >
+<COMPONENT type="1520" id="2109" index="3" uid="9806de01-a81a-40d6-9a33-1712e923de23" >
<cdparam x="608" y="57" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Src_Storage_Instance_2" value="Storage instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2060" />
<TGConnectingPoint num="1" id="2061" />
<TGConnectingPoint num="2" id="2062" />
@@ -3447,12 +3589,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1522" id="2168" >
+<COMPONENT type="1522" id="2168" index="4" uid="48bb36f6-d9b9-40d8-8e42-4bb579eb6cfa" >
<cdparam x="126" y="57" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="DMA_Controller_2" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2119" />
<TGConnectingPoint num="1" id="2120" />
<TGConnectingPoint num="2" id="2121" />
@@ -3510,13 +3653,14 @@ sequence diagram.
<Attribute access="2" id="counter2" value="" type="0" typeOther="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1524" id="2118" >
+<SUBCOMPONENT type="1524" id="2118" index="9" uid="db75c489-4fa6-42d3-9c5d-6c9f9c155543" >
<father id="2168" num="0" />
<cdparam x="131" y="253" />
-<sizeparam width="146" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="146" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="5" maxX="5" minY="10" maxY="470" />
<infoparam name="action state" value="counter = counter - 1" />
+<new d="false" />
<TGConnectingPoint num="0" id="2110" />
<TGConnectingPoint num="1" id="2111" />
<TGConnectingPoint num="2" id="2112" />
@@ -3527,49 +3671,53 @@ sequence diagram.
<TGConnectingPoint num="7" id="2117" />
</SUBCOMPONENT>
-<CONNECTOR type="1523" id="2169" >
+<CONNECTOR type="1523" id="2169" index="5" uid="66df22ca-d115-44be-b2c0-0a68c5fb7b75" >
<cdparam x="831" y="247" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Write" value="Write(destinationAddress2, 1)" />
<P1 x="831" y="267" id="1980" />
<P2 x="1042" y="267" id="1930" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="destinationAddress2" />
<Param index="1" id="1" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="2170" >
+<CONNECTOR type="1523" id="2170" index="6" uid="04dafe01-2e32-4310-a18f-b575d15165c8" >
<cdparam x="131" y="217" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Write" value="Write(destinationAddress2, 1)" />
<P1 x="131" y="237" id="2136" />
<P2 x="831" y="237" id="1977" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="destinationAddress2" />
<Param index="1" id="1" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="2171" >
+<CONNECTOR type="1523" id="2171" index="7" uid="d1a3e11d-909b-4538-a9ff-4ae5ea78b871" >
<cdparam x="362" y="127" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Read" value="Read(sourceAddress2, 1)" />
<P1 x="362" y="147" id="2018" />
<P2 x="613" y="147" id="2068" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="sourceAddress2" />
<Param index="1" id="1" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="2172" >
+<CONNECTOR type="1523" id="2172" index="8" uid="8a51ff96-0fbb-4e49-9f07-8cbb0ebf963c" >
<cdparam x="148" y="96" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="Read" value="Read(sourceAddress2, 1)" />
<P1 x="131" y="117" id="2124" />
<P2 x="362" y="117" id="2015" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<Param index="0" id="sourceAddress2" />
<Param index="1" id="1" />
@@ -3578,13 +3726,14 @@ sequence diagram.
</TMLSDPanel>
-<TMLSDPanel name="TerminateDMA_SD2" minX="10" maxX="1400" minY="10" maxY="900" >
-<COMPONENT type="1521" id="2222" >
+<TMLSDPanel name="TerminateDMA_SD2" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="1521" id="2222" index="0" uid="9cf79508-8459-4f5a-b0e0-88244f4e4870" >
<cdparam x="280" y="53" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Transfer_Instance_8" value="Transfer instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2173" />
<TGConnectingPoint num="1" id="2174" />
<TGConnectingPoint num="2" id="2175" />
@@ -3643,12 +3792,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1522" id="2272" >
+<COMPONENT type="1522" id="2272" index="1" uid="f34989fd-896b-4db0-96f0-8cc9a51a11af" >
<cdparam x="505" y="53" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="DMA_Controller_2" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2223" />
<TGConnectingPoint num="1" id="2224" />
<TGConnectingPoint num="2" id="2225" />
@@ -3707,12 +3857,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1522" id="2322" >
+<COMPONENT type="1522" id="2322" index="2" uid="c1335829-6680-4b83-8dc5-818c4054ca18" >
<cdparam x="61" y="53" />
<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="CPU_Controller_2" value="Controller instance name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2273" />
<TGConnectingPoint num="1" id="2274" />
<TGConnectingPoint num="2" id="2275" />
@@ -3771,23 +3922,25 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<CONNECTOR type="1523" id="2323" >
+<CONNECTOR type="1523" id="2323" index="3" uid="affbadf4-2bf2-49e1-84f7-446ebe35027f" >
<cdparam x="285" y="113" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="TransferTerminated" value="TransferTerminated()" />
<P1 x="285" y="113" id="2178" />
<P2 x="66" y="113" id="2278" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
</extraparam>
</CONNECTOR>
-<CONNECTOR type="1523" id="2324" >
+<CONNECTOR type="1523" id="2324" index="4" uid="feaa8f71-4860-4cac-9c97-84972746b79a" >
<cdparam x="510" y="83" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="TransferTerminated" value="TransferTerminated()" />
<P1 x="510" y="83" id="2225" />
<P2 x="285" y="83" id="2175" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
</extraparam>
</CONNECTOR>
@@ -3800,13 +3953,14 @@ sequence diagram.
<Modeling type="TML Architecture" nameTab="Embb" >
-<TMLArchiDiagramPanel name="DIPLODOCUS architecture and mapping Diagram" minX="10" maxX="1900" minY="10" maxY="1900" attributes="0" masterClockFrequency="200" >
-<COMPONENT type="1100" id="2349" >
+<TMLArchiDiagramPanel name="DIPLODOCUS architecture and mapping Diagram" minX="10" maxX="1900" minY="10" maxY="1900" attributes="0" considerExecOperators="true" considerTimingOperators="true" masterClockFrequency="200" zoom="1.0" >
+<COMPONENT type="1100" id="2349" index="0" uid="13727286-694f-4ece-8f8c-628210c38e5e" >
<cdparam x="560" y="807" />
<sizeparam width="150" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="INTL_DMA" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2325" />
<TGConnectingPoint num="1" id="2326" />
<TGConnectingPoint num="2" id="2327" />
@@ -3833,16 +3987,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2348" />
<extraparam>
<info stereotype="CPURR" nodeName="INTL_DMA" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="2374" >
+<COMPONENT type="1100" id="2374" index="1" uid="ab1d4d69-e7b7-46a8-94c6-60f66bd6f6b6" >
<cdparam x="543" y="422" />
<sizeparam width="150" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="ADAIF_DMA" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2350" />
<TGConnectingPoint num="1" id="2351" />
<TGConnectingPoint num="2" id="2352" />
@@ -3869,16 +4024,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2373" />
<extraparam>
<info stereotype="CPURR" nodeName="ADAIF_DMA" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="2399" >
+<COMPONENT type="1105" id="2399" index="2" uid="6578fd8e-d265-4c4d-b92e-184547a65dbe" >
<cdparam x="354" y="243" />
<sizeparam width="200" height="152" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="ADAIF_MSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2375" />
<TGConnectingPoint num="1" id="2376" />
<TGConnectingPoint num="2" id="2377" />
@@ -3905,16 +4061,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2398" />
<extraparam>
<info stereotype="MEMORY" nodeName="ADAIF_MSS" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="2" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="2" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="2424" >
+<COMPONENT type="1100" id="2424" index="3" uid="bdfa67a3-e8fb-4a9d-a55c-0e5e7448e72b" >
<cdparam x="29" y="215" />
<sizeparam width="252" height="181" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="ADAIF_PSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2400" />
<TGConnectingPoint num="1" id="2401" />
<TGConnectingPoint num="2" id="2402" />
@@ -3941,16 +4098,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2423" />
<extraparam>
<info stereotype="CPURR" nodeName="ADAIF_PSS" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="4" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="4" encryption="0"/>
</extraparam>
</COMPONENT>
-<COMPONENT type="1106" id="2449" >
+<COMPONENT type="1106" id="2449" index="4" uid="4536797c-d102-470d-94d5-7aaad5a95d98" >
<cdparam x="306" y="545" />
<sizeparam width="100" height="35" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="ADAIF_Bridge" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2425" />
<TGConnectingPoint num="1" id="2426" />
<TGConnectingPoint num="2" id="2427" />
@@ -3981,12 +4139,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="2474" >
+<COMPONENT type="1105" id="2474" index="5" uid="dc919d6e-93cf-4597-8e7a-dbae824279b2" >
<cdparam x="1544" y="737" />
<sizeparam width="216" height="140" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="DDR" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2450" />
<TGConnectingPoint num="1" id="2451" />
<TGConnectingPoint num="2" id="2452" />
@@ -4013,16 +4172,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2473" />
<extraparam>
<info stereotype="MEMORY" nodeName="DDR" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="4" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="4" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="2499" >
+<COMPONENT type="1100" id="2499" index="6" uid="b748ff82-ad1c-49f7-8bde-6b322a330481" >
<cdparam x="1444" y="293" />
<sizeparam width="417" height="293" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MainCPU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2475" />
<TGConnectingPoint num="1" id="2476" />
<TGConnectingPoint num="2" id="2477" />
@@ -4049,16 +4209,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2498" />
<extraparam>
<info stereotype="CPURR" nodeName="MainCPU" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<COMPONENT type="1102" id="2524" >
+<COMPONENT type="1102" id="2524" index="7" uid="8e6bf990-0f3d-4084-9b6f-3e817febd535" >
<cdparam x="1527" y="635" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MainBus" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2500" />
<TGConnectingPoint num="1" id="2501" />
<TGConnectingPoint num="2" id="2502" />
@@ -4085,16 +4246,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2523" />
<extraparam>
<info stereotype="BUS-RR" nodeName="MainBus" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1106" id="2549" >
+<COMPONENT type="1106" id="2549" index="8" uid="3afae4bb-b661-4889-a38e-0b268fe8e9b9" >
<cdparam x="1367" y="610" />
<sizeparam width="100" height="100" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MainBridge" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2525" />
<TGConnectingPoint num="1" id="2526" />
<TGConnectingPoint num="2" id="2527" />
@@ -4125,12 +4287,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1102" id="2574" >
+<COMPONENT type="1102" id="2574" index="9" uid="e7eba55f-3896-4e03-a3c1-bd74a69536c5" >
<cdparam x="231" y="635" />
<sizeparam width="845" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="Crossbar" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2550" />
<TGConnectingPoint num="1" id="2551" />
<TGConnectingPoint num="2" id="2552" />
@@ -4157,16 +4320,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2573" />
<extraparam>
<info stereotype="BUS-RR" nodeName="Crossbar" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1106" id="2599" >
+<COMPONENT type="1106" id="2599" index="10" uid="393821d7-e348-4daa-b056-ea7f86f9636b" >
<cdparam x="306" y="737" />
<sizeparam width="100" height="51" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="INTL_Bridge" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2575" />
<TGConnectingPoint num="1" id="2576" />
<TGConnectingPoint num="2" id="2577" />
@@ -4197,12 +4361,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="2624" >
+<COMPONENT type="1105" id="2624" index="11" uid="a180c422-d2b5-4e2a-bd9c-5b55bf501850" >
<cdparam x="376" y="949" />
<sizeparam width="331" height="135" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="INTL_MSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2600" />
<TGConnectingPoint num="1" id="2601" />
<TGConnectingPoint num="2" id="2602" />
@@ -4229,16 +4394,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2623" />
<extraparam>
<info stereotype="MEMORY" nodeName="INTL_MSS" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="3" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="3" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="2649" >
+<COMPONENT type="1100" id="2649" index="12" uid="c10a071f-a819-4357-b896-0313bd322437" >
<cdparam x="138" y="938" />
<sizeparam width="187" height="140" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="INTL_PSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2625" />
<TGConnectingPoint num="1" id="2626" />
<TGConnectingPoint num="2" id="2627" />
@@ -4265,16 +4431,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2648" />
<extraparam>
<info stereotype="CPURR" nodeName="INTL_PSS" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="2" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="2" encryption="0"/>
</extraparam>
</COMPONENT>
-<COMPONENT type="1102" id="2674" >
+<COMPONENT type="1102" id="2674" index="13" uid="a6a9edce-05d2-4943-b241-aa2e1c09ddfa" >
<cdparam x="231" y="832" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="INTL_Bus" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2650" />
<TGConnectingPoint num="1" id="2651" />
<TGConnectingPoint num="2" id="2652" />
@@ -4301,16 +4468,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2673" />
<extraparam>
<info stereotype="BUS-RR" nodeName="INTL_Bus" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1102" id="2699" >
+<COMPONENT type="1102" id="2699" index="14" uid="7391be9c-0833-46d2-8902-b3816dfdf2df" >
<cdparam x="231" y="447" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="ADAIF_Bus" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2675" />
<TGConnectingPoint num="1" id="2676" />
<TGConnectingPoint num="2" id="2677" />
@@ -4337,16 +4505,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2698" />
<extraparam>
<info stereotype="BUS-RR" nodeName="ADAIF_Bus" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="2724" >
+<COMPONENT type="1100" id="2724" index="15" uid="a02c3713-7ca6-489f-a3f1-be9b2cca4c83" >
<cdparam x="1147" y="408" />
<sizeparam width="150" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="FEP_DMA" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2700" />
<TGConnectingPoint num="1" id="2701" />
<TGConnectingPoint num="2" id="2702" />
@@ -4373,16 +4542,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2723" />
<extraparam>
<info stereotype="CPURR" nodeName="FEP_DMA" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="2749" >
+<COMPONENT type="1105" id="2749" index="16" uid="6f9d96ee-9667-4ae0-b686-f5592d08e8f6" >
<cdparam x="895" y="193" />
<sizeparam width="255" height="183" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="FEP_MSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2725" />
<TGConnectingPoint num="1" id="2726" />
<TGConnectingPoint num="2" id="2727" />
@@ -4409,16 +4579,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2748" />
<extraparam>
<info stereotype="MEMORY" nodeName="FEP_MSS" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="0" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="2774" >
+<COMPONENT type="1100" id="2774" index="17" uid="93df6995-9ca5-4a64-bb8c-f50bc20ac858" >
<cdparam x="619" y="199" />
<sizeparam width="238" height="185" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="FEP_PSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2750" />
<TGConnectingPoint num="1" id="2751" />
<TGConnectingPoint num="2" id="2752" />
@@ -4445,16 +4616,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2773" />
<extraparam>
<info stereotype="CPURR" nodeName="FEP_PSS" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="2" execcTime="1" clockRatio="1" MECType="1" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="2" execcTime="1" clockRatio="1" operation="" MECType="1" encryption="0"/>
</extraparam>
</COMPONENT>
-<COMPONENT type="1106" id="2799" >
+<COMPONENT type="1106" id="2799" index="18" uid="7a306b6d-8312-47da-8573-2f24c3652b5b" >
<cdparam x="910" y="531" />
<sizeparam width="100" height="35" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="FEP_Bridge" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2775" />
<TGConnectingPoint num="1" id="2776" />
<TGConnectingPoint num="2" id="2777" />
@@ -4485,12 +4657,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1102" id="2824" >
+<COMPONENT type="1102" id="2824" index="19" uid="8b106283-6122-4528-9f5d-b4629b38308c" >
<cdparam x="835" y="433" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="FEP_Bus" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2800" />
<TGConnectingPoint num="1" id="2801" />
<TGConnectingPoint num="2" id="2802" />
@@ -4517,16 +4690,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2823" />
<extraparam>
<info stereotype="BUS-RR" nodeName="FEP_Bus" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="2849" >
+<COMPONENT type="1100" id="2849" index="20" uid="b6d63464-9031-4485-9b01-71bc3259ea5d" >
<cdparam x="1174" y="850" />
<sizeparam width="150" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MAPPER_DMA" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2825" />
<TGConnectingPoint num="1" id="2826" />
<TGConnectingPoint num="2" id="2827" />
@@ -4553,16 +4727,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2848" />
<extraparam>
<info stereotype="CPURR" nodeName="MAPPER_DMA" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<COMPONENT type="1106" id="2874" >
+<COMPONENT type="1106" id="2874" index="21" uid="988133ef-c29a-4845-a6b2-cc0b9377458d" >
<cdparam x="920" y="780" />
<sizeparam width="100" height="51" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MAPPER_Bridge" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2850" />
<TGConnectingPoint num="1" id="2851" />
<TGConnectingPoint num="2" id="2852" />
@@ -4593,12 +4768,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="2899" >
+<COMPONENT type="1105" id="2899" index="22" uid="816d789b-0fca-481d-bbff-5f4ace3c6130" >
<cdparam x="1043" y="978" />
<sizeparam width="314" height="125" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MAPPER_MSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2875" />
<TGConnectingPoint num="1" id="2876" />
<TGConnectingPoint num="2" id="2877" />
@@ -4625,16 +4801,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2898" />
<extraparam>
<info stereotype="MEMORY" nodeName="MAPPER_MSS" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="1" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="1" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="2924" >
+<COMPONENT type="1100" id="2924" index="23" uid="6a069f3f-ba76-41fe-895a-72c041784c3e" >
<cdparam x="759" y="981" />
<sizeparam width="219" height="158" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MAPPER_PSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2900" />
<TGConnectingPoint num="1" id="2901" />
<TGConnectingPoint num="2" id="2902" />
@@ -4661,16 +4838,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="2923" />
<extraparam>
<info stereotype="CPURR" nodeName="MAPPER_PSS" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="3" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="3" encryption="0"/>
</extraparam>
</COMPONENT>
-<COMPONENT type="1102" id="2949" >
+<COMPONENT type="1102" id="2949" index="24" uid="eaebafeb-df5b-48b6-8e83-71b36b50d8aa" >
<cdparam x="845" y="875" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MAPPER_Bus" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="2925" />
<TGConnectingPoint num="1" id="2926" />
<TGConnectingPoint num="2" id="2927" />
@@ -4697,341 +4875,369 @@ sequence diagram.
<TGConnectingPoint num="23" id="2948" />
<extraparam>
<info stereotype="BUS-RR" nodeName="MAPPER_Bus" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<CONNECTOR type="125" id="2950" >
+<CONNECTOR type="125" id="2950" index="25" uid="a4b3dc1e-ec0f-45fa-94b7-505efec95be5" >
<cdparam x="1367" y="660" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1367" y="660" id="2528" />
<P2 x="1076" y="660" id="2554" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2951" >
+<CONNECTOR type="125" id="2951" index="26" uid="6dfdda9c-1360-4487-973a-c2b2b84df05f" >
<cdparam x="1147" y="508" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1147" y="508" id="2705" />
<P2 x="1076" y="635" id="2552" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2952" >
+<CONNECTOR type="125" id="2952" index="27" uid="373a2e61-b228-4aa3-bcd0-bb5a6b5dceaf" >
<cdparam x="1298" y="875" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1249" y="850" id="2826" />
<P2 x="1076" y="685" id="2557" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2953" >
+<CONNECTOR type="125" id="2953" index="28" uid="9a2aaf70-1a1c-4bd6-b727-ddc0cad6f161" >
<cdparam x="1019" y="805" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="970" y="780" id="2851" />
<P2 x="864" y="685" id="2565" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2954" >
+<CONNECTOR type="125" id="2954" index="29" uid="5224868a-de68-40c9-871f-1fbcee758f27" >
<cdparam x="1004" y="531" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="960" y="566" id="2781" />
<P2 x="864" y="635" id="2559" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2955" >
+<CONNECTOR type="125" id="2955" index="30" uid="6570b54b-7d24-41e4-881f-a366fe9bd0da" >
<cdparam x="1185" y="660" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1467" y="660" id="2529" />
<P2 x="1527" y="660" id="2503" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2956" >
+<CONNECTOR type="125" id="2956" index="31" uid="897b5c96-7013-4604-9b6d-1d94730e4c35" >
<cdparam x="356" y="788" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="356" y="788" id="2581" />
<P2 x="356" y="832" id="2651" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2957" >
+<CONNECTOR type="125" id="2957" index="32" uid="5514accb-a05a-4aac-9f36-12fa0162ea24" >
<cdparam x="554" y="806" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="560" y="807" id="2325" />
<P2 x="442" y="685" id="2564" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2958" >
+<CONNECTOR type="125" id="2958" index="33" uid="c18cb440-6d11-4564-9560-e75af27d282a" >
<cdparam x="559" y="863" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="560" y="857" id="2328" />
<P2 x="481" y="857" id="2654" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2959" >
+<CONNECTOR type="125" id="2959" index="34" uid="3ec1e627-d6d2-452e-8da6-ac656744f1e2" >
<cdparam x="586" y="970" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="541" y="949" id="2601" />
<P2 x="418" y="882" id="2665" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2960" >
+<CONNECTOR type="125" id="2960" index="35" uid="01598d1a-60a7-47fd-8c60-4be46367783e" >
<cdparam x="165" y="927" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="231" y="938" id="2626" />
<P2 x="293" y="882" id="2664" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2961" >
+<CONNECTOR type="125" id="2961" index="36" uid="4017b66a-743e-49c7-b6b1-1750601293be" >
<cdparam x="355" y="576" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="356" y="580" id="2431" />
<P2 x="231" y="635" id="2550" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2962" >
+<CONNECTOR type="125" id="2962" index="37" uid="69dca7bb-6672-41ba-a27c-35af9d675753" >
<cdparam x="355" y="541" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="356" y="545" id="2426" />
<P2 x="356" y="497" id="2681" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2963" >
+<CONNECTOR type="125" id="2963" index="38" uid="fc3f7831-ef9e-49a9-ba9d-4e22428300ac" >
<cdparam x="543" y="522" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="543" y="522" id="2355" />
<P2 x="442" y="635" id="2558" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2964" >
+<CONNECTOR type="125" id="2964" index="39" uid="6ee8db91-6861-4405-946b-a7efe93b01a3" >
<cdparam x="536" y="475" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="543" y="472" id="2353" />
<P2 x="481" y="472" id="2679" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2965" >
+<CONNECTOR type="125" id="2965" index="40" uid="9e20296d-1eff-414b-a9ea-ad713203eb45" >
<cdparam x="549" y="337" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="454" y="395" id="2381" />
<P2 x="418" y="447" id="2684" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2966" >
+<CONNECTOR type="125" id="2966" index="41" uid="5fd0ecf7-9152-4a69-840d-3333ce4f844b" >
<cdparam x="155" y="323" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="155" y="396" id="2406" />
<P2 x="293" y="447" id="2683" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2967" >
+<CONNECTOR type="125" id="2967" index="42" uid="61eeb663-3107-46db-8625-32d429c29642" >
<cdparam x="357" y="778" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="356" y="737" id="2576" />
<P2 x="231" y="685" id="2555" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2968" >
+<CONNECTOR type="125" id="2968" index="43" uid="e72db92c-e54b-469e-91de-f51c14a932cd" >
<cdparam x="1654" y="758" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1652" y="737" id="2451" />
<P2 x="1652" y="685" id="2506" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2969" >
+<CONNECTOR type="125" id="2969" index="44" uid="6dbe6392-acb8-4ccb-bd68-a44da11aea9a" >
<cdparam x="1651" y="573" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1652" y="586" id="2481" />
<P2 x="1652" y="635" id="2501" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2970" >
+<CONNECTOR type="125" id="2970" index="45" uid="2e42c5d0-dd48-4a7c-bcdd-52b091beffd6" >
<cdparam x="959" y="527" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="960" y="531" id="2776" />
<P2 x="960" y="483" id="2806" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2971" >
+<CONNECTOR type="125" id="2971" index="46" uid="55fc751a-76cd-4f50-8355-6800fcfdfcad" >
<cdparam x="1140" y="461" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1147" y="458" id="2703" />
<P2 x="1085" y="458" id="2804" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2972" >
+<CONNECTOR type="125" id="2972" index="47" uid="76d0cb42-4bcc-4c44-baf5-e7dec7c47068" >
<cdparam x="1189" y="374" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1022" y="376" id="2731" />
<P2 x="1022" y="433" id="2809" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2973" >
+<CONNECTOR type="125" id="2973" index="48" uid="27436f2c-cde8-467b-b691-028642ce49a7" >
<cdparam x="795" y="360" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="738" y="384" id="2756" />
<P2 x="897" y="433" id="2808" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2974" >
+<CONNECTOR type="125" id="2974" index="49" uid="d031e20d-6a06-496c-a818-dd0ee602cf06" >
<cdparam x="970" y="831" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="970" y="831" id="2856" />
<P2 x="970" y="875" id="2926" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2975" >
+<CONNECTOR type="125" id="2975" index="50" uid="ba21a768-d9d2-4f1e-be64-0cb8fe070eac" >
<cdparam x="1173" y="906" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1174" y="900" id="2828" />
<P2 x="1095" y="900" id="2929" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2976" >
+<CONNECTOR type="125" id="2976" index="51" uid="a02a0e24-7843-4713-85a4-8c51a7ecfeb4" >
<cdparam x="1200" y="1013" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1200" y="978" id="2876" />
<P2 x="1032" y="925" id="2940" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="2977" >
+<CONNECTOR type="125" id="2977" index="52" uid="1d56589d-6010-43a3-924e-668dd1681bbc" >
<cdparam x="779" y="970" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="868" y="981" id="2901" />
<P2 x="907" y="925" id="2939" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
@@ -5045,264 +5251,296 @@ sequence diagram.
-<Modeling type="TML Component Design" nameTab="Demo_TX" >
-<TMLComponentTaskDiagramPanel name="TML Component Task Diagram" minX="0" maxX="1500" minY="0" maxY="900" channels="true" events="true" requests="true" zoom="0.6400000000000001" >
-<CONNECTOR type="126" id="2978" >
-<cdparam x="788" y="190" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<Modeling type="TML Component Design" nameTab="Demo_TX" tabs="TML Component Task Diagram$Configuration$X_App$F_APP$X_FFT$F_FFT$X_AppSink$F_AppSink" >
+<TMLComponentTaskDiagramPanel name="TML Component Task Diagram" minX="0" maxX="2344" minY="0" maxY="1406" channels="true" events="true" requests="true" considerExecOperators="true" considerTimingOperators="true" zoom="1.0000000000000002" >
+<CONNECTOR type="126" id="2978" index="0" uid="3c8b6f68-7fa9-431c-8236-f36f88e569cd" >
+<cdparam x="1231" y="296" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="788" y="186" id="3309" />
-<P2 x="814" y="186" id="3336" />
+<P1 x="1231" y="291" id="3417" />
+<P2 x="1271" y="291" id="3388" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2979" >
-<cdparam x="721" y="191" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2979" index="1" uid="c51a32e7-170b-4e77-8b94-8aa8a53023ae" >
+<cdparam x="1126" y="298" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="721" y="186" id="3164" />
-<P2 x="772" y="186" id="3304" />
+<P1 x="1126" y="291" id="3276" />
+<P2 x="1205" y="291" id="3412" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2980" >
-<cdparam x="688" y="186" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2980" index="2" uid="6a4f5c3f-8296-4a61-a500-04eb5e029106" >
+<cdparam x="1075" y="290" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="688" y="186" id="3238" />
-<P2 x="705" y="186" id="3169" />
+<P1 x="1075" y="291" id="3210" />
+<P2 x="1100" y="291" id="3281" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2981" >
-<cdparam x="447" y="128" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2981" index="3" uid="c8d3999f-611d-45c4-a851-c02df0d3b79f" >
+<cdparam x="698" y="200" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="401" y="126" id="3020" />
-<P2 x="401" y="151" id="3075" />
+<P1 x="627" y="196" id="3144" />
+<P2 x="627" y="235" id="3089" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2982" >
-<cdparam x="287" y="226" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2982" index="4" uid="05c25ec3-9bf0-4f4d-9eb7-6cbfd70b9ac4" >
+<cdparam x="448" y="353" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="287" y="226" id="3141" />
-<P2 x="301" y="225" id="3087" />
+<P1 x="448" y="353" id="3025" />
+<P2 x="469" y="352" id="3077" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2983" >
-<cdparam x="209" y="225" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2983" index="5" uid="896feeb3-debf-47c1-ac4e-13fcc54f05e9" >
+<cdparam x="326" y="351" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="234" y="226" id="3009" />
-<P2 x="271" y="226" id="3136" />
+<P1 x="365" y="353" id="3009" />
+<P2 x="422" y="353" id="3020" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2984" >
-<cdparam x="431" y="151" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2984" index="6" uid="5a7d9e38-723f-4ab0-92f7-12d82a9093c5" >
+<cdparam x="673" y="235" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="367" y="151" id="3085" />
-<P2 x="367" y="126" id="3026" />
+<P1 x="573" y="235" id="3079" />
+<P2 x="573" y="196" id="3138" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2985" >
-<cdparam x="725" y="150" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2985" index="7" uid="caf42830-7849-4e43-956d-9726e16904e1" >
+<cdparam x="1132" y="234" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="600" y="127" id="3189" />
-<P2 x="599" y="158" id="3246" />
+<P1 x="938" y="198" id="3259" />
+<P2 x="936" y="246" id="3202" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2986" >
-<cdparam x="412" y="273" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2986" index="8" uid="b0f61c68-df22-42ef-a7cb-9edb4b996284" >
+<cdparam x="643" y="426" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="347" y="273" id="3122" />
-<P2 x="347" y="263" id="3083" />
+<P1 x="542" y="425" id="3044" />
+<P2 x="542" y="411" id="3081" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2987" >
-<cdparam x="927" y="274" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2987" index="9" uid="7cb2a0cf-3b58-4230-a8a7-7abd958c4f0e" >
+<cdparam x="1448" y="428" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="909" y="266" id="3344" />
-<P2 x="909" y="273" id="3417" />
+<P1 x="1420" y="416" id="3380" />
+<P2 x="1420" y="425" id="3309" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2990" >
-<cdparam x="990" y="289" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2990" index="10" uid="b3ee4e14-cb57-483d-95f8-875e02eb8229" >
+<cdparam x="1546" y="451" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="909" y="289" id="3412" />
-<P2 x="347" y="289" id="3117" />
-<Point x="910" y="312" />
-<Point x="346" y="312" />
+<P1 x="1420" y="451" id="3304" />
+<P2 x="542" y="451" id="3039" />
+<Point x="1421" y="487" />
+<Point x="540" y="487" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="2988" >
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="2988" index="33" uid="fcca8c99-5f36-436a-9ee0-626036a5cf3d" >
<father id="2990" num="0" />
-<cdparam x="910" y="312" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1421" y="487" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="1732" minY="0" maxY="694" />
+<cdrectangleparam minX="0" maxX="2706" minY="0" maxY="1083" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="2989" >
+<SUBCOMPONENT type="-1" id="2989" index="34" uid="ef34ecc0-bf61-4844-a8e6-2362d3610eea" >
<father id="2990" num="1" />
-<cdparam x="346" y="312" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="540" y="487" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="1732" minY="0" maxY="694" />
+<cdrectangleparam minX="0" maxX="2706" minY="0" maxY="1083" />
<infoparam name="point " value="null" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="126" id="2991" >
-<cdparam x="505" y="261" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2991" index="11" uid="3027837d-b1b1-4841-8a1c-479c92b17022" >
+<cdparam x="789" y="407" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="396" y="273" id="3103" />
-<P2 x="396" y="263" id="3081" />
+<P1 x="619" y="425" id="3063" />
+<P2 x="619" y="411" id="3083" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2992" >
-<cdparam x="844" y="268" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2992" index="12" uid="3af69717-2e20-40dc-b391-bbe172c0ea91" >
+<cdparam x="1318" y="418" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="854" y="289" id="3393" />
-<P2 x="396" y="289" id="3098" />
+<P1 x="1334" y="451" id="3323" />
+<P2 x="619" y="451" id="3058" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2993" >
-<cdparam x="888" y="274" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2993" index="13" uid="ae417fb0-75a7-452e-b9b3-b39857530e02" >
+<cdparam x="1387" y="428" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="854" y="266" id="3342" />
-<P2 x="854" y="273" id="3398" />
+<P1 x="1334" y="416" id="3382" />
+<P2 x="1334" y="425" id="3328" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2994" >
-<cdparam x="1137" y="475" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2994" index="14" uid="13e5d129-ca57-4abc-8a1b-7876a48e4920" >
+<cdparam x="1776" y="742" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="721" y="232" id="3257" />
-<P2 x="772" y="232" id="3355" />
+<P1 x="1126" y="363" id="3183" />
+<P2 x="1205" y="363" id="3361" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2995" >
-<cdparam x="1137" y="268" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2995" index="15" uid="e4326041-ac45-4507-a8f0-910254857371" >
+<cdparam x="1776" y="418" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="721" y="77" id="3276" />
-<P2 x="772" y="77" id="3374" />
+<P1 x="1126" y="120" id="3164" />
+<P2 x="1205" y="120" id="3342" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2996" >
-<cdparam x="896" y="0" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2996" index="16" uid="11fe6bf3-1349-4242-9faf-8a5d19d30cea" >
+<cdparam x="1400" y="0" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="471" y="230" id="3056" />
-<P2 x="522" y="230" id="3219" />
+<P1 x="735" y="359" id="3100" />
+<P2 x="815" y="359" id="3221" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2997" >
-<cdparam x="896" y="0" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2997" index="17" uid="7efcc55c-3733-4efb-90f8-726f99fe2f4d" >
+<cdparam x="1400" y="0" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="471" y="70" id="3037" />
-<P2 x="522" y="70" id="3200" />
+<P1 x="735" y="109" id="3119" />
+<P2 x="815" y="109" id="3240" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2998" >
-<cdparam x="980" y="364" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2998" index="18" uid="e846599f-40e2-49b5-931e-91bef12037fd" >
+<cdparam x="1531" y="568" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="431" y="70" id="3024" />
-<P2 x="455" y="70" id="3042" />
+<P1 x="673" y="109" id="3140" />
+<P2 x="709" y="109" id="3124" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="2999" >
-<cdparam x="981" y="509" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="2999" index="19" uid="6996691d-abc1-456c-a501-04b57e8dd54c" >
+<cdparam x="1532" y="795" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="445" y="230" id="3079" />
-<P2 x="455" y="230" id="3061" />
+<P1 x="695" y="359" id="3085" />
+<P2 x="709" y="359" id="3105" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="3000" >
-<cdparam x="908" y="482" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="3000" index="20" uid="929aecb3-0a3c-4d25-ab9b-3a743e730e14" >
+<cdparam x="1418" y="753" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="337" y="151" id="3077" />
-<P2 x="337" y="126" id="3022" />
+<P1 x="527" y="235" id="3087" />
+<P2 x="527" y="196" id="3142" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="3001" >
-<cdparam x="1137" y="509" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="3001" index="21" uid="b582c7bb-5026-4373-94a8-55ca8cedd9d4" >
+<cdparam x="1776" y="795" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="538" y="230" id="3224" />
-<P2 x="544" y="230" id="3242" />
+<P1 x="841" y="359" id="3226" />
+<P2 x="849" y="359" id="3206" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="3002" >
-<cdparam x="1137" y="393" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="3002" index="22" uid="e7ec700e-5682-4fbe-bd08-8c55a69e4855" >
+<cdparam x="1776" y="614" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="538" y="70" id="3205" />
-<P2 x="550" y="70" id="3185" />
+<P1 x="841" y="109" id="3245" />
+<P2 x="858" y="109" id="3263" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="3003" >
-<cdparam x="1137" y="483" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="3003" index="23" uid="953b3c54-e836-426e-b600-75b0175a1f62" >
+<cdparam x="1776" y="754" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="694" y="77" id="3187" />
-<P2 x="705" y="77" id="3281" />
+<P1 x="1084" y="120" id="3261" />
+<P2 x="1100" y="120" id="3169" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="3004" >
-<cdparam x="1137" y="509" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="3004" index="24" uid="31925372-fc0b-4a37-bf5d-ab61e1bbef18" >
+<cdparam x="1776" y="795" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="688" y="232" id="3244" />
-<P2 x="705" y="232" id="3262" />
+<P1 x="1075" y="363" id="3204" />
+<P2 x="1100" y="363" id="3188" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="3005" >
-<cdparam x="1137" y="509" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="3005" index="25" uid="bc90ba9b-022a-4967-a29a-036abdf5033b" >
+<cdparam x="1776" y="795" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="642" y="158" id="3240" />
-<P2 x="642" y="127" id="3183" />
+<P1 x="1003" y="246" id="3208" />
+<P2 x="1003" y="198" id="3265" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="3006" >
-<cdparam x="1137" y="401" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="3006" index="26" uid="09574a52-d6dc-4786-bfe2-363962a6ddbf" >
+<cdparam x="1776" y="626" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="788" y="232" id="3360" />
-<P2 x="814" y="232" id="3340" />
+<P1 x="1231" y="363" id="3366" />
+<P2 x="1271" y="363" id="3384" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="3007" >
-<cdparam x="1137" y="401" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="3007" index="27" uid="48894c6c-9b7c-4b62-babf-526420ca8861" >
+<cdparam x="1776" y="626" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="788" y="77" id="3379" />
-<P2 x="803" y="77" id="3325" />
+<P1 x="1231" y="120" id="3347" />
+<P2 x="1254" y="120" id="3399" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="126" id="3008" >
-<cdparam x="1137" y="401" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="126" id="3008" index="28" uid="8b71d80e-d58d-424e-9e73-3a76eb7e60ab" >
+<cdparam x="1776" y="626" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="3125" maxHeight="3125" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="862" y="154" id="3338" />
-<P2 x="891" y="153" id="3323" />
+<P1 x="1347" y="240" id="3386" />
+<P2 x="1392" y="239" id="3401" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<COMPONENT type="1202" id="3019" >
-<cdparam x="11" y="161" />
-<sizeparam width="215" height="96" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1202" id="3019" index="29" uid="cd4891b1-1de0-483a-b063-e4a83eb90fa1" >
+<cdparam x="17" y="251" />
+<sizeparam width="335" height="150" minWidth="-82" minHeight="-54" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="961" minY="0" maxY="577" />
+<cdrectangleparam minX="0" maxX="2343" minY="0" maxY="1405" />
<infoparam name="Primitive component" value="Configuration" />
+<new d="false" />
<TGConnectingPoint num="0" id="3011" />
<TGConnectingPoint num="1" id="3012" />
<TGConnectingPoint num="2" id="3013" />
@@ -5312,20 +5550,22 @@ sequence diagram.
<TGConnectingPoint num="6" id="3017" />
<TGConnectingPoint num="7" id="3018" />
<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
<Attribute access="2" id="nbOfFFTs" value="2" type="0" typeOther="" />
<Attribute access="2" id="sizeOfFFTs" value="4096" type="0" typeOther="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1203" id="3010" >
+<SUBCOMPONENT type="1203" id="3010" index="35" uid="76f475f9-b230-42f7-a2fa-ce41270cc4c9" >
<father id="3019" num="0" />
-<cdparam x="218" y="218" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="339" y="340" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="207" minY="-8" maxY="88" />
+<cdrectangleparam minX="-13" maxX="322" minY="-13" maxY="137" />
<infoparam name="Primitive port" value="Event configuration" />
+<new d="false" />
<TGConnectingPoint num="0" id="3009" />
<extraparam>
-<Prop commName="configuration" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="configuration" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="1" typeOther="" />
<Type type="1" typeOther="" />
<Type type="0" typeOther="" />
@@ -5334,12 +5574,13 @@ sequence diagram.
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1200" id="3163" >
-<cdparam x="279" y="6" />
-<sizeparam width="184" height="275" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1200" id="3163" index="30" uid="3c091e73-ce24-4f5c-843c-c8830f86f448" >
+<cdparam x="435" y="9" />
+<sizeparam width="287" height="429" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="961" minY="0" maxY="577" />
+<cdrectangleparam minX="0" maxX="2343" minY="0" maxY="1405" />
<infoparam name="Composite component" value="AppSource" />
+<new d="false" />
<TGConnectingPoint num="0" id="3155" />
<TGConnectingPoint num="1" id="3156" />
<TGConnectingPoint num="2" id="3157" />
@@ -5352,53 +5593,141 @@ sequence diagram.
<info hiddeni="false" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1202" id="3036" >
+<SUBCOMPONENT type="1201" id="3038" index="36" uid="d36bbdfc-a65a-4b10-9d7d-316c6c3876c4" >
<father id="3163" num="0" />
-<cdparam x="295" y="44" />
-<sizeparam width="128" height="74" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="422" y="340" />
+<sizeparam width="26" height="26" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="56" minY="0" maxY="201" />
-<infoparam name="Primitive component" value="X_App" />
-<TGConnectingPoint num="0" id="3028" />
-<TGConnectingPoint num="1" id="3029" />
-<TGConnectingPoint num="2" id="3030" />
-<TGConnectingPoint num="3" id="3031" />
-<TGConnectingPoint num="4" id="3032" />
-<TGConnectingPoint num="5" id="3033" />
-<TGConnectingPoint num="6" id="3034" />
-<TGConnectingPoint num="7" id="3035" />
-<extraparam>
+<cdrectangleparam minX="-13" maxX="274" minY="-13" maxY="416" />
+<infoparam name="Composite port" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3020" />
+<TGConnectingPoint num="1" id="3021" />
+<TGConnectingPoint num="2" id="3022" />
+<TGConnectingPoint num="3" id="3023" />
+<TGConnectingPoint num="4" id="3024" />
+<TGConnectingPoint num="5" id="3025" />
+<TGConnectingPoint num="6" id="3026" />
+<TGConnectingPoint num="7" id="3027" />
+<TGConnectingPoint num="8" id="3028" />
+<TGConnectingPoint num="9" id="3029" />
+<TGConnectingPoint num="10" id="3030" />
+<TGConnectingPoint num="11" id="3031" />
+<TGConnectingPoint num="12" id="3032" />
+<TGConnectingPoint num="13" id="3033" />
+<TGConnectingPoint num="14" id="3034" />
+<TGConnectingPoint num="15" id="3035" />
+<TGConnectingPoint num="16" id="3036" />
+<TGConnectingPoint num="17" id="3037" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1201" id="3057" index="37" uid="9cb3c38d-714e-4432-8ced-9cc8e527905e" >
+<father id="3163" num="1" />
+<cdparam x="529" y="425" />
+<sizeparam width="26" height="26" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="274" minY="-13" maxY="416" />
+<infoparam name="Composite port" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3039" />
+<TGConnectingPoint num="1" id="3040" />
+<TGConnectingPoint num="2" id="3041" />
+<TGConnectingPoint num="3" id="3042" />
+<TGConnectingPoint num="4" id="3043" />
+<TGConnectingPoint num="5" id="3044" />
+<TGConnectingPoint num="6" id="3045" />
+<TGConnectingPoint num="7" id="3046" />
+<TGConnectingPoint num="8" id="3047" />
+<TGConnectingPoint num="9" id="3048" />
+<TGConnectingPoint num="10" id="3049" />
+<TGConnectingPoint num="11" id="3050" />
+<TGConnectingPoint num="12" id="3051" />
+<TGConnectingPoint num="13" id="3052" />
+<TGConnectingPoint num="14" id="3053" />
+<TGConnectingPoint num="15" id="3054" />
+<TGConnectingPoint num="16" id="3055" />
+<TGConnectingPoint num="17" id="3056" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1201" id="3076" index="38" uid="cc989d11-a88e-453c-92d9-5db9725ad196" >
+<father id="3163" num="2" />
+<cdparam x="606" y="425" />
+<sizeparam width="26" height="26" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="274" minY="-13" maxY="416" />
+<infoparam name="Composite port" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3058" />
+<TGConnectingPoint num="1" id="3059" />
+<TGConnectingPoint num="2" id="3060" />
+<TGConnectingPoint num="3" id="3061" />
+<TGConnectingPoint num="4" id="3062" />
+<TGConnectingPoint num="5" id="3063" />
+<TGConnectingPoint num="6" id="3064" />
+<TGConnectingPoint num="7" id="3065" />
+<TGConnectingPoint num="8" id="3066" />
+<TGConnectingPoint num="9" id="3067" />
+<TGConnectingPoint num="10" id="3068" />
+<TGConnectingPoint num="11" id="3069" />
+<TGConnectingPoint num="12" id="3070" />
+<TGConnectingPoint num="13" id="3071" />
+<TGConnectingPoint num="14" id="3072" />
+<TGConnectingPoint num="15" id="3073" />
+<TGConnectingPoint num="16" id="3074" />
+<TGConnectingPoint num="17" id="3075" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1202" id="3099" index="39" uid="0830ef40-de20-4a67-bd42-fdab840854c9" >
+<father id="3163" num="3" />
+<cdparam x="482" y="248" />
+<sizeparam width="200" height="150" minWidth="-82" minHeight="-54" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="87" minY="0" maxY="279" />
+<infoparam name="Primitive component" value="F_APP" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3091" />
+<TGConnectingPoint num="1" id="3092" />
+<TGConnectingPoint num="2" id="3093" />
+<TGConnectingPoint num="3" id="3094" />
+<TGConnectingPoint num="4" id="3095" />
+<TGConnectingPoint num="5" id="3096" />
+<TGConnectingPoint num="6" id="3097" />
+<TGConnectingPoint num="7" id="3098" />
+<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
<Attribute access="2" id="size" value="" type="0" typeOther="" />
<Attribute access="2" id="type" value="" type="0" typeOther="" />
+<Attribute access="2" id="nbOfFFTs" value="" type="0" typeOther="" />
+<Attribute access="2" id="i" value="" type="0" typeOther="" />
+<Attribute access="2" id="alt" value="1" type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3021" >
-<father id="3036" num="0" />
-<cdparam x="393" y="110" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3078" index="40" uid="ef87e3e7-fcba-47dc-bac9-27a4d36f5ad2" >
+<father id="3099" num="0" />
+<cdparam x="469" y="339" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="66" />
-<infoparam name="Primitive port" value="Event done" />
-<TGConnectingPoint num="0" id="3020" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Event configuration" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3077" />
<extraparam>
-<Prop commName="done" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
-<Type type="0" typeOther="" />
-<Type type="0" typeOther="" />
+<Prop commName="configuration" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
+<Type type="1" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3023" >
-<father id="3036" num="1" />
-<cdparam x="329" y="110" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3080" index="41" uid="302d5f55-4ab8-442c-86d3-ab3e64788c64" >
+<father id="3099" num="1" />
+<cdparam x="560" y="235" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="66" />
-<infoparam name="Primitive port" value="Request AppForward_req_in" />
-<TGConnectingPoint num="0" id="3022" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Event setType" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3079" />
<extraparam>
-<Prop commName="AppForward_req_in" commType="2" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="setType" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="1" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -5406,16 +5735,17 @@ sequence diagram.
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3025" >
-<father id="3036" num="2" />
-<cdparam x="415" y="62" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3082" index="42" uid="77e422bd-10a0-4117-8f37-b4a393fd181e" >
+<father id="3099" num="2" />
+<cdparam x="529" y="385" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="66" />
-<infoparam name="Primitive port" value="Channel APP_ch_out" />
-<TGConnectingPoint num="0" id="3024" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Event do2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3081" />
<extraparam>
-<Prop commName="APP_ch_out" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="do2" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -5423,16 +5753,17 @@ sequence diagram.
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3027" >
-<father id="3036" num="3" />
-<cdparam x="359" y="110" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3084" index="43" uid="16d8083a-3306-47f1-9a68-c73ae1790e00" >
+<father id="3099" num="3" />
+<cdparam x="606" y="385" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="66" />
-<infoparam name="Primitive port" value="Event setType" />
-<TGConnectingPoint num="0" id="3026" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Event do1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3083" />
<extraparam>
-<Prop commName="setType" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="do1" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -5440,108 +5771,35 @@ sequence diagram.
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1201" id="3055" >
-<father id="3163" num="1" />
-<cdparam x="455" y="62" />
-<sizeparam width="16" height="16" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="176" minY="-8" maxY="267" />
-<infoparam name="Composite port" value="" />
-<TGConnectingPoint num="0" id="3037" />
-<TGConnectingPoint num="1" id="3038" />
-<TGConnectingPoint num="2" id="3039" />
-<TGConnectingPoint num="3" id="3040" />
-<TGConnectingPoint num="4" id="3041" />
-<TGConnectingPoint num="5" id="3042" />
-<TGConnectingPoint num="6" id="3043" />
-<TGConnectingPoint num="7" id="3044" />
-<TGConnectingPoint num="8" id="3045" />
-<TGConnectingPoint num="9" id="3046" />
-<TGConnectingPoint num="10" id="3047" />
-<TGConnectingPoint num="11" id="3048" />
-<TGConnectingPoint num="12" id="3049" />
-<TGConnectingPoint num="13" id="3050" />
-<TGConnectingPoint num="14" id="3051" />
-<TGConnectingPoint num="15" id="3052" />
-<TGConnectingPoint num="16" id="3053" />
-<TGConnectingPoint num="17" id="3054" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="1201" id="3074" >
-<father id="3163" num="2" />
-<cdparam x="455" y="222" />
-<sizeparam width="16" height="16" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="176" minY="-8" maxY="267" />
-<infoparam name="Composite port" value="" />
-<TGConnectingPoint num="0" id="3056" />
-<TGConnectingPoint num="1" id="3057" />
-<TGConnectingPoint num="2" id="3058" />
-<TGConnectingPoint num="3" id="3059" />
-<TGConnectingPoint num="4" id="3060" />
-<TGConnectingPoint num="5" id="3061" />
-<TGConnectingPoint num="6" id="3062" />
-<TGConnectingPoint num="7" id="3063" />
-<TGConnectingPoint num="8" id="3064" />
-<TGConnectingPoint num="9" id="3065" />
-<TGConnectingPoint num="10" id="3066" />
-<TGConnectingPoint num="11" id="3067" />
-<TGConnectingPoint num="12" id="3068" />
-<TGConnectingPoint num="13" id="3069" />
-<TGConnectingPoint num="14" id="3070" />
-<TGConnectingPoint num="15" id="3071" />
-<TGConnectingPoint num="16" id="3072" />
-<TGConnectingPoint num="17" id="3073" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="1202" id="3097" >
-<father id="3163" num="3" />
-<cdparam x="309" y="159" />
-<sizeparam width="128" height="96" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="56" minY="0" maxY="179" />
-<infoparam name="Primitive component" value="F_APP" />
-<TGConnectingPoint num="0" id="3089" />
-<TGConnectingPoint num="1" id="3090" />
-<TGConnectingPoint num="2" id="3091" />
-<TGConnectingPoint num="3" id="3092" />
-<TGConnectingPoint num="4" id="3093" />
-<TGConnectingPoint num="5" id="3094" />
-<TGConnectingPoint num="6" id="3095" />
-<TGConnectingPoint num="7" id="3096" />
-<extraparam>
-<Attribute access="2" id="size" value="" type="0" typeOther="" />
-<Attribute access="2" id="type" value="" type="0" typeOther="" />
-<Attribute access="2" id="nbOfFFTs" value="" type="0" typeOther="" />
-<Attribute access="2" id="i" value="" type="0" typeOther="" />
-<Attribute access="2" id="alt" value="1" type="0" typeOther="" />
-</extraparam>
-</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3076" >
-<father id="3097" num="0" />
-<cdparam x="393" y="151" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3086" index="44" uid="411da5f1-5266-4144-aa24-ec15e7e9466d" >
+<father id="3099" num="4" />
+<cdparam x="669" y="346" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Event done" />
-<TGConnectingPoint num="0" id="3075" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Event AppForward_evt_out" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3085" />
<extraparam>
-<Prop commName="done" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
-<Type type="0" typeOther="" />
+<Prop commName="AppForward_evt_out" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3078" >
-<father id="3097" num="1" />
-<cdparam x="329" y="151" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3088" index="45" uid="0242649d-c93d-4810-8a80-ac94259f660b" >
+<father id="3099" num="5" />
+<cdparam x="514" y="235" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
<infoparam name="Primitive port" value="Request AppForward_req_out" />
-<TGConnectingPoint num="0" id="3077" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3087" />
<extraparam>
-<Prop commName="AppForward_req_out" commType="2" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="AppForward_req_out" commType="2" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="1" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -5549,50 +5807,129 @@ sequence diagram.
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3080" >
-<father id="3097" num="2" />
-<cdparam x="429" y="222" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3090" index="46" uid="4927e3ad-66bf-4d1d-9b77-4532385127e7" >
+<father id="3099" num="6" />
+<cdparam x="614" y="235" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Event AppForward_evt_out" />
-<TGConnectingPoint num="0" id="3079" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Event done" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3089" />
<extraparam>
-<Prop commName="AppForward_evt_out" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
-<Type type="1" typeOther="" />
+<Prop commName="done" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3082" >
-<father id="3097" num="3" />
-<cdparam x="388" y="247" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1201" id="3118" index="47" uid="e13ace66-982e-47b2-a6d2-a608fc0c26f9" >
+<father id="3163" num="4" />
+<cdparam x="709" y="346" />
+<sizeparam width="26" height="26" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Event do1" />
-<TGConnectingPoint num="0" id="3081" />
+<cdrectangleparam minX="-13" maxX="274" minY="-13" maxY="416" />
+<infoparam name="Composite port" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3100" />
+<TGConnectingPoint num="1" id="3101" />
+<TGConnectingPoint num="2" id="3102" />
+<TGConnectingPoint num="3" id="3103" />
+<TGConnectingPoint num="4" id="3104" />
+<TGConnectingPoint num="5" id="3105" />
+<TGConnectingPoint num="6" id="3106" />
+<TGConnectingPoint num="7" id="3107" />
+<TGConnectingPoint num="8" id="3108" />
+<TGConnectingPoint num="9" id="3109" />
+<TGConnectingPoint num="10" id="3110" />
+<TGConnectingPoint num="11" id="3111" />
+<TGConnectingPoint num="12" id="3112" />
+<TGConnectingPoint num="13" id="3113" />
+<TGConnectingPoint num="14" id="3114" />
+<TGConnectingPoint num="15" id="3115" />
+<TGConnectingPoint num="16" id="3116" />
+<TGConnectingPoint num="17" id="3117" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1201" id="3137" index="48" uid="68d5618e-0b7e-47ce-8d00-e9f6d1960905" >
+<father id="3163" num="5" />
+<cdparam x="709" y="96" />
+<sizeparam width="26" height="26" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="274" minY="-13" maxY="416" />
+<infoparam name="Composite port" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3119" />
+<TGConnectingPoint num="1" id="3120" />
+<TGConnectingPoint num="2" id="3121" />
+<TGConnectingPoint num="3" id="3122" />
+<TGConnectingPoint num="4" id="3123" />
+<TGConnectingPoint num="5" id="3124" />
+<TGConnectingPoint num="6" id="3125" />
+<TGConnectingPoint num="7" id="3126" />
+<TGConnectingPoint num="8" id="3127" />
+<TGConnectingPoint num="9" id="3128" />
+<TGConnectingPoint num="10" id="3129" />
+<TGConnectingPoint num="11" id="3130" />
+<TGConnectingPoint num="12" id="3131" />
+<TGConnectingPoint num="13" id="3132" />
+<TGConnectingPoint num="14" id="3133" />
+<TGConnectingPoint num="15" id="3134" />
+<TGConnectingPoint num="16" id="3135" />
+<TGConnectingPoint num="17" id="3136" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1202" id="3154" index="49" uid="a65ee3ea-a2f5-4f00-baa8-b635bf98ee14" >
+<father id="3163" num="6" />
+<cdparam x="460" y="68" />
+<sizeparam width="200" height="115" minWidth="-82" minHeight="-54" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="87" minY="0" maxY="314" />
+<infoparam name="Primitive component" value="X_App" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3146" />
+<TGConnectingPoint num="1" id="3147" />
+<TGConnectingPoint num="2" id="3148" />
+<TGConnectingPoint num="3" id="3149" />
+<TGConnectingPoint num="4" id="3150" />
+<TGConnectingPoint num="5" id="3151" />
+<TGConnectingPoint num="6" id="3152" />
+<TGConnectingPoint num="7" id="3153" />
+<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
+<Attribute access="2" id="size" value="" type="0" typeOther="" />
+<Attribute access="2" id="type" value="" type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="3139" index="50" uid="29206f7f-292b-416c-a40f-29c972805f1d" >
+<father id="3154" num="0" />
+<cdparam x="560" y="170" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="102" />
+<infoparam name="Primitive port" value="Event setType" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3138" />
<extraparam>
-<Prop commName="do1" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
-<Type type="0" typeOther="" />
+<Prop commName="setType" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="null" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="1" checkStrongAuthStatus="1" vc="0" />
+<Type type="1" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3084" >
-<father id="3097" num="4" />
-<cdparam x="339" y="247" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3141" index="51" uid="86c1fcb4-9c63-4293-ae99-b64ad32f052e" >
+<father id="3154" num="1" />
+<cdparam x="647" y="96" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Event do2" />
-<TGConnectingPoint num="0" id="3083" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="102" />
+<infoparam name="Primitive port" value="Channel APP_ch_out" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3140" />
<extraparam>
-<Prop commName="do2" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="APP_ch_out" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="null" associatedEvent="" checkConf="true" checkConfStatus="1" checkAuth="false" checkWeakAuthStatus="1" checkStrongAuthStatus="1" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -5600,16 +5937,17 @@ sequence diagram.
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3086" >
-<father id="3097" num="5" />
-<cdparam x="359" y="151" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3143" index="52" uid="2b5d6983-d0b4-4cef-989a-f74211366354" >
+<father id="3154" num="2" />
+<cdparam x="514" y="170" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Event setType" />
-<TGConnectingPoint num="0" id="3085" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="102" />
+<infoparam name="Primitive port" value="Request AppForward_req_in" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3142" />
<extraparam>
-<Prop commName="setType" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="AppForward_req_in" commType="2" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="1" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -5617,108 +5955,32 @@ sequence diagram.
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3088" >
-<father id="3097" num="6" />
-<cdparam x="301" y="217" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3145" index="53" uid="e0c83fa7-3c4d-4fd7-bf25-a9d0b4c52d57" >
+<father id="3154" num="3" />
+<cdparam x="614" y="170" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Event configuration" />
-<TGConnectingPoint num="0" id="3087" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="102" />
+<infoparam name="Primitive port" value="Event done" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3144" />
<extraparam>
-<Prop commName="configuration" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
-<Type type="1" typeOther="" />
-<Type type="1" typeOther="" />
+<Prop commName="done" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1201" id="3116" >
-<father id="3163" num="4" />
-<cdparam x="388" y="273" />
-<sizeparam width="16" height="16" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="176" minY="-8" maxY="267" />
-<infoparam name="Composite port" value="" />
-<TGConnectingPoint num="0" id="3098" />
-<TGConnectingPoint num="1" id="3099" />
-<TGConnectingPoint num="2" id="3100" />
-<TGConnectingPoint num="3" id="3101" />
-<TGConnectingPoint num="4" id="3102" />
-<TGConnectingPoint num="5" id="3103" />
-<TGConnectingPoint num="6" id="3104" />
-<TGConnectingPoint num="7" id="3105" />
-<TGConnectingPoint num="8" id="3106" />
-<TGConnectingPoint num="9" id="3107" />
-<TGConnectingPoint num="10" id="3108" />
-<TGConnectingPoint num="11" id="3109" />
-<TGConnectingPoint num="12" id="3110" />
-<TGConnectingPoint num="13" id="3111" />
-<TGConnectingPoint num="14" id="3112" />
-<TGConnectingPoint num="15" id="3113" />
-<TGConnectingPoint num="16" id="3114" />
-<TGConnectingPoint num="17" id="3115" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="1201" id="3135" >
-<father id="3163" num="5" />
-<cdparam x="339" y="273" />
-<sizeparam width="16" height="16" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="176" minY="-8" maxY="267" />
-<infoparam name="Composite port" value="" />
-<TGConnectingPoint num="0" id="3117" />
-<TGConnectingPoint num="1" id="3118" />
-<TGConnectingPoint num="2" id="3119" />
-<TGConnectingPoint num="3" id="3120" />
-<TGConnectingPoint num="4" id="3121" />
-<TGConnectingPoint num="5" id="3122" />
-<TGConnectingPoint num="6" id="3123" />
-<TGConnectingPoint num="7" id="3124" />
-<TGConnectingPoint num="8" id="3125" />
-<TGConnectingPoint num="9" id="3126" />
-<TGConnectingPoint num="10" id="3127" />
-<TGConnectingPoint num="11" id="3128" />
-<TGConnectingPoint num="12" id="3129" />
-<TGConnectingPoint num="13" id="3130" />
-<TGConnectingPoint num="14" id="3131" />
-<TGConnectingPoint num="15" id="3132" />
-<TGConnectingPoint num="16" id="3133" />
-<TGConnectingPoint num="17" id="3134" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="1201" id="3154" >
-<father id="3163" num="6" />
-<cdparam x="271" y="218" />
-<sizeparam width="16" height="16" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="176" minY="-8" maxY="267" />
-<infoparam name="Composite port" value="" />
-<TGConnectingPoint num="0" id="3136" />
-<TGConnectingPoint num="1" id="3137" />
-<TGConnectingPoint num="2" id="3138" />
-<TGConnectingPoint num="3" id="3139" />
-<TGConnectingPoint num="4" id="3140" />
-<TGConnectingPoint num="5" id="3141" />
-<TGConnectingPoint num="6" id="3142" />
-<TGConnectingPoint num="7" id="3143" />
-<TGConnectingPoint num="8" id="3144" />
-<TGConnectingPoint num="9" id="3145" />
-<TGConnectingPoint num="10" id="3146" />
-<TGConnectingPoint num="11" id="3147" />
-<TGConnectingPoint num="12" id="3148" />
-<TGConnectingPoint num="13" id="3149" />
-<TGConnectingPoint num="14" id="3150" />
-<TGConnectingPoint num="15" id="3151" />
-<TGConnectingPoint num="16" id="3152" />
-<TGConnectingPoint num="17" id="3153" />
-</SUBCOMPONENT>
-<COMPONENT type="1200" id="3303" >
-<cdparam x="530" y="9" />
-<sizeparam width="183" height="275" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1200" id="3303" index="31" uid="13582f94-4439-495b-aa3c-944d65215b7d" >
+<cdparam x="828" y="14" />
+<sizeparam width="285" height="429" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="961" minY="0" maxY="577" />
+<cdrectangleparam minX="0" maxX="2343" minY="0" maxY="1405" />
<infoparam name="Composite component" value="FFT" />
+<new d="false" />
<TGConnectingPoint num="0" id="3295" />
<TGConnectingPoint num="1" id="3296" />
<TGConnectingPoint num="2" id="3297" />
@@ -5731,13 +5993,14 @@ sequence diagram.
<info hiddeni="false" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1201" id="3182" >
+<SUBCOMPONENT type="1201" id="3182" index="54" uid="382b8834-6307-4d54-967f-8549deadc4f3" >
<father id="3303" num="0" />
-<cdparam x="705" y="178" />
-<sizeparam width="16" height="16" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1100" y="107" />
+<sizeparam width="26" height="26" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="175" minY="-8" maxY="267" />
+<cdrectangleparam minX="-13" maxX="272" minY="-13" maxY="416" />
<infoparam name="Composite port" value="" />
+<new d="false" />
<TGConnectingPoint num="0" id="3164" />
<TGConnectingPoint num="1" id="3165" />
<TGConnectingPoint num="2" id="3166" />
@@ -5757,86 +6020,137 @@ sequence diagram.
<TGConnectingPoint num="16" id="3180" />
<TGConnectingPoint num="17" id="3181" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="1202" id="3199" >
+<SUBCOMPONENT type="1201" id="3201" index="55" uid="34a9c6e3-1c90-4b47-81d6-7f1e984b1505" >
<father id="3303" num="1" />
-<cdparam x="558" y="52" />
-<sizeparam width="128" height="67" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1100" y="350" />
+<sizeparam width="26" height="26" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="55" minY="0" maxY="208" />
-<infoparam name="Primitive component" value="X_FFT" />
-<TGConnectingPoint num="0" id="3191" />
-<TGConnectingPoint num="1" id="3192" />
-<TGConnectingPoint num="2" id="3193" />
-<TGConnectingPoint num="3" id="3194" />
-<TGConnectingPoint num="4" id="3195" />
-<TGConnectingPoint num="5" id="3196" />
-<TGConnectingPoint num="6" id="3197" />
-<TGConnectingPoint num="7" id="3198" />
-<extraparam>
+<cdrectangleparam minX="-13" maxX="272" minY="-13" maxY="416" />
+<infoparam name="Composite port" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3183" />
+<TGConnectingPoint num="1" id="3184" />
+<TGConnectingPoint num="2" id="3185" />
+<TGConnectingPoint num="3" id="3186" />
+<TGConnectingPoint num="4" id="3187" />
+<TGConnectingPoint num="5" id="3188" />
+<TGConnectingPoint num="6" id="3189" />
+<TGConnectingPoint num="7" id="3190" />
+<TGConnectingPoint num="8" id="3191" />
+<TGConnectingPoint num="9" id="3192" />
+<TGConnectingPoint num="10" id="3193" />
+<TGConnectingPoint num="11" id="3194" />
+<TGConnectingPoint num="12" id="3195" />
+<TGConnectingPoint num="13" id="3196" />
+<TGConnectingPoint num="14" id="3197" />
+<TGConnectingPoint num="15" id="3198" />
+<TGConnectingPoint num="16" id="3199" />
+<TGConnectingPoint num="17" id="3200" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1202" id="3220" index="56" uid="298bcb34-2626-4506-bdda-f989ca7f8f16" >
+<father id="3303" num="2" />
+<cdparam x="862" y="259" />
+<sizeparam width="200" height="150" minWidth="-82" minHeight="-54" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="85" minY="0" maxY="279" />
+<infoparam name="Primitive component" value="F_FFT" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3212" />
+<TGConnectingPoint num="1" id="3213" />
+<TGConnectingPoint num="2" id="3214" />
+<TGConnectingPoint num="3" id="3215" />
+<TGConnectingPoint num="4" id="3216" />
+<TGConnectingPoint num="5" id="3217" />
+<TGConnectingPoint num="6" id="3218" />
+<TGConnectingPoint num="7" id="3219" />
+<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
<Attribute access="2" id="size" value="" type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3184" >
-<father id="3199" num="0" />
-<cdparam x="634" y="111" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3203" index="57" uid="1d41e76a-0ecc-4ad3-98ab-4b8b580a283f" >
+<father id="3220" num="0" />
+<cdparam x="923" y="246" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="59" />
-<infoparam name="Primitive port" value="Request FFT_req_in" />
-<TGConnectingPoint num="0" id="3183" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Event FFT_done" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3202" />
<extraparam>
-<Prop commName="FFT_req_in" commType="2" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
-<Type type="1" typeOther="" />
+<Prop commName="FFT_done" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3186" >
-<father id="3199" num="1" />
-<cdparam x="550" y="62" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3205" index="58" uid="fc75b4b0-285c-4d7c-bf51-85dbca5874c7" >
+<father id="3220" num="1" />
+<cdparam x="1049" y="350" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="59" />
-<infoparam name="Primitive port" value="Channel FFT_ch_in" />
-<TGConnectingPoint num="0" id="3185" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Event FFT_evt_out" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3204" />
<extraparam>
-<Prop commName="FFT_ch_in" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
-<Type type="0" typeOther="" />
+<Prop commName="FFT_evt_out" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3188" >
-<father id="3199" num="2" />
-<cdparam x="678" y="69" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3207" index="59" uid="3ce8579e-4f8a-46dc-9341-d5bf70411f5b" >
+<father id="3220" num="2" />
+<cdparam x="849" y="346" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="59" />
-<infoparam name="Primitive port" value="Channel FFT_ch_out" />
-<TGConnectingPoint num="0" id="3187" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Event FFT_evt_in" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3206" />
<extraparam>
-<Prop commName="FFT_ch_out" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="FFT_evt_in" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="3209" index="60" uid="7aaedc24-c902-4c28-af58-d7faf6fc2c9e" >
+<father id="3220" num="3" />
+<cdparam x="990" y="246" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Request FFT_req_out" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3208" />
+<extraparam>
+<Prop commName="FFT_req_out" commType="2" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3190" >
-<father id="3199" num="3" />
-<cdparam x="592" y="111" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3211" index="61" uid="52c123ce-6700-43f7-95b1-c2d54756550f" >
+<father id="3220" num="4" />
+<cdparam x="1049" y="278" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="59" />
-<infoparam name="Primitive port" value="Event FFT_done" />
-<TGConnectingPoint num="0" id="3189" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Event FFT_Running" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3210" />
<extraparam>
-<Prop commName="FFT_done" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="FFT_Running" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -5844,87 +6158,92 @@ sequence diagram.
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1201" id="3218" >
-<father id="3303" num="2" />
-<cdparam x="522" y="62" />
-<sizeparam width="16" height="16" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1201" id="3239" index="62" uid="7cc70b2c-ed4a-4f1e-a74f-d87b52ce8a0b" >
+<father id="3303" num="3" />
+<cdparam x="815" y="346" />
+<sizeparam width="26" height="26" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="175" minY="-8" maxY="267" />
+<cdrectangleparam minX="-13" maxX="272" minY="-13" maxY="416" />
<infoparam name="Composite port" value="" />
-<TGConnectingPoint num="0" id="3200" />
-<TGConnectingPoint num="1" id="3201" />
-<TGConnectingPoint num="2" id="3202" />
-<TGConnectingPoint num="3" id="3203" />
-<TGConnectingPoint num="4" id="3204" />
-<TGConnectingPoint num="5" id="3205" />
-<TGConnectingPoint num="6" id="3206" />
-<TGConnectingPoint num="7" id="3207" />
-<TGConnectingPoint num="8" id="3208" />
-<TGConnectingPoint num="9" id="3209" />
-<TGConnectingPoint num="10" id="3210" />
-<TGConnectingPoint num="11" id="3211" />
-<TGConnectingPoint num="12" id="3212" />
-<TGConnectingPoint num="13" id="3213" />
-<TGConnectingPoint num="14" id="3214" />
-<TGConnectingPoint num="15" id="3215" />
-<TGConnectingPoint num="16" id="3216" />
-<TGConnectingPoint num="17" id="3217" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3221" />
+<TGConnectingPoint num="1" id="3222" />
+<TGConnectingPoint num="2" id="3223" />
+<TGConnectingPoint num="3" id="3224" />
+<TGConnectingPoint num="4" id="3225" />
+<TGConnectingPoint num="5" id="3226" />
+<TGConnectingPoint num="6" id="3227" />
+<TGConnectingPoint num="7" id="3228" />
+<TGConnectingPoint num="8" id="3229" />
+<TGConnectingPoint num="9" id="3230" />
+<TGConnectingPoint num="10" id="3231" />
+<TGConnectingPoint num="11" id="3232" />
+<TGConnectingPoint num="12" id="3233" />
+<TGConnectingPoint num="13" id="3234" />
+<TGConnectingPoint num="14" id="3235" />
+<TGConnectingPoint num="15" id="3236" />
+<TGConnectingPoint num="16" id="3237" />
+<TGConnectingPoint num="17" id="3238" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="1201" id="3237" >
-<father id="3303" num="3" />
-<cdparam x="522" y="222" />
-<sizeparam width="16" height="16" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1201" id="3258" index="63" uid="ebf2a7e9-d65d-4f9b-9a4d-f3648dc4b836" >
+<father id="3303" num="4" />
+<cdparam x="815" y="96" />
+<sizeparam width="26" height="26" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="175" minY="-8" maxY="267" />
+<cdrectangleparam minX="-13" maxX="272" minY="-13" maxY="416" />
<infoparam name="Composite port" value="" />
-<TGConnectingPoint num="0" id="3219" />
-<TGConnectingPoint num="1" id="3220" />
-<TGConnectingPoint num="2" id="3221" />
-<TGConnectingPoint num="3" id="3222" />
-<TGConnectingPoint num="4" id="3223" />
-<TGConnectingPoint num="5" id="3224" />
-<TGConnectingPoint num="6" id="3225" />
-<TGConnectingPoint num="7" id="3226" />
-<TGConnectingPoint num="8" id="3227" />
-<TGConnectingPoint num="9" id="3228" />
-<TGConnectingPoint num="10" id="3229" />
-<TGConnectingPoint num="11" id="3230" />
-<TGConnectingPoint num="12" id="3231" />
-<TGConnectingPoint num="13" id="3232" />
-<TGConnectingPoint num="14" id="3233" />
-<TGConnectingPoint num="15" id="3234" />
-<TGConnectingPoint num="16" id="3235" />
-<TGConnectingPoint num="17" id="3236" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3240" />
+<TGConnectingPoint num="1" id="3241" />
+<TGConnectingPoint num="2" id="3242" />
+<TGConnectingPoint num="3" id="3243" />
+<TGConnectingPoint num="4" id="3244" />
+<TGConnectingPoint num="5" id="3245" />
+<TGConnectingPoint num="6" id="3246" />
+<TGConnectingPoint num="7" id="3247" />
+<TGConnectingPoint num="8" id="3248" />
+<TGConnectingPoint num="9" id="3249" />
+<TGConnectingPoint num="10" id="3250" />
+<TGConnectingPoint num="11" id="3251" />
+<TGConnectingPoint num="12" id="3252" />
+<TGConnectingPoint num="13" id="3253" />
+<TGConnectingPoint num="14" id="3254" />
+<TGConnectingPoint num="15" id="3255" />
+<TGConnectingPoint num="16" id="3256" />
+<TGConnectingPoint num="17" id="3257" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="1202" id="3256" >
-<father id="3303" num="4" />
-<cdparam x="552" y="166" />
-<sizeparam width="128" height="96" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1202" id="3275" index="64" uid="66904eef-a46f-4e90-b2ee-ef07e8d25f5f" >
+<father id="3303" num="5" />
+<cdparam x="871" y="81" />
+<sizeparam width="200" height="104" minWidth="-82" minHeight="-54" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="55" minY="0" maxY="179" />
-<infoparam name="Primitive component" value="F_FFT" />
-<TGConnectingPoint num="0" id="3248" />
-<TGConnectingPoint num="1" id="3249" />
-<TGConnectingPoint num="2" id="3250" />
-<TGConnectingPoint num="3" id="3251" />
-<TGConnectingPoint num="4" id="3252" />
-<TGConnectingPoint num="5" id="3253" />
-<TGConnectingPoint num="6" id="3254" />
-<TGConnectingPoint num="7" id="3255" />
-<extraparam>
+<cdrectangleparam minX="0" maxX="85" minY="0" maxY="325" />
+<infoparam name="Primitive component" value="X_FFT" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3267" />
+<TGConnectingPoint num="1" id="3268" />
+<TGConnectingPoint num="2" id="3269" />
+<TGConnectingPoint num="3" id="3270" />
+<TGConnectingPoint num="4" id="3271" />
+<TGConnectingPoint num="5" id="3272" />
+<TGConnectingPoint num="6" id="3273" />
+<TGConnectingPoint num="7" id="3274" />
+<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
<Attribute access="2" id="size" value="" type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3239" >
-<father id="3256" num="0" />
-<cdparam x="672" y="178" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3260" index="65" uid="d21badb9-2252-4795-9490-4015940d0efe" >
+<father id="3275" num="0" />
+<cdparam x="925" y="172" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Event FFT_Running" />
-<TGConnectingPoint num="0" id="3238" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="91" />
+<infoparam name="Primitive port" value="Event FFT_done" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3259" />
<extraparam>
-<Prop commName="FFT_Running" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="FFT_done" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -5932,107 +6251,68 @@ sequence diagram.
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3241" >
-<father id="3256" num="1" />
-<cdparam x="634" y="158" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3262" index="66" uid="c34983e2-28e1-4f3e-b49a-88905cd2ced9" >
+<father id="3275" num="1" />
+<cdparam x="1058" y="107" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Request FFT_req_out" />
-<TGConnectingPoint num="0" id="3240" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="91" />
+<infoparam name="Primitive port" value="Channel FFT_ch_out" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3261" />
<extraparam>
-<Prop commName="FFT_req_out" commType="2" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
-<Type type="1" typeOther="" />
+<Prop commName="FFT_ch_out" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
-</extraparam>
-</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3243" >
-<father id="3256" num="2" />
-<cdparam x="544" y="222" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Event FFT_evt_in" />
-<TGConnectingPoint num="0" id="3242" />
-<extraparam>
-<Prop commName="FFT_evt_in" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
-<Type type="1" typeOther="" />
-<Type type="0" typeOther="" />
-<Type type="0" typeOther="" />
-<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3245" >
-<father id="3256" num="3" />
-<cdparam x="672" y="224" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3264" index="67" uid="0d20e17a-46e2-4ba7-964c-d2addd85eaa1" >
+<father id="3275" num="2" />
+<cdparam x="858" y="96" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Event FFT_evt_out" />
-<TGConnectingPoint num="0" id="3244" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="91" />
+<infoparam name="Primitive port" value="Channel FFT_ch_in" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3263" />
<extraparam>
-<Prop commName="FFT_evt_out" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
-<Type type="1" typeOther="" />
+<Prop commName="FFT_ch_in" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="1" checkStrongAuthStatus="1" vc="0" />
+<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3247" >
-<father id="3256" num="4" />
-<cdparam x="591" y="158" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3266" index="68" uid="6946b97c-1597-4366-93ed-c6087abf38d9" >
+<father id="3275" num="3" />
+<cdparam x="990" y="172" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Event FFT_done" />
-<TGConnectingPoint num="0" id="3246" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="91" />
+<infoparam name="Primitive port" value="Request FFT_req_in" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3265" />
<extraparam>
-<Prop commName="FFT_done" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
-<Type type="0" typeOther="" />
+<Prop commName="FFT_req_in" commType="2" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1201" id="3275" >
-<father id="3303" num="5" />
-<cdparam x="705" y="224" />
-<sizeparam width="16" height="16" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="175" minY="-8" maxY="267" />
-<infoparam name="Composite port" value="" />
-<TGConnectingPoint num="0" id="3257" />
-<TGConnectingPoint num="1" id="3258" />
-<TGConnectingPoint num="2" id="3259" />
-<TGConnectingPoint num="3" id="3260" />
-<TGConnectingPoint num="4" id="3261" />
-<TGConnectingPoint num="5" id="3262" />
-<TGConnectingPoint num="6" id="3263" />
-<TGConnectingPoint num="7" id="3264" />
-<TGConnectingPoint num="8" id="3265" />
-<TGConnectingPoint num="9" id="3266" />
-<TGConnectingPoint num="10" id="3267" />
-<TGConnectingPoint num="11" id="3268" />
-<TGConnectingPoint num="12" id="3269" />
-<TGConnectingPoint num="13" id="3270" />
-<TGConnectingPoint num="14" id="3271" />
-<TGConnectingPoint num="15" id="3272" />
-<TGConnectingPoint num="16" id="3273" />
-<TGConnectingPoint num="17" id="3274" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="1201" id="3294" >
+<SUBCOMPONENT type="1201" id="3294" index="69" uid="2eaf9498-239b-4462-81d8-d83d742fbfce" >
<father id="3303" num="6" />
-<cdparam x="705" y="69" />
-<sizeparam width="16" height="16" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1100" y="278" />
+<sizeparam width="26" height="26" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="175" minY="-8" maxY="267" />
+<cdrectangleparam minX="-13" maxX="272" minY="-13" maxY="416" />
<infoparam name="Composite port" value="" />
+<new d="false" />
<TGConnectingPoint num="0" id="3276" />
<TGConnectingPoint num="1" id="3277" />
<TGConnectingPoint num="2" id="3278" />
@@ -6053,12 +6333,13 @@ sequence diagram.
<TGConnectingPoint num="17" id="3293" />
</SUBCOMPONENT>
-<COMPONENT type="1200" id="3439" >
-<cdparam x="780" y="6" />
-<sizeparam width="185" height="275" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1200" id="3439" index="32" uid="9f1e1ccc-c6f7-4d1f-a73f-496ab0a87a72" >
+<cdparam x="1218" y="9" />
+<sizeparam width="289" height="429" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="961" minY="0" maxY="577" />
+<cdrectangleparam minX="0" maxX="2343" minY="0" maxY="1405" />
<infoparam name="Composite component" value="AppSink" />
+<new d="false" />
<TGConnectingPoint num="0" id="3431" />
<TGConnectingPoint num="1" id="3432" />
<TGConnectingPoint num="2" id="3433" />
@@ -6071,13 +6352,14 @@ sequence diagram.
<info hiddeni="false" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1201" id="3322" >
+<SUBCOMPONENT type="1201" id="3322" index="70" uid="014a66b8-63b1-448c-805e-57451e774c2a" >
<father id="3439" num="0" />
-<cdparam x="772" y="178" />
-<sizeparam width="16" height="16" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1407" y="425" />
+<sizeparam width="26" height="26" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="177" minY="-8" maxY="267" />
+<cdrectangleparam minX="-13" maxX="276" minY="-13" maxY="416" />
<infoparam name="Composite port" value="" />
+<new d="false" />
<TGConnectingPoint num="0" id="3304" />
<TGConnectingPoint num="1" id="3305" />
<TGConnectingPoint num="2" id="3306" />
@@ -6097,90 +6379,121 @@ sequence diagram.
<TGConnectingPoint num="16" id="3320" />
<TGConnectingPoint num="17" id="3321" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="1202" id="3335" >
+<SUBCOMPONENT type="1201" id="3341" index="71" uid="c4509547-8b5c-448f-ac2b-4c8442664ed2" >
<father id="3439" num="1" />
-<cdparam x="811" y="49" />
-<sizeparam width="128" height="96" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1321" y="425" />
+<sizeparam width="26" height="26" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="57" minY="0" maxY="179" />
-<infoparam name="Primitive component" value="X_AppSink" />
-<TGConnectingPoint num="0" id="3327" />
-<TGConnectingPoint num="1" id="3328" />
-<TGConnectingPoint num="2" id="3329" />
-<TGConnectingPoint num="3" id="3330" />
-<TGConnectingPoint num="4" id="3331" />
-<TGConnectingPoint num="5" id="3332" />
-<TGConnectingPoint num="6" id="3333" />
-<TGConnectingPoint num="7" id="3334" />
-<extraparam>
-<Attribute access="2" id="size" value="" type="0" typeOther="" />
-</extraparam>
+<cdrectangleparam minX="-13" maxX="276" minY="-13" maxY="416" />
+<infoparam name="Composite port" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3323" />
+<TGConnectingPoint num="1" id="3324" />
+<TGConnectingPoint num="2" id="3325" />
+<TGConnectingPoint num="3" id="3326" />
+<TGConnectingPoint num="4" id="3327" />
+<TGConnectingPoint num="5" id="3328" />
+<TGConnectingPoint num="6" id="3329" />
+<TGConnectingPoint num="7" id="3330" />
+<TGConnectingPoint num="8" id="3331" />
+<TGConnectingPoint num="9" id="3332" />
+<TGConnectingPoint num="10" id="3333" />
+<TGConnectingPoint num="11" id="3334" />
+<TGConnectingPoint num="12" id="3335" />
+<TGConnectingPoint num="13" id="3336" />
+<TGConnectingPoint num="14" id="3337" />
+<TGConnectingPoint num="15" id="3338" />
+<TGConnectingPoint num="16" id="3339" />
+<TGConnectingPoint num="17" id="3340" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3324" >
-<father id="3335" num="0" />
-<cdparam x="883" y="137" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1201" id="3360" index="72" uid="90472ad3-78a6-4fa6-9e36-d0f3f628ef02" >
+<father id="3439" num="2" />
+<cdparam x="1205" y="107" />
+<sizeparam width="26" height="26" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Request AppSink_req_in" />
-<TGConnectingPoint num="0" id="3323" />
-<extraparam>
-<Prop commName="AppSink_req_in" commType="2" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
-<Type type="1" typeOther="" />
-<Type type="0" typeOther="" />
-<Type type="0" typeOther="" />
-<Type type="0" typeOther="" />
-<Type type="0" typeOther="" />
-</extraparam>
+<cdrectangleparam minX="-13" maxX="276" minY="-13" maxY="416" />
+<infoparam name="Composite port" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3342" />
+<TGConnectingPoint num="1" id="3343" />
+<TGConnectingPoint num="2" id="3344" />
+<TGConnectingPoint num="3" id="3345" />
+<TGConnectingPoint num="4" id="3346" />
+<TGConnectingPoint num="5" id="3347" />
+<TGConnectingPoint num="6" id="3348" />
+<TGConnectingPoint num="7" id="3349" />
+<TGConnectingPoint num="8" id="3350" />
+<TGConnectingPoint num="9" id="3351" />
+<TGConnectingPoint num="10" id="3352" />
+<TGConnectingPoint num="11" id="3353" />
+<TGConnectingPoint num="12" id="3354" />
+<TGConnectingPoint num="13" id="3355" />
+<TGConnectingPoint num="14" id="3356" />
+<TGConnectingPoint num="15" id="3357" />
+<TGConnectingPoint num="16" id="3358" />
+<TGConnectingPoint num="17" id="3359" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3326" >
-<father id="3335" num="1" />
-<cdparam x="803" y="69" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1201" id="3379" index="73" uid="dd799966-53c4-40b3-bc13-7e90fc0857a6" >
+<father id="3439" num="3" />
+<cdparam x="1205" y="350" />
+<sizeparam width="26" height="26" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Channel AppSink_ch_in" />
-<TGConnectingPoint num="0" id="3325" />
-<extraparam>
-<Prop commName="AppSink_ch_in" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
-<Type type="0" typeOther="" />
-<Type type="0" typeOther="" />
-<Type type="0" typeOther="" />
-<Type type="0" typeOther="" />
-<Type type="0" typeOther="" />
-</extraparam>
+<cdrectangleparam minX="-13" maxX="276" minY="-13" maxY="416" />
+<infoparam name="Composite port" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3361" />
+<TGConnectingPoint num="1" id="3362" />
+<TGConnectingPoint num="2" id="3363" />
+<TGConnectingPoint num="3" id="3364" />
+<TGConnectingPoint num="4" id="3365" />
+<TGConnectingPoint num="5" id="3366" />
+<TGConnectingPoint num="6" id="3367" />
+<TGConnectingPoint num="7" id="3368" />
+<TGConnectingPoint num="8" id="3369" />
+<TGConnectingPoint num="9" id="3370" />
+<TGConnectingPoint num="10" id="3371" />
+<TGConnectingPoint num="11" id="3372" />
+<TGConnectingPoint num="12" id="3373" />
+<TGConnectingPoint num="13" id="3374" />
+<TGConnectingPoint num="14" id="3375" />
+<TGConnectingPoint num="15" id="3376" />
+<TGConnectingPoint num="16" id="3377" />
+<TGConnectingPoint num="17" id="3378" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="1202" id="3354" >
-<father id="3439" num="2" />
-<cdparam x="822" y="162" />
-<sizeparam width="128" height="96" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1202" id="3398" index="74" uid="5cad4ed7-ac30-4faf-9873-fc619e38207e" >
+<father id="3439" num="4" />
+<cdparam x="1284" y="253" />
+<sizeparam width="200" height="150" minWidth="-82" minHeight="-54" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="57" minY="0" maxY="179" />
+<cdrectangleparam minX="0" maxX="89" minY="0" maxY="279" />
<infoparam name="Primitive component" value="F_AppSink" />
-<TGConnectingPoint num="0" id="3346" />
-<TGConnectingPoint num="1" id="3347" />
-<TGConnectingPoint num="2" id="3348" />
-<TGConnectingPoint num="3" id="3349" />
-<TGConnectingPoint num="4" id="3350" />
-<TGConnectingPoint num="5" id="3351" />
-<TGConnectingPoint num="6" id="3352" />
-<TGConnectingPoint num="7" id="3353" />
-<extraparam>
+<new d="false" />
+<TGConnectingPoint num="0" id="3390" />
+<TGConnectingPoint num="1" id="3391" />
+<TGConnectingPoint num="2" id="3392" />
+<TGConnectingPoint num="3" id="3393" />
+<TGConnectingPoint num="4" id="3394" />
+<TGConnectingPoint num="5" id="3395" />
+<TGConnectingPoint num="6" id="3396" />
+<TGConnectingPoint num="7" id="3397" />
+<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
<Attribute access="2" id="size" value="" type="0" typeOther="" />
<Attribute access="2" id="nbOfFFTs" value="" type="0" typeOther="" />
<Attribute access="2" id="type" value="" type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3337" >
-<father id="3354" num="0" />
-<cdparam x="814" y="178" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3381" index="75" uid="12c2d393-42df-49f1-9186-e53ba94e04df" >
+<father id="3398" num="0" />
+<cdparam x="1407" y="390" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Event FFT_Running" />
-<TGConnectingPoint num="0" id="3336" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Event do2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3380" />
<extraparam>
-<Prop commName="FFT_Running" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="do2" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -6188,33 +6501,35 @@ sequence diagram.
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3339" >
-<father id="3354" num="1" />
-<cdparam x="854" y="154" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3383" index="76" uid="da90ac58-aa92-4ad6-a634-bf664c5926dc" >
+<father id="3398" num="1" />
+<cdparam x="1321" y="390" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Request AppSink_req_out" />
-<TGConnectingPoint num="0" id="3338" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Event do1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3382" />
<extraparam>
-<Prop commName="AppSink_req_out" commType="2" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
-<Type type="1" typeOther="" />
+<Prop commName="do1" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3341" >
-<father id="3354" num="2" />
-<cdparam x="814" y="224" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3385" index="77" uid="0f4392d9-5e34-4c46-a638-1f65380cc160" >
+<father id="3398" num="2" />
+<cdparam x="1271" y="350" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
<infoparam name="Primitive port" value="Event AppSink_evt_in" />
-<TGConnectingPoint num="0" id="3340" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3384" />
<extraparam>
-<Prop commName="AppSink_evt_in" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="AppSink_evt_in" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="1" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -6222,33 +6537,35 @@ sequence diagram.
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3343" >
-<father id="3354" num="3" />
-<cdparam x="846" y="250" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3387" index="78" uid="aea57906-9480-431b-94fe-a49cec9b03ae" >
+<father id="3398" num="3" />
+<cdparam x="1334" y="240" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Event do1" />
-<TGConnectingPoint num="0" id="3342" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Request AppSink_req_out" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3386" />
<extraparam>
-<Prop commName="do1" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
-<Type type="0" typeOther="" />
+<Prop commName="AppSink_req_out" commType="2" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="3345" >
-<father id="3354" num="4" />
-<cdparam x="901" y="250" />
-<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3389" index="79" uid="b14bbcb1-cf21-48ef-ab3d-8b7ecb37a923" >
+<father id="3398" num="4" />
+<cdparam x="1271" y="278" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="120" minY="-8" maxY="88" />
-<infoparam name="Primitive port" value="Event do2" />
-<TGConnectingPoint num="0" id="3344" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Event FFT_Running" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3388" />
<extraparam>
-<Prop commName="do2" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="FFT_Running" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -6256,91 +6573,71 @@ sequence diagram.
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1201" id="3373" >
-<father id="3439" num="3" />
-<cdparam x="772" y="224" />
-<sizeparam width="16" height="16" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1202" id="3411" index="80" uid="f378c3fc-26ff-4da0-bf5d-0ff64974023b" >
+<father id="3439" num="5" />
+<cdparam x="1267" y="76" />
+<sizeparam width="200" height="150" minWidth="-82" minHeight="-54" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="177" minY="-8" maxY="267" />
-<infoparam name="Composite port" value="" />
-<TGConnectingPoint num="0" id="3355" />
-<TGConnectingPoint num="1" id="3356" />
-<TGConnectingPoint num="2" id="3357" />
-<TGConnectingPoint num="3" id="3358" />
-<TGConnectingPoint num="4" id="3359" />
-<TGConnectingPoint num="5" id="3360" />
-<TGConnectingPoint num="6" id="3361" />
-<TGConnectingPoint num="7" id="3362" />
-<TGConnectingPoint num="8" id="3363" />
-<TGConnectingPoint num="9" id="3364" />
-<TGConnectingPoint num="10" id="3365" />
-<TGConnectingPoint num="11" id="3366" />
-<TGConnectingPoint num="12" id="3367" />
-<TGConnectingPoint num="13" id="3368" />
-<TGConnectingPoint num="14" id="3369" />
-<TGConnectingPoint num="15" id="3370" />
-<TGConnectingPoint num="16" id="3371" />
-<TGConnectingPoint num="17" id="3372" />
+<cdrectangleparam minX="0" maxX="89" minY="0" maxY="279" />
+<infoparam name="Primitive component" value="X_AppSink" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3403" />
+<TGConnectingPoint num="1" id="3404" />
+<TGConnectingPoint num="2" id="3405" />
+<TGConnectingPoint num="3" id="3406" />
+<TGConnectingPoint num="4" id="3407" />
+<TGConnectingPoint num="5" id="3408" />
+<TGConnectingPoint num="6" id="3409" />
+<TGConnectingPoint num="7" id="3410" />
+<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
+<Attribute access="2" id="size" value="" type="0" typeOther="" />
+</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1201" id="3392" >
-<father id="3439" num="4" />
-<cdparam x="772" y="69" />
-<sizeparam width="16" height="16" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3400" index="81" uid="5782d7e5-a223-46f2-ae10-2c0a459daade" >
+<father id="3411" num="0" />
+<cdparam x="1254" y="107" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="177" minY="-8" maxY="267" />
-<infoparam name="Composite port" value="" />
-<TGConnectingPoint num="0" id="3374" />
-<TGConnectingPoint num="1" id="3375" />
-<TGConnectingPoint num="2" id="3376" />
-<TGConnectingPoint num="3" id="3377" />
-<TGConnectingPoint num="4" id="3378" />
-<TGConnectingPoint num="5" id="3379" />
-<TGConnectingPoint num="6" id="3380" />
-<TGConnectingPoint num="7" id="3381" />
-<TGConnectingPoint num="8" id="3382" />
-<TGConnectingPoint num="9" id="3383" />
-<TGConnectingPoint num="10" id="3384" />
-<TGConnectingPoint num="11" id="3385" />
-<TGConnectingPoint num="12" id="3386" />
-<TGConnectingPoint num="13" id="3387" />
-<TGConnectingPoint num="14" id="3388" />
-<TGConnectingPoint num="15" id="3389" />
-<TGConnectingPoint num="16" id="3390" />
-<TGConnectingPoint num="17" id="3391" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Channel AppSink_ch_in" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3399" />
+<extraparam>
+<Prop commName="AppSink_ch_in" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="1" checkStrongAuthStatus="1" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1201" id="3411" >
-<father id="3439" num="5" />
-<cdparam x="846" y="273" />
-<sizeparam width="16" height="16" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="3402" index="82" uid="4bbfbeb7-ebf6-4279-b5e5-de55ef2d06bd" >
+<father id="3411" num="1" />
+<cdparam x="1379" y="213" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="177" minY="-8" maxY="267" />
-<infoparam name="Composite port" value="" />
-<TGConnectingPoint num="0" id="3393" />
-<TGConnectingPoint num="1" id="3394" />
-<TGConnectingPoint num="2" id="3395" />
-<TGConnectingPoint num="3" id="3396" />
-<TGConnectingPoint num="4" id="3397" />
-<TGConnectingPoint num="5" id="3398" />
-<TGConnectingPoint num="6" id="3399" />
-<TGConnectingPoint num="7" id="3400" />
-<TGConnectingPoint num="8" id="3401" />
-<TGConnectingPoint num="9" id="3402" />
-<TGConnectingPoint num="10" id="3403" />
-<TGConnectingPoint num="11" id="3404" />
-<TGConnectingPoint num="12" id="3405" />
-<TGConnectingPoint num="13" id="3406" />
-<TGConnectingPoint num="14" id="3407" />
-<TGConnectingPoint num="15" id="3408" />
-<TGConnectingPoint num="16" id="3409" />
-<TGConnectingPoint num="17" id="3410" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Request AppSink_req_in" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3401" />
+<extraparam>
+<Prop commName="AppSink_req_in" commType="2" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1201" id="3430" >
+<SUBCOMPONENT type="1201" id="3430" index="83" uid="49b0ada0-9a24-4f9c-8cca-dcbe0cc23492" >
<father id="3439" num="6" />
-<cdparam x="901" y="273" />
-<sizeparam width="16" height="16" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1205" y="278" />
+<sizeparam width="26" height="26" minWidth="10" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-8" maxX="177" minY="-8" maxY="267" />
+<cdrectangleparam minX="-13" maxX="276" minY="-13" maxY="416" />
<infoparam name="Composite port" value="" />
+<new d="false" />
<TGConnectingPoint num="0" id="3412" />
<TGConnectingPoint num="1" id="3413" />
<TGConnectingPoint num="2" id="3414" />
@@ -6364,22 +6661,25 @@ sequence diagram.
</TMLComponentTaskDiagramPanel>
-<TMLActivityDiagramPanel name="Configuration" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1001" id="3441" >
+<TMLActivityDiagramPanel name="Configuration" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="1001" id="3441" index="0" uid="60aea9e9-f435-416e-adf2-e48c2aaad490" >
<cdparam x="398" y="176" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="3440" />
</COMPONENT>
-<COMPONENT type="1008" id="3444" >
+<COMPONENT type="1008" id="3444" index="1" uid="f8ed31b3-808b-4ed9-8761-d8731f5373a9" >
<cdparam x="294" y="115" />
-<sizeparam width="232" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="232" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send event" value="configuration(sizeOfFFTs, nbOfFFTs)" />
+<new d="false" />
<TGConnectingPoint num="0" id="3442" />
<TGConnectingPoint num="1" id="3443" />
<extraparam>
@@ -6389,211 +6689,491 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1000" id="3446" >
+<COMPONENT type="1000" id="3446" index="2" uid="4589be6b-3f94-41a4-8ee9-442b625b41f1" >
<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
+<new d="false" />
<TGConnectingPoint num="0" id="3445" />
</COMPONENT>
-<CONNECTOR type="115" id="3447" >
+<CONNECTOR type="115" id="3447" index="3" uid="5f6a2954-bb6f-48d3-a390-36a823b28b83" >
<cdparam x="407" y="70" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="407" y="70" id="3445" />
<P2 x="410" y="110" id="3442" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3448" >
+<CONNECTOR type="115" id="3448" index="4" uid="4e3cbf4a-f18e-4838-9835-508d4a06df14" >
<cdparam x="410" y="140" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="410" y="140" id="3443" />
<P2 x="408" y="171" id="3440" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="F_APP" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1011" id="3451" >
-<cdparam x="1140" y="412" />
-<sizeparam width="52" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<TMLActivityDiagramPanel name="X_App" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="1008" id="3451" index="0" uid="4e6da785-e227-4f66-bc2d-fc86f58bbeee" >
+<cdparam x="820" y="517" />
+<sizeparam width="67" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="action state" value="alt = 1" />
+<infoparam name="send event" value="done()" />
+<new d="false" />
<TGConnectingPoint num="0" id="3449" />
<TGConnectingPoint num="1" id="3450" />
+<extraparam>
+<Data eventName="done" nbOfParams="5" />
+</extraparam>
</COMPONENT>
-<COMPONENT type="1011" id="3454" >
-<cdparam x="795" y="429" />
-<sizeparam width="52" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1008" id="3454" index="1" uid="70de0465-fd25-4f1b-bf68-35132b3f5315" >
+<cdparam x="466" y="498" />
+<sizeparam width="67" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="action state" value="alt = 2" />
+<infoparam name="send event" value="done()" />
+<new d="false" />
<TGConnectingPoint num="0" id="3452" />
<TGConnectingPoint num="1" id="3453" />
+<extraparam>
+<Data eventName="done" nbOfParams="5" />
+</extraparam>
</COMPONENT>
-<COMPONENT type="1001" id="3456" >
-<cdparam x="810" y="773" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1010" id="3457" index="2" uid="61b4ebcf-7529-4a26-b532-b8dd84f9ab91" >
+<cdparam x="564" y="276" />
+<sizeparam width="113" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="stop state" value="null" />
+<infoparam name="wait event" value="setType(type) " />
+<new d="false" />
<TGConnectingPoint num="0" id="3455" />
+<TGConnectingPoint num="1" id="3456" />
+<extraparam>
+<Data eventName="setType" nbOfParams="5" />
+<Param index="0" value="type" />
+</extraparam>
</COMPONENT>
-<COMPONENT type="1012" id="3464" >
-<cdparam x="1015" y="363" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1001" id="3459" index="3" uid="13fa13a6-7cd1-44f9-b561-f80b19bfe445" >
+<cdparam x="846" y="581" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="choice" value="null" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3458" />
+</COMPONENT>
+
+<COMPONENT type="1006" id="3462" index="4" uid="041f814d-8b4b-4ef7-bb1e-bf7072de26db" >
+<cdparam x="782" y="455" />
+<sizeparam width="126" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="APP_ch_out(size)" />
+<new d="false" />
<TGConnectingPoint num="0" id="3460" />
<TGConnectingPoint num="1" id="3461" />
-<TGConnectingPoint num="2" id="3462" />
-<TGConnectingPoint num="3" id="3463" />
+<extraparam>
+<Data channelName="APP_ch_out" nbOfSamples="size" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1012" id="3470" index="5" uid="7fdce59f-a7bf-4dab-8dff-36d93f860245" >
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+<TGConnectingPoint num="1" id="3524" />
<extraparam>
<Data eventName="do1" nbOfParams="5" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1014" id="3488" >
+<COMPONENT type="1014" id="3529" index="11" uid="917b3f77-b7f5-4446-9607-cf7d3836ac17" >
<cdparam x="500" y="213" />
-<sizeparam width="178" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="178" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="for loop" value="for(i=0;i<nbOfFFTs;i = i+1)" />
-<TGConnectingPoint num="0" id="3485" />
-<TGConnectingPoint num="1" id="3486" />
-<TGConnectingPoint num="2" id="3487" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3526" />
+<TGConnectingPoint num="1" id="3527" />
+<TGConnectingPoint num="2" id="3528" />
<extraparam>
<Data init="i=0" condition="i<nbOfFFTs" increment="i = i+1" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1010" id="3491" >
-<cdparam x="287" y="157" />
-<sizeparam width="195" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1010" id="3532" index="12" uid="d776b106-a134-45b7-9d37-876247cfc7a8" >
+<cdparam x="284" y="157" />
+<sizeparam width="201" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="wait event" value="configuration(size, nbOfFFTs) " />
-<TGConnectingPoint num="0" id="3489" />
-<TGConnectingPoint num="1" id="3490" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3530" />
+<TGConnectingPoint num="1" id="3531" />
<extraparam>
<Data eventName="configuration" nbOfParams="5" />
<Param index="0" value="size" />
@@ -6601,60 +7181,68 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1001" id="3493" >
+<COMPONENT type="1001" id="3534" index="13" uid="113191e1-4909-41df-a6ad-ac0526d9116a" >
<cdparam x="1196" y="775" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="3492" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3533" />
</COMPONENT>
-<COMPONENT type="1000" id="3495" >
+<COMPONENT type="1000" id="3536" index="14" uid="0e2bee21-18fd-490a-bdc7-bf2d40d3662d" >
<cdparam x="377" y="91" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3494" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3535" />
</COMPONENT>
-<COMPONENT type="1007" id="3498" >
-<cdparam x="1106" y="535" />
-<sizeparam width="171" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1007" id="3539" index="15" uid="a741ca0d-ca36-4299-9605-f2578472c323" >
+<cdparam x="1101" y="535" />
+<sizeparam width="182" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send request" value="AppForward_req_out(size)" />
-<TGConnectingPoint num="0" id="3496" />
-<TGConnectingPoint num="1" id="3497" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3537" />
+<TGConnectingPoint num="1" id="3538" />
<extraparam>
<Data requestName="AppForward_req_out" nbOfParams="5" />
<Param index="0" value="size" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1007" id="3501" >
-<cdparam x="741" y="553" />
-<sizeparam width="171" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1007" id="3542" index="16" uid="3da425ca-2aa7-43ff-a9f0-2a5a9e352e0d" >
+<cdparam x="736" y="553" />
+<sizeparam width="182" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send request" value="AppForward_req_out(size)" />
-<TGConnectingPoint num="0" id="3499" />
-<TGConnectingPoint num="1" id="3500" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3540" />
+<TGConnectingPoint num="1" id="3541" />
<extraparam>
<Data requestName="AppForward_req_out" nbOfParams="5" />
<Param index="0" value="size" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1008" id="3504" >
-<cdparam x="1119" y="695" />
-<sizeparam width="169" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1008" id="3545" index="17" uid="20575104-ad3e-4208-aa40-c1cbce8570c5" >
+<cdparam x="1114" y="695" />
+<sizeparam width="179" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send event" value="AppForward_evt_out(size)" />
-<TGConnectingPoint num="0" id="3502" />
-<TGConnectingPoint num="1" id="3503" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3543" />
+<TGConnectingPoint num="1" id="3544" />
<accessibility />
<extraparam>
<Data eventName="AppForward_evt_out" nbOfParams="5" />
@@ -6662,14 +7250,16 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1008" id="3507" >
-<cdparam x="745" y="706" />
-<sizeparam width="169" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1008" id="3548" index="18" uid="e612c948-90fb-4745-ae93-9d833163a1da" >
+<cdparam x="740" y="706" />
+<sizeparam width="179" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send event" value="AppForward_evt_out(size)" />
-<TGConnectingPoint num="0" id="3505" />
-<TGConnectingPoint num="1" id="3506" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3546" />
+<TGConnectingPoint num="1" id="3547" />
<accessibility />
<extraparam>
<Data eventName="AppForward_evt_out" nbOfParams="5" />
@@ -6677,455 +7267,427 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<CONNECTOR type="115" id="3508" >
+<CONNECTOR type="115" id="3549" index="19" uid="b270e7ae-c462-4ad4-81a7-dc6a35d32ac2" >
<cdparam x="1166" y="437" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="1166" y="437" id="3450" />
-<P2 x="1184" y="469" id="3479" />
+<P1 x="1166" y="437" id="3491" />
+<P2 x="1184" y="469" id="3520" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3509" >
+<CONNECTOR type="115" id="3550" index="20" uid="1ff8bc2e-310a-4f58-b488-5f0e53b15c4d" >
<cdparam x="821" y="454" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="821" y="454" id="3453" />
-<P2 x="808" y="494" id="3482" />
+<P1 x="821" y="454" id="3494" />
+<P2 x="808" y="494" id="3523" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3510" >
+<CONNECTOR type="115" id="3551" index="21" uid="ae0ea68f-5690-494a-bea1-4bd8e2b750e5" >
<cdparam x="678" y="227" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="678" y="227" id="3486" />
-<P2 x="1030" y="353" id="3460" />
+<P1 x="678" y="227" id="3527" />
+<P2 x="1030" y="358" id="3501" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3511" >
+<CONNECTOR type="115" id="3552" index="22" uid="8ae3d01b-7663-4111-aec0-ea0322f36065" >
<cdparam x="1194" y="664" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="1194" y="664" id="3468" />
-<P2 x="1203" y="690" id="3502" />
+<P1 x="1194" y="664" id="3509" />
+<P2 x="1203" y="690" id="3543" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3512" >
+<CONNECTOR type="115" id="3553" index="23" uid="d94a73bc-b33d-4c2d-9146-74bc7ec275ef" >
<cdparam x="835" y="675" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="825" y="676" id="3471" />
-<P2 x="829" y="701" id="3505" />
+<P1 x="825" y="676" id="3512" />
+<P2 x="829" y="701" id="3546" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3513" >
+<CONNECTOR type="115" id="3554" index="24" uid="cdc7a4b7-f96e-4000-b2b4-b80cc757360e" >
<cdparam x="1191" y="560" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="1191" y="560" id="3497" />
-<P2 x="1204" y="587" id="3473" />
+<P1 x="1192" y="560" id="3538" />
+<P2 x="1205" y="587" id="3514" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3514" >
+<CONNECTOR type="115" id="3555" index="25" uid="291d49b1-4043-4946-b6b8-2857320a19c9" >
<cdparam x="825" y="630" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="825" y="626" id="3477" />
-<P2 x="825" y="646" id="3470" />
+<P1 x="826" y="626" id="3518" />
+<P2 x="825" y="646" id="3511" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3515" >
+<CONNECTOR type="115" id="3556" index="26" uid="d81cac0e-40cc-4606-8556-fc10836ffeb5" >
<cdparam x="1184" y="499" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="1184" y="499" id="3480" />
-<P2 x="1191" y="530" id="3496" />
+<P1 x="1184" y="499" id="3521" />
+<P2 x="1192" y="530" id="3537" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3516" >
+<CONNECTOR type="115" id="3557" index="27" uid="426f70be-574f-4de2-8e6b-3ea23bf3009a" >
<cdparam x="808" y="524" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="808" y="524" id="3483" />
-<P2 x="826" y="548" id="3499" />
+<P1 x="808" y="524" id="3524" />
+<P2 x="827" y="548" id="3540" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3517" >
+<CONNECTOR type="115" id="3558" index="28" uid="cb4dc590-d92c-4734-a867-4b4456c14643" >
<cdparam x="1171" y="617" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="1204" y="617" id="3474" />
-<P2 x="1194" y="634" id="3467" />
+<P1 x="1205" y="617" id="3515" />
+<P2 x="1194" y="634" id="3508" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3518" >
+<CONNECTOR type="115" id="3559" index="29" uid="ff8188d4-57e1-47ca-9cc7-94f344dab854" >
<cdparam x="810" y="553" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="1070" y="378" id="3462" />
-<P2 x="1166" y="407" id="3449" />
+<P1 x="1070" y="378" id="3503" />
+<P2 x="1166" y="407" id="3490" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3519" >
+<CONNECTOR type="115" id="3560" index="30" uid="1624aaf3-b448-499b-9e04-b586a2d3db78" >
<cdparam x="678" y="227" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="990" y="378" id="3461" />
-<P2 x="821" y="424" id="3452" />
+<P1 x="990" y="378" id="3502" />
+<P2 x="821" y="424" id="3493" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3520" >
+<CONNECTOR type="115" id="3561" index="31" uid="01ff7bf4-6ec3-4054-8898-6e0a581c7e68" >
<cdparam x="1140" y="667" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="826" y="578" id="3500" />
-<P2 x="825" y="596" id="3476" />
+<P1 x="827" y="578" id="3541" />
+<P2 x="826" y="596" id="3517" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3521" >
+<CONNECTOR type="115" id="3562" index="32" uid="0a7976c3-d52c-4a6b-ba69-8ddfc181b9cd" >
<cdparam x="1485" y="877" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="1203" y="720" id="3503" />
-<P2 x="1206" y="770" id="3492" />
+<P1 x="1203" y="720" id="3544" />
+<P2 x="1206" y="770" id="3533" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3522" >
+<CONNECTOR type="115" id="3563" index="33" uid="966abe2f-3d25-454d-a152-216e4c1e78c1" >
<cdparam x="384" y="111" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="384" y="111" id="3494" />
-<P2 x="384" y="152" id="3489" />
+<P1 x="384" y="111" id="3535" />
+<P2 x="384" y="152" id="3530" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3523" >
+<CONNECTOR type="115" id="3564" index="34" uid="818a857a-2df3-4a17-bbe0-87b075fcf588" >
<cdparam x="424" y="174" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="384" y="182" id="3490" />
-<P2 x="589" y="208" id="3485" />
+<P1 x="384" y="182" id="3531" />
+<P2 x="589" y="208" id="3526" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3524" >
+<CONNECTOR type="115" id="3565" index="35" uid="1dbbf79b-5af9-418a-bcdd-26cef1290036" >
<cdparam x="589" y="238" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="589" y="238" id="3487" />
-<P2 x="597" y="271" id="3465" />
+<P1 x="589" y="238" id="3528" />
+<P2 x="597" y="271" id="3506" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3525" >
+<CONNECTOR type="115" id="3566" index="36" uid="5f195c92-01c9-41b5-9830-9b546392d43e" >
<cdparam x="829" y="731" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="829" y="731" id="3506" />
-<P2 x="820" y="768" id="3455" />
+<P1 x="829" y="731" id="3547" />
+<P2 x="820" y="768" id="3496" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="X_App" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1008" id="3528" >
-<cdparam x="827" y="517" />
-<sizeparam width="52" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="send event" value="done()" />
-<TGConnectingPoint num="0" id="3526" />
-<TGConnectingPoint num="1" id="3527" />
-<extraparam>
-<Data eventName="done" nbOfParams="5" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1008" id="3531" >
-<cdparam x="473" y="498" />
-<sizeparam width="52" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<TMLActivityDiagramPanel name="X_FFT" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="1008" id="3569" index="0" uid="12d917d9-90cd-42fc-9d75-135b2405c77f" >
+<cdparam x="203" y="403" />
+<sizeparam width="79" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="send event" value="done()" />
-<TGConnectingPoint num="0" id="3529" />
-<TGConnectingPoint num="1" id="3530" />
+<infoparam name="send event" value="FFT_done()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3567" />
+<TGConnectingPoint num="1" id="3568" />
<extraparam>
-<Data eventName="done" nbOfParams="5" />
+<Data eventName="FFT_done" nbOfParams="5" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1010" id="3534" >
-<cdparam x="570" y="276" />
-<sizeparam width="100" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1013" id="3573" index="1" uid="8613f689-8274-4207-a941-47403a7b8666" >
+<cdparam x="235" y="265" />
+<sizeparam width="10" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="wait event" value="setType(type) " />
-<TGConnectingPoint num="0" id="3532" />
-<TGConnectingPoint num="1" id="3533" />
-<extraparam>
-<Data eventName="setType" nbOfParams="5" />
-<Param index="0" value="type" />
-</extraparam>
+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3571" />
+<TGConnectingPoint num="1" id="3572" />
</COMPONENT>
-
-<COMPONENT type="1001" id="3536" >
-<cdparam x="846" y="581" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="3570" index="13" uid="14b91d18-bc36-413d-a7eb-952930d1e410" >
+<father id="3573" num="0" />
+<cdparam x="250" y="285" />
+<sizeparam width="23" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="3535" />
-</COMPONENT>
+<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
+<infoparam name="value of the delay" value="size" />
+<new d="false" />
+</SUBCOMPONENT>
-<COMPONENT type="1006" id="3539" >
-<cdparam x="787" y="455" />
-<sizeparam width="115" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1009" id="3576" index="2" uid="69d2f8d8-36d1-4187-bd0c-281f68d57a86" >
+<cdparam x="187" y="184" />
+<sizeparam width="106" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="write channel" value="APP_ch_out(size)" />
-<TGConnectingPoint num="0" id="3537" />
-<TGConnectingPoint num="1" id="3538" />
+<infoparam name="read channel" value="FFT_ch_in(size) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="3574" />
+<TGConnectingPoint num="1" id="3575" />
<extraparam>
-<Data channelName="APP_ch_out" nbOfSamples="size" secPattern="" />
+<Data channelName="FFT_ch_in" nbOfSamples="size" secPattern="" isAttacker="No" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1012" id="3547" >
-<cdparam x="701" y="334" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="3543" />
-<TGConnectingPoint num="1" id="3544" />
-<TGConnectingPoint num="2" id="3545" />
-<TGConnectingPoint num="3" id="3546" />
-</COMPONENT>
-<SUBCOMPONENT type="-1" id="3540" >
-<father id="3547" num="0" />
-<cdparam x="626" y="369" />
-<sizeparam width="77" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
-<infoparam name="guard 1" value="[ type == 1]" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3541" >
-<father id="3547" num="1" />
-<cdparam x="736" y="344" />
-<sizeparam width="77" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
-<infoparam name="guard 2" value="[ type == 2]" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3542" >
-<father id="3547" num="2" />
-<cdparam x="721" y="379" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="20" maxX="40" minY="45" maxY="70" />
-<infoparam name="guard 3" value="[ ]" />
-</SUBCOMPONENT>
-
-<COMPONENT type="1001" id="3549" >
-<cdparam x="489" y="554" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1001" id="3578" index="3" uid="c9f87c14-d70b-4af9-8e84-11ec5bb86a01" >
+<cdparam x="231" y="476" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="3548" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3577" />
</COMPONENT>
-<COMPONENT type="1006" id="3552" >
-<cdparam x="441" y="442" />
-<sizeparam width="115" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1006" id="3581" index="4" uid="c5b0f84d-3601-4767-ac9f-09aff6dd7357" >
+<cdparam x="184" y="346" />
+<sizeparam width="112" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="write channel" value="APP_ch_out(size)" />
-<TGConnectingPoint num="0" id="3550" />
-<TGConnectingPoint num="1" id="3551" />
+<infoparam name="write channel" value="FFT_ch_out(size)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3579" />
+<TGConnectingPoint num="1" id="3580" />
<extraparam>
-<Data channelName="APP_ch_out" nbOfSamples="size" secPattern="" />
+<Data channelName="FFT_ch_out" nbOfSamples="size" secPattern="" isAttacker="No" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1034" id="3555" >
-<cdparam x="442" y="204" />
-<sizeparam width="113" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1034" id="3584" index="5" uid="9358fe83-7580-47dd-82b1-ee408849192b" >
+<cdparam x="184" y="108" />
+<sizeparam width="113" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="read args" value="getReqArg (size)" />
-<TGConnectingPoint num="0" id="3553" />
-<TGConnectingPoint num="1" id="3554" />
+<infoparam name="read args" value="getReqArg(size)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3582" />
+<TGConnectingPoint num="1" id="3583" />
<extraparam>
<Data nbOfParams="5" />
<Param index="0" value="size" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1000" id="3557" >
-<cdparam x="491" y="141" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1000" id="3586" index="6" uid="94e5bc40-e0b1-4490-ae7f-3984bbf7fdd5" >
+<cdparam x="233" y="45" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3556" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3585" />
</COMPONENT>
-<CONNECTOR type="115" id="3558" >
-<cdparam x="853" y="542" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="853" y="542" id="3527" />
-<P2 x="856" y="576" id="3535" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="3559" >
-<cdparam x="499" y="523" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="499" y="523" id="3530" />
-<P2 x="499" y="549" id="3548" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="3560" >
-<cdparam x="620" y="301" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="620" y="301" id="3533" />
-<P2 x="716" y="324" id="3543" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="3561" >
-<cdparam x="756" y="349" />
+<CONNECTOR type="115" id="3587" index="7" uid="76c55612-4a20-4a61-a84e-b790255d6321" >
+<cdparam x="242" y="428" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="756" y="349" id="3545" />
-<P2 x="844" y="450" id="3537" />
+<P1 x="242" y="428" id="3568" />
+<P2 x="241" y="471" id="3577" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3562" >
-<cdparam x="676" y="349" />
+<CONNECTOR type="115" id="3588" index="8" uid="9c57ad7b-4332-47f4-a9ee-92137bff47b9" >
+<cdparam x="383" y="140" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="676" y="349" id="3544" />
-<P2 x="498" y="437" id="3550" />
+<P1 x="240" y="209" id="3575" />
+<P2 x="240" y="260" id="3571" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3563" >
-<cdparam x="498" y="161" />
+<CONNECTOR type="115" id="3589" index="9" uid="1711fcd0-fd31-4166-8905-a3e22d352658" >
+<cdparam x="295" y="298" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="498" y="161" id="3556" />
-<P2 x="498" y="199" id="3553" />
+<P1 x="240" y="300" id="3572" />
+<P2 x="240" y="341" id="3579" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3564" >
-<cdparam x="493" y="428" />
+<CONNECTOR type="115" id="3590" index="10" uid="bd6fc447-ad99-4c45-b6d6-5740f6bccba7" >
+<cdparam x="240" y="65" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="498" y="467" id="3551" />
-<P2 x="499" y="493" id="3529" />
+<P1 x="240" y="65" id="3585" />
+<P2 x="240" y="103" id="3582" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3565" >
-<cdparam x="498" y="246" />
+<CONNECTOR type="115" id="3591" index="11" uid="0b73059d-78fc-4e72-b1a0-0d7d753c856e" >
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<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="498" y="229" id="3554" />
-<P2 x="620" y="271" id="3532" />
+<P1 x="240" y="371" id="3580" />
+<P2 x="242" y="398" id="3567" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3566" >
-<cdparam x="843" y="514" />
+<CONNECTOR type="115" id="3592" index="12" uid="fd59d88d-44bd-4779-b29b-b2c032f914ad" >
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<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="844" y="480" id="3538" />
-<P2 x="853" y="512" id="3526" />
+<P1 x="240" y="133" id="3583" />
+<P2 x="240" y="179" id="3574" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="F_FFT" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1008" id="3569" >
+<TMLActivityDiagramPanel name="F_FFT" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="1008" id="3595" index="0" uid="865b96b5-3665-4a6f-8a1c-e2dff36a359f" >
<cdparam x="576" y="339" />
-<sizeparam width="98" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send event" value="FFT_Running()" />
-<TGConnectingPoint num="0" id="3567" />
-<TGConnectingPoint num="1" id="3568" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3593" />
+<TGConnectingPoint num="1" id="3594" />
<extraparam>
<Data eventName="FFT_Running" nbOfParams="5" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1030" id="3572" >
+<COMPONENT type="1030" id="3598" index="1" uid="69ffd7de-1edb-470d-a46e-226b182657bd" >
<cdparam x="455" y="150" />
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+<sizeparam width="92" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="for ever loop" value="Loop for ever" />
-<TGConnectingPoint num="0" id="3570" />
-<TGConnectingPoint num="1" id="3571" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3596" />
+<TGConnectingPoint num="1" id="3597" />
</COMPONENT>
-<COMPONENT type="1010" id="3575" >
+<COMPONENT type="1010" id="3601" index="2" uid="63415c60-42d7-467c-bc7d-9da5dda36179" >
<cdparam x="586" y="403" />
-<sizeparam width="83" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="83" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="wait event" value="FFT_done() " />
-<TGConnectingPoint num="0" id="3573" />
-<TGConnectingPoint num="1" id="3574" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3599" />
+<TGConnectingPoint num="1" id="3600" />
<accessibility />
<extraparam>
<Data eventName="FFT_done" nbOfParams="5" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1010" id="3578" >
+<COMPONENT type="1010" id="3604" index="3" uid="d54dba7e-4425-4ca8-b9c8-d49028973669" >
<cdparam x="570" y="209" />
-<sizeparam width="110" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="110" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="wait event" value="FFT_evt_in(size) " />
-<TGConnectingPoint num="0" id="3576" />
-<TGConnectingPoint num="1" id="3577" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3602" />
+<TGConnectingPoint num="1" id="3603" />
<extraparam>
<Data eventName="FFT_evt_in" nbOfParams="5" />
<Param index="0" value="size" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1001" id="3580" >
+<COMPONENT type="1001" id="3606" index="4" uid="973aa8ad-dac3-4e52-9f5f-fb7ba1b52cb7" >
<cdparam x="613" y="546" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="3579" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3605" />
</COMPONENT>
-<COMPONENT type="1008" id="3583" >
+<COMPONENT type="1008" id="3609" index="5" uid="90a72bb2-f344-443c-8489-fa69f375c85f" >
<cdparam x="572" y="468" />
-<sizeparam width="116" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="116" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send event" value="FFT_evt_out(size)" />
-<TGConnectingPoint num="0" id="3581" />
-<TGConnectingPoint num="1" id="3582" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3607" />
+<TGConnectingPoint num="1" id="3608" />
<extraparam>
<Data eventName="FFT_evt_out" nbOfParams="5" />
<Param index="0" value="size" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1007" id="3586" >
+<COMPONENT type="1007" id="3612" index="6" uid="237ba05e-5080-44f0-8774-b57d023c52ab" >
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-<sizeparam width="118" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="118" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send request" value="FFT_req_out(size)" />
-<TGConnectingPoint num="0" id="3584" />
-<TGConnectingPoint num="1" id="3585" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3610" />
+<TGConnectingPoint num="1" id="3611" />
<breakpoint />
<extraparam>
<Data requestName="FFT_req_out" nbOfParams="5" />
@@ -7133,622 +7695,546 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1000" id="3588" >
+<COMPONENT type="1000" id="3614" index="7" uid="10e65391-3c17-4fde-a7c9-29e063ebcb74" >
<cdparam x="472" y="95" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3587" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3613" />
</COMPONENT>
-<CONNECTOR type="115" id="3589" >
+<CONNECTOR type="115" id="3615" index="8" uid="c4da6bd2-ec35-44c7-bdb4-d834d0ca1a56" >
<cdparam x="633" y="363" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="625" y="364" id="3568" />
-<P2 x="627" y="398" id="3573" />
+<P1 x="625" y="364" id="3594" />
+<P2 x="627" y="398" id="3599" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3590" >
+<CONNECTOR type="115" id="3616" index="9" uid="212e3da3-84c4-4d99-95a0-fc7da7696176" >
<cdparam x="438" y="108" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="479" y="115" id="3587" />
-<P2 x="501" y="145" id="3570" />
+<P1 x="479" y="115" id="3613" />
+<P2 x="501" y="145" id="3596" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3591" >
+<CONNECTOR type="115" id="3617" index="10" uid="c4687963-822f-4e8e-9a04-dd363fdbc204" >
<cdparam x="634" y="363" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="627" y="428" id="3574" />
-<P2 x="630" y="463" id="3581" />
+<P1 x="627" y="428" id="3600" />
+<P2 x="630" y="463" id="3607" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3592" >
+<CONNECTOR type="115" id="3618" index="11" uid="79487fb0-36c2-42f5-9458-c8f8775c0bf2" >
<cdparam x="625" y="306" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="625" y="306" id="3585" />
-<P2 x="625" y="334" id="3567" />
+<P1 x="625" y="306" id="3611" />
+<P2 x="625" y="334" id="3593" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3593" >
+<CONNECTOR type="115" id="3619" index="12" uid="bce6b825-8003-4a93-bebf-0c8b61b5287f" >
<cdparam x="624" y="417" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="630" y="493" id="3582" />
-<P2 x="623" y="541" id="3579" />
+<P1 x="630" y="493" id="3608" />
+<P2 x="623" y="541" id="3605" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3594" >
+<CONNECTOR type="115" id="3620" index="13" uid="61199018-92e1-4375-bb73-ede69c1ab291" >
<cdparam x="421" y="159" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="547" y="164" id="3571" />
-<P2 x="625" y="204" id="3576" />
+<P1 x="547" y="164" id="3597" />
+<P2 x="625" y="204" id="3602" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3595" >
+<CONNECTOR type="115" id="3621" index="14" uid="f6e885d4-d4a6-4e8d-81a8-0e3af164d71e" >
<cdparam x="665" y="226" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="625" y="234" id="3577" />
-<P2 x="625" y="276" id="3584" />
+<P1 x="625" y="234" id="3603" />
+<P2 x="625" y="276" id="3610" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="X_FFT" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1008" id="3598" >
-<cdparam x="203" y="403" />
-<sizeparam width="79" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="send event" value="FFT_done()" />
-<TGConnectingPoint num="0" id="3596" />
-<TGConnectingPoint num="1" id="3597" />
-<extraparam>
-<Data eventName="FFT_done" nbOfParams="5" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1013" id="3602" >
-<cdparam x="235" y="265" />
-<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="execI" value="null" />
-<TGConnectingPoint num="0" id="3600" />
-<TGConnectingPoint num="1" id="3601" />
-</COMPONENT>
-<SUBCOMPONENT type="-1" id="3599" >
-<father id="3602" num="0" />
-<cdparam x="250" y="285" />
-<sizeparam width="23" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
-<infoparam name="value of the delay" value="size" />
-</SUBCOMPONENT>
-
-<COMPONENT type="1009" id="3605" >
-<cdparam x="187" y="184" />
-<sizeparam width="106" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<TMLActivityDiagramPanel name="X_AppSink" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="1009" id="3624" index="0" uid="fb8a04af-6971-4277-ada1-624b92b7b235" >
+<cdparam x="195" y="186" />
+<sizeparam width="135" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="read channel" value="FFT_ch_in(size) " />
-<TGConnectingPoint num="0" id="3603" />
-<TGConnectingPoint num="1" id="3604" />
+<infoparam name="read channel" value="AppSink_ch_in(size) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="3622" />
+<TGConnectingPoint num="1" id="3623" />
<extraparam>
-<Data channelName="FFT_ch_in" nbOfSamples="size" secPattern="" />
+<Data channelName="AppSink_ch_in" nbOfSamples="size" secPattern="" isAttacker="No" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1001" id="3607" >
-<cdparam x="231" y="476" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1001" id="3626" index="1" uid="7cec1c2e-0a5a-4d34-9b07-c868030fbc0b" >
+<cdparam x="252" y="420" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="3606" />
-</COMPONENT>
-
-<COMPONENT type="1006" id="3610" >
-<cdparam x="184" y="346" />
-<sizeparam width="112" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="write channel" value="FFT_ch_out(size)" />
-<TGConnectingPoint num="0" id="3608" />
-<TGConnectingPoint num="1" id="3609" />
-<extraparam>
-<Data channelName="FFT_ch_out" nbOfSamples="size" secPattern="" />
-</extraparam>
+<new d="false" />
+<TGConnectingPoint num="0" id="3625" />
</COMPONENT>
-<COMPONENT type="1034" id="3613" >
-<cdparam x="184" y="108" />
-<sizeparam width="113" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1034" id="3629" index="2" uid="e2908817-61e7-43ab-baf8-28fb3f5188d3" >
+<cdparam x="206" y="110" />
+<sizeparam width="113" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="read args" value="getReqArg (size)" />
-<TGConnectingPoint num="0" id="3611" />
-<TGConnectingPoint num="1" id="3612" />
+<infoparam name="read args" value="getReqArg(size)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3627" />
+<TGConnectingPoint num="1" id="3628" />
<extraparam>
<Data nbOfParams="5" />
<Param index="0" value="size" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1000" id="3615" >
-<cdparam x="233" y="45" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1000" id="3631" index="3" uid="8681d6a3-2dfa-4c83-ae66-4eb1c2321c3e" >
+<cdparam x="255" y="47" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3614" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3630" />
</COMPONENT>
-<CONNECTOR type="115" id="3616" >
-<cdparam x="242" y="428" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="242" y="428" id="3597" />
-<P2 x="241" y="471" id="3606" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="3617" >
-<cdparam x="383" y="140" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="240" y="209" id="3604" />
-<P2 x="240" y="260" id="3600" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="3618" >
-<cdparam x="295" y="298" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="240" y="300" id="3601" />
-<P2 x="240" y="341" id="3608" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="3619" >
-<cdparam x="240" y="65" />
+<CONNECTOR type="115" id="3632" index="4" uid="b4281cc0-1c51-4594-9c17-f3cb9cbb7570" >
+<cdparam x="262" y="211" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="240" y="65" id="3614" />
-<P2 x="240" y="103" id="3611" />
+<P1 x="262" y="211" id="3623" />
+<P2 x="262" y="415" id="3625" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3620" >
-<cdparam x="235" y="332" />
+<CONNECTOR type="115" id="3633" index="5" uid="7d2805eb-e58e-4921-94e9-5ef134b5f1de" >
+<cdparam x="262" y="67" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="240" y="371" id="3609" />
-<P2 x="242" y="398" id="3596" />
+<P1 x="262" y="67" id="3630" />
+<P2 x="262" y="105" id="3627" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3621" >
-<cdparam x="240" y="150" />
+<CONNECTOR type="115" id="3634" index="6" uid="1a97cd08-57de-42a9-832a-d40204c91e4e" >
+<cdparam x="262" y="152" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="240" y="133" id="3612" />
-<P2 x="240" y="179" id="3603" />
+<P1 x="262" y="135" id="3628" />
+<P2 x="262" y="181" id="3622" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="F_AppSink" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1008" id="3624" >
+<TMLActivityDiagramPanel name="F_AppSink" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="1008" id="3637" index="0" uid="c08db8f9-ea96-4492-9eb5-093571d1a4af" >
<cdparam x="614" y="207" />
-<sizeparam width="44" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="44" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send event" value="do1()" />
-<TGConnectingPoint num="0" id="3622" />
-<TGConnectingPoint num="1" id="3623" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3635" />
+<TGConnectingPoint num="1" id="3636" />
<extraparam>
<Data eventName="do1" nbOfParams="5" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1010" id="3627" >
+<COMPONENT type="1010" id="3640" index="1" uid="9ce4c1dd-7692-4af1-8f53-187377174883" >
<cdparam x="638" y="359" />
-<sizeparam width="102" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="102" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="wait event" value="FFT_Running() " />
-<TGConnectingPoint num="0" id="3625" />
-<TGConnectingPoint num="1" id="3626" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3638" />
+<TGConnectingPoint num="1" id="3639" />
<extraparam>
<Data eventName="FFT_Running" nbOfParams="5" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1011" id="3630" >
+<COMPONENT type="1011" id="3643" index="2" uid="962e82b7-43dc-43ab-a510-7b35cff7bee6" >
<cdparam x="625" y="571" />
-<sizeparam width="63" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="63" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="action state" value="type = 1" />
-<TGConnectingPoint num="0" id="3628" />
-<TGConnectingPoint num="1" id="3629" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3641" />
+<TGConnectingPoint num="1" id="3642" />
</COMPONENT>
-<COMPONENT type="1001" id="3632" >
+<COMPONENT type="1001" id="3645" index="3" uid="a83c8051-967f-4119-b2fe-ad53ed7b707b" >
<cdparam x="952" y="555" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="3631" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3644" />
</COMPONENT>
-<COMPONENT type="1011" id="3635" >
+<COMPONENT type="1011" id="3648" index="4" uid="214a3aea-5395-4ab6-9af1-d6af05f39544" >
<cdparam x="457" y="551" />
-<sizeparam width="63" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="63" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="action state" value="type = 2" />
-<TGConnectingPoint num="0" id="3633" />
-<TGConnectingPoint num="1" id="3634" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3646" />
+<TGConnectingPoint num="1" id="3647" />
</COMPONENT>
-<COMPONENT type="1008" id="3638" >
+<COMPONENT type="1008" id="3651" index="5" uid="8f7ee91d-c479-4dd2-bba7-20c3afb6002c" >
<cdparam x="619" y="506" />
-<sizeparam width="44" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="44" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
+<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send event" value="do2()" />
-<TGConnectingPoint num="0" id="3636" />
-<TGConnectingPoint num="1" id="3637" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3649" />
+<TGConnectingPoint num="1" id="3650" />
<extraparam>
<Data eventName="do2" nbOfParams="5" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1001" id="3640" >
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<cdparam x="665" y="640" />
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<Data eventName="do1" nbOfParams="5" />
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<infoparam name="connector" value="null" />
-<P1 x="656" y="596" id="3629" />
-<P2 x="675" y="635" id="3639" />
+<P1 x="656" y="596" id="3642" />
+<P2 x="675" y="635" id="3652" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="115" id="3690" >
+<CONNECTOR type="115" id="3703" index="30" uid="8817d4bf-e271-4cfb-9ecc-f825d67fd954" >
<cdparam x="847" y="331" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="847" y="331" id="3658" />
-<P2 x="689" y="354" id="3625" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-
-</TMLActivityDiagramPanel>
-
-<TMLActivityDiagramPanel name="X_AppSink" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1009" id="3693" >
-<cdparam x="195" y="186" />
-<sizeparam width="135" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="read channel" value="AppSink_ch_in(size) " />
-<TGConnectingPoint num="0" id="3691" />
-<TGConnectingPoint num="1" id="3692" />
-<extraparam>
-<Data channelName="AppSink_ch_in" nbOfSamples="size" secPattern="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1001" id="3695" >
-<cdparam x="252" y="420" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="3694" />
-</COMPONENT>
-
-<COMPONENT type="1034" id="3698" >
-<cdparam x="206" y="110" />
-<sizeparam width="113" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="read args" value="getReqArg (size)" />
-<TGConnectingPoint num="0" id="3696" />
-<TGConnectingPoint num="1" id="3697" />
-<extraparam>
-<Data nbOfParams="5" />
-<Param index="0" value="size" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1000" id="3700" >
-<cdparam x="255" y="47" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3699" />
-</COMPONENT>
-
-<CONNECTOR type="115" id="3701" >
-<cdparam x="262" y="211" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="262" y="211" id="3692" />
-<P2 x="262" y="415" id="3694" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="3702" >
-<cdparam x="262" y="67" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="262" y="67" id="3699" />
-<P2 x="262" y="105" id="3696" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="3703" >
-<cdparam x="262" y="152" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="262" y="135" id="3697" />
-<P2 x="262" y="181" id="3691" />
+<P1 x="847" y="331" id="3671" />
+<P2 x="689" y="354" id="3638" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</TMLActivityDiagramPanel>
@@ -7759,13 +8245,14 @@ sequence diagram.
<Modeling type="TML Architecture" nameTab="Mapping_1" >
-<TMLArchiDiagramPanel name="DIPLODOCUS architecture and mapping Diagram" minX="10" maxX="1900" minY="10" maxY="1900" attributes="0" masterClockFrequency="50" >
-<COMPONENT type="1100" id="3728" >
+<TMLArchiDiagramPanel name="DIPLODOCUS architecture and mapping Diagram" minX="10" maxX="1900" minY="10" maxY="1900" attributes="0" considerExecOperators="true" considerTimingOperators="true" masterClockFrequency="50" zoom="1.0" >
+<COMPONENT type="1100" id="3728" index="0" uid="8a666ee4-88d5-4b7a-a49a-f5e88dd31f31" >
<cdparam x="560" y="807" />
<sizeparam width="150" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="INTL_DMA" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="3704" />
<TGConnectingPoint num="1" id="3705" />
<TGConnectingPoint num="2" id="3706" />
@@ -7792,16 +8279,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="3727" />
<extraparam>
<info stereotype="CPURR" nodeName="INTL_DMA" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="3753" >
+<COMPONENT type="1100" id="3753" index="1" uid="cb7ec29c-fbf6-4ac4-9972-1c0b32e3cac9" >
<cdparam x="543" y="422" />
<sizeparam width="150" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="ADAIF_DMA" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="3729" />
<TGConnectingPoint num="1" id="3730" />
<TGConnectingPoint num="2" id="3731" />
@@ -7828,16 +8316,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="3752" />
<extraparam>
<info stereotype="CPURR" nodeName="ADAIF_DMA" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="3778" >
+<COMPONENT type="1105" id="3778" index="2" uid="56be983c-3aa0-4614-909d-27a5f3bd187d" >
<cdparam x="354" y="243" />
<sizeparam width="200" height="152" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="ADAIF_MSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="3754" />
<TGConnectingPoint num="1" id="3755" />
<TGConnectingPoint num="2" id="3756" />
@@ -7864,16 +8353,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="3777" />
<extraparam>
<info stereotype="MEMORY" nodeName="ADAIF_MSS" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="2" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="2" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="3803" >
+<COMPONENT type="1100" id="3803" index="3" uid="acb92854-5562-4b96-a3a0-21f4464add86" >
<cdparam x="29" y="215" />
<sizeparam width="252" height="181" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="ADAIF_PSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="3779" />
<TGConnectingPoint num="1" id="3780" />
<TGConnectingPoint num="2" id="3781" />
@@ -7900,16 +8390,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="3802" />
<extraparam>
<info stereotype="CPURR" nodeName="ADAIF_PSS" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="4" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="4" encryption="0"/>
</extraparam>
</COMPONENT>
-<COMPONENT type="1106" id="3828" >
+<COMPONENT type="1106" id="3828" index="4" uid="31af5920-d6c1-4470-8bd6-9673b6b9120e" >
<cdparam x="306" y="545" />
<sizeparam width="100" height="35" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="ADAIF_Bridge" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="3804" />
<TGConnectingPoint num="1" id="3805" />
<TGConnectingPoint num="2" id="3806" />
@@ -7940,12 +8431,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="3853" >
+<COMPONENT type="1105" id="3853" index="5" uid="9fc1863a-7e1c-4d0c-adb7-5f0682f17fcb" >
<cdparam x="1544" y="737" />
<sizeparam width="216" height="140" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="DDR" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="3829" />
<TGConnectingPoint num="1" id="3830" />
<TGConnectingPoint num="2" id="3831" />
@@ -7972,16 +8464,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="3852" />
<extraparam>
<info stereotype="MEMORY" nodeName="DDR" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="4" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="4" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="3914" >
+<COMPONENT type="1100" id="3914" index="6" uid="10facd5d-453c-4425-8137-380b55fd1ffd" >
<cdparam x="1431" y="265" />
<sizeparam width="417" height="293" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MainCPU" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="3890" />
<TGConnectingPoint num="1" id="3891" />
<TGConnectingPoint num="2" id="3892" />
@@ -8008,16 +8501,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="3913" />
<extraparam>
<info stereotype="CPURR" nodeName="MainCPU" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="3862" >
+<SUBCOMPONENT type="1101" id="3862" index="55" uid="0c754cf6-bf27-4e21-b87d-a8dc2e486315" >
<father id="3914" num="0" />
-<cdparam x="1673" y="368" />
-<sizeparam width="131" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1479" y="298" />
+<sizeparam width="175" height="40" minWidth="100" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="286" minY="0" maxY="253" />
-<infoparam name="TGComponent" value="Demo_TX::F_FFT" />
+<cdrectangleparam minX="0" maxX="242" minY="0" maxY="253" />
+<infoparam name="TGComponent" value="Demo_TX::Configuration" />
+<new d="false" />
<TGConnectingPoint num="0" id="3854" />
<TGConnectingPoint num="1" id="3855" />
<TGConnectingPoint num="2" id="3856" />
@@ -8027,16 +8521,17 @@ sequence diagram.
<TGConnectingPoint num="6" id="3860" />
<TGConnectingPoint num="7" id="3861" />
<extraparam>
-<info value="Demo_TX::F_FFT" taskName="F_FFT" referenceTaskName="Demo_TX" priority="0" operation="F_FFT" fatherComponentMECType="0" />
+<info value="Demo_TX::Configuration" taskName="Configuration" referenceTaskName="Demo_TX" priority="0" operationMEC="Configuration" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="3871" >
+<SUBCOMPONENT type="1101" id="3871" index="56" uid="ba4531c7-69b7-405c-a635-4e8ef66a9c8c" >
<father id="3914" num="1" />
-<cdparam x="1686" y="306" />
-<sizeparam width="158" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1483" y="419" />
+<sizeparam width="133" height="40" minWidth="100" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="259" minY="0" maxY="253" />
-<infoparam name="TGComponent" value="Demo_TX::F_AppSink" />
+<cdrectangleparam minX="0" maxX="284" minY="0" maxY="253" />
+<infoparam name="TGComponent" value="Demo_TX::F_APP" />
+<new d="false" />
<TGConnectingPoint num="0" id="3863" />
<TGConnectingPoint num="1" id="3864" />
<TGConnectingPoint num="2" id="3865" />
@@ -8046,16 +8541,17 @@ sequence diagram.
<TGConnectingPoint num="6" id="3869" />
<TGConnectingPoint num="7" id="3870" />
<extraparam>
-<info value="Demo_TX::F_AppSink" taskName="F_AppSink" referenceTaskName="Demo_TX" priority="0" operation="F_FFT" fatherComponentMECType="0" />
+<info value="Demo_TX::F_APP" taskName="F_APP" referenceTaskName="Demo_TX" priority="0" operationMEC="F_APP" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="3880" >
+<SUBCOMPONENT type="1101" id="3880" index="57" uid="560ce655-4cc2-406b-bb86-a2db63464a0a" >
<father id="3914" num="2" />
-<cdparam x="1483" y="419" />
-<sizeparam width="133" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1686" y="306" />
+<sizeparam width="158" height="40" minWidth="100" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="284" minY="0" maxY="253" />
-<infoparam name="TGComponent" value="Demo_TX::F_APP" />
+<cdrectangleparam minX="0" maxX="259" minY="0" maxY="253" />
+<infoparam name="TGComponent" value="Demo_TX::F_AppSink" />
+<new d="false" />
<TGConnectingPoint num="0" id="3872" />
<TGConnectingPoint num="1" id="3873" />
<TGConnectingPoint num="2" id="3874" />
@@ -8065,16 +8561,17 @@ sequence diagram.
<TGConnectingPoint num="6" id="3878" />
<TGConnectingPoint num="7" id="3879" />
<extraparam>
-<info value="Demo_TX::F_APP" taskName="F_APP" referenceTaskName="Demo_TX" priority="0" operation="F_APP" fatherComponentMECType="0" />
+<info value="Demo_TX::F_AppSink" taskName="F_AppSink" referenceTaskName="Demo_TX" priority="0" operationMEC="F_FFT" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="3889" >
+<SUBCOMPONENT type="1101" id="3889" index="58" uid="12de9982-6804-4582-9e0b-568bf1e8c6ab" >
<father id="3914" num="3" />
-<cdparam x="1479" y="298" />
-<sizeparam width="175" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1673" y="368" />
+<sizeparam width="131" height="40" minWidth="100" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="242" minY="0" maxY="253" />
-<infoparam name="TGComponent" value="Demo_TX::Configuration" />
+<cdrectangleparam minX="0" maxX="286" minY="0" maxY="253" />
+<infoparam name="TGComponent" value="Demo_TX::F_FFT" />
+<new d="false" />
<TGConnectingPoint num="0" id="3881" />
<TGConnectingPoint num="1" id="3882" />
<TGConnectingPoint num="2" id="3883" />
@@ -8084,16 +8581,17 @@ sequence diagram.
<TGConnectingPoint num="6" id="3887" />
<TGConnectingPoint num="7" id="3888" />
<extraparam>
-<info value="Demo_TX::Configuration" taskName="Configuration" referenceTaskName="Demo_TX" priority="0" operation="Configuration" fatherComponentMECType="0" />
+<info value="Demo_TX::F_FFT" taskName="F_FFT" referenceTaskName="Demo_TX" priority="0" operationMEC="F_FFT" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1102" id="3939" >
+<COMPONENT type="1102" id="3939" index="7" uid="fe2a942e-3c1e-4de9-ade9-7dcf040cb187" >
<cdparam x="1527" y="635" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MainBus" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="3915" />
<TGConnectingPoint num="1" id="3916" />
<TGConnectingPoint num="2" id="3917" />
@@ -8120,16 +8618,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="3938" />
<extraparam>
<info stereotype="BUS-RR" nodeName="MainBus" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1106" id="3964" >
+<COMPONENT type="1106" id="3964" index="8" uid="060c622a-7dc0-4185-936f-263fb3605632" >
<cdparam x="1367" y="610" />
<sizeparam width="100" height="100" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MainBridge" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="3940" />
<TGConnectingPoint num="1" id="3941" />
<TGConnectingPoint num="2" id="3942" />
@@ -8160,12 +8659,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1102" id="3989" >
+<COMPONENT type="1102" id="3989" index="9" uid="cc587f8d-9287-4e59-a9c3-b85f5ee23dea" >
<cdparam x="231" y="635" />
<sizeparam width="845" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="Crossbar" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="3965" />
<TGConnectingPoint num="1" id="3966" />
<TGConnectingPoint num="2" id="3967" />
@@ -8192,16 +8692,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="3988" />
<extraparam>
<info stereotype="BUS-RR" nodeName="Crossbar" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1106" id="4014" >
+<COMPONENT type="1106" id="4014" index="10" uid="311dd4a1-8a57-42a1-9b03-f61bfae89bbf" >
<cdparam x="306" y="737" />
<sizeparam width="100" height="51" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="INTL_Bridge" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="3990" />
<TGConnectingPoint num="1" id="3991" />
<TGConnectingPoint num="2" id="3992" />
@@ -8232,12 +8733,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="4039" >
+<COMPONENT type="1105" id="4039" index="11" uid="10ae3342-ce25-4b49-a214-e8ba6fea8354" >
<cdparam x="376" y="949" />
<sizeparam width="331" height="135" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="INTL_MSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="4015" />
<TGConnectingPoint num="1" id="4016" />
<TGConnectingPoint num="2" id="4017" />
@@ -8264,16 +8766,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="4038" />
<extraparam>
<info stereotype="MEMORY" nodeName="INTL_MSS" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="3" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="3" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="4082" >
+<COMPONENT type="1100" id="4082" index="12" uid="b8815cee-299f-4b78-9257-025eef970c2f" >
<cdparam x="91" y="938" />
<sizeparam width="234" height="140" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="INTL_PSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="4058" />
<TGConnectingPoint num="1" id="4059" />
<TGConnectingPoint num="2" id="4060" />
@@ -8300,16 +8803,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="4081" />
<extraparam>
<info stereotype="CPURR" nodeName="INTL_PSS" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="2" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="2" encryption="0"/>
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="4048" >
+<SUBCOMPONENT type="1101" id="4048" index="59" uid="8052785a-308e-4bb2-82dc-d56727419e05" >
<father id="4082" num="0" />
-<cdparam x="163" y="1021" />
-<sizeparam width="160" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="136" y="975" />
+<sizeparam width="137" height="40" minWidth="100" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="74" minY="0" maxY="100" />
-<infoparam name="TGComponent" value="Demo_TX::X_AppSink" />
+<cdrectangleparam minX="0" maxX="97" minY="0" maxY="100" />
+<infoparam name="TGComponent" value="Demo_TX::X_App" />
+<new d="false" />
<TGConnectingPoint num="0" id="4040" />
<TGConnectingPoint num="1" id="4041" />
<TGConnectingPoint num="2" id="4042" />
@@ -8319,16 +8823,17 @@ sequence diagram.
<TGConnectingPoint num="6" id="4046" />
<TGConnectingPoint num="7" id="4047" />
<extraparam>
-<info value="Demo_TX::X_AppSink" taskName="X_AppSink" referenceTaskName="Demo_TX" priority="0" operation="Interleaver operation" fatherComponentMECType="2" />
+<info value="Demo_TX::X_App" taskName="X_App" referenceTaskName="Demo_TX" priority="0" operationMEC="Interleaver operation" fatherComponentMECType="2" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="4057" >
+<SUBCOMPONENT type="1101" id="4057" index="60" uid="85026e9e-3fc4-4802-b2f8-336fdb60c05c" >
<father id="4082" num="1" />
-<cdparam x="136" y="975" />
-<sizeparam width="137" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="163" y="1021" />
+<sizeparam width="160" height="40" minWidth="100" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="97" minY="0" maxY="100" />
-<infoparam name="TGComponent" value="Demo_TX::X_App" />
+<cdrectangleparam minX="0" maxX="74" minY="0" maxY="100" />
+<infoparam name="TGComponent" value="Demo_TX::X_AppSink" />
+<new d="false" />
<TGConnectingPoint num="0" id="4049" />
<TGConnectingPoint num="1" id="4050" />
<TGConnectingPoint num="2" id="4051" />
@@ -8338,16 +8843,17 @@ sequence diagram.
<TGConnectingPoint num="6" id="4055" />
<TGConnectingPoint num="7" id="4056" />
<extraparam>
-<info value="Demo_TX::X_App" taskName="X_App" referenceTaskName="Demo_TX" priority="0" operation="Interleaver operation" fatherComponentMECType="2" />
+<info value="Demo_TX::X_AppSink" taskName="X_AppSink" referenceTaskName="Demo_TX" priority="0" operationMEC="Interleaver operation" fatherComponentMECType="2" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1102" id="4107" >
+<COMPONENT type="1102" id="4107" index="13" uid="aea8458a-f185-4438-aeac-e2d665ddaa3a" >
<cdparam x="231" y="832" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="INTL_Bus" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="4083" />
<TGConnectingPoint num="1" id="4084" />
<TGConnectingPoint num="2" id="4085" />
@@ -8374,16 +8880,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="4106" />
<extraparam>
<info stereotype="BUS-RR" nodeName="INTL_Bus" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1102" id="4132" >
+<COMPONENT type="1102" id="4132" index="14" uid="bd7f245f-cb5c-4ae9-9280-6c641e159add" >
<cdparam x="231" y="447" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="ADAIF_Bus" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="4108" />
<TGConnectingPoint num="1" id="4109" />
<TGConnectingPoint num="2" id="4110" />
@@ -8410,16 +8917,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="4131" />
<extraparam>
<info stereotype="BUS-RR" nodeName="ADAIF_Bus" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="4157" >
+<COMPONENT type="1100" id="4157" index="15" uid="a9b692d4-e234-4a6c-a6b7-e4130e8a6867" >
<cdparam x="1147" y="408" />
<sizeparam width="150" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="FEP_DMA" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="4133" />
<TGConnectingPoint num="1" id="4134" />
<TGConnectingPoint num="2" id="4135" />
@@ -8446,16 +8954,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="4156" />
<extraparam>
<info stereotype="CPURR" nodeName="FEP_DMA" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="4182" >
+<COMPONENT type="1105" id="4182" index="16" uid="211917de-95b4-4e9d-87ac-734bf05d8bc2" >
<cdparam x="895" y="193" />
<sizeparam width="255" height="183" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="FEP_MSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="4158" />
<TGConnectingPoint num="1" id="4159" />
<TGConnectingPoint num="2" id="4160" />
@@ -8482,16 +8991,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="4181" />
<extraparam>
<info stereotype="MEMORY" nodeName="FEP_MSS" />
-<attributes byteDataSize="32" clockRatio="1" bufferType="0" />
+<attributes byteDataSize="32" memorySize="1024" clockRatio="1" bufferType="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="4216" >
+<COMPONENT type="1100" id="4216" index="17" uid="c7cd6d18-0319-4ebe-8919-dcef381d3e3d" >
<cdparam x="600" y="198" />
<sizeparam width="238" height="185" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="FEP_PSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="4192" />
<TGConnectingPoint num="1" id="4193" />
<TGConnectingPoint num="2" id="4194" />
@@ -8518,16 +9028,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="4215" />
<extraparam>
<info stereotype="CPURR" nodeName="FEP_PSS" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="2" execcTime="1" clockRatio="1" MECType="1" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="2" execcTime="1" clockRatio="1" operation="" MECType="1" encryption="0"/>
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="4191" >
+<SUBCOMPONENT type="1101" id="4191" index="61" uid="8fe9de9b-76ce-494a-80ea-4a4a59fc9a55" >
<father id="4216" num="0" />
<cdparam x="652" y="256" />
-<sizeparam width="133" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="133" height="40" minWidth="100" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="105" minY="0" maxY="145" />
<infoparam name="TGComponent" value="Demo_TX::X_FFT" />
+<new d="false" />
<TGConnectingPoint num="0" id="4183" />
<TGConnectingPoint num="1" id="4184" />
<TGConnectingPoint num="2" id="4185" />
@@ -8537,16 +9048,17 @@ sequence diagram.
<TGConnectingPoint num="6" id="4189" />
<TGConnectingPoint num="7" id="4190" />
<extraparam>
-<info value="Demo_TX::X_FFT" taskName="X_FFT" referenceTaskName="Demo_TX" priority="0" operation="CWA" fatherComponentMECType="1" />
+<info value="Demo_TX::X_FFT" taskName="X_FFT" referenceTaskName="Demo_TX" priority="0" operationMEC="CWA" fatherComponentMECType="1" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1106" id="4241" >
+<COMPONENT type="1106" id="4241" index="18" uid="89cfaf57-2223-4ac8-adaf-9a8a946b6c63" >
<cdparam x="910" y="531" />
<sizeparam width="100" height="35" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="FEP_Bridge" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="4217" />
<TGConnectingPoint num="1" id="4218" />
<TGConnectingPoint num="2" id="4219" />
@@ -8577,12 +9089,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1102" id="4266" >
+<COMPONENT type="1102" id="4266" index="19" uid="1912d2e9-c701-44dc-b1bf-a29d712eba76" >
<cdparam x="835" y="433" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="FEP_Bus" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="4242" />
<TGConnectingPoint num="1" id="4243" />
<TGConnectingPoint num="2" id="4244" />
@@ -8609,16 +9122,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="4265" />
<extraparam>
<info stereotype="BUS-RR" nodeName="FEP_Bus" />
-<attributes byteDataSize="32" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="32" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="4291" >
+<COMPONENT type="1100" id="4291" index="20" uid="39b7bf9e-f097-4331-b323-d5d49b254111" >
<cdparam x="1174" y="850" />
<sizeparam width="150" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MAPPER_DMA" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="4267" />
<TGConnectingPoint num="1" id="4268" />
<TGConnectingPoint num="2" id="4269" />
@@ -8645,16 +9159,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="4290" />
<extraparam>
<info stereotype="CPURR" nodeName="MAPPER_DMA" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<COMPONENT type="1106" id="4316" >
+<COMPONENT type="1106" id="4316" index="21" uid="5219472f-6010-4ec3-8cf4-48ccaf75472e" >
<cdparam x="920" y="780" />
<sizeparam width="100" height="51" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MAPPER_Bridge" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="4292" />
<TGConnectingPoint num="1" id="4293" />
<TGConnectingPoint num="2" id="4294" />
@@ -8685,12 +9200,13 @@ sequence diagram.
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="4341" >
+<COMPONENT type="1105" id="4341" index="22" uid="84d66343-b9e7-4d79-9680-fe58f21209d3" >
<cdparam x="1043" y="978" />
<sizeparam width="314" height="125" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MAPPER_MSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="4317" />
<TGConnectingPoint num="1" id="4318" />
<TGConnectingPoint num="2" id="4319" />
@@ -8717,16 +9233,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="4340" />
<extraparam>
<info stereotype="MEMORY" nodeName="MAPPER_MSS" />
-<attributes byteDataSize="4" clockRatio="1" bufferType="1" />
+<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="1" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="4366" >
+<COMPONENT type="1100" id="4366" index="23" uid="4e178615-8bce-4f6f-925d-470b33967bd1" >
<cdparam x="759" y="981" />
<sizeparam width="219" height="158" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MAPPER_PSS" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="4342" />
<TGConnectingPoint num="1" id="4343" />
<TGConnectingPoint num="2" id="4344" />
@@ -8753,16 +9270,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="4365" />
<extraparam>
<info stereotype="CPURR" nodeName="MAPPER_PSS" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="3" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="3" encryption="0"/>
</extraparam>
</COMPONENT>
-<COMPONENT type="1102" id="4391" >
+<COMPONENT type="1102" id="4391" index="24" uid="69935e7a-e774-46bd-85c6-08a985a22088" >
<cdparam x="845" y="875" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="MAPPER_Bus" value="name" />
+<new d="false" />
<TGConnectingPoint num="0" id="4367" />
<TGConnectingPoint num="1" id="4368" />
<TGConnectingPoint num="2" id="4369" />
@@ -8789,16 +9307,17 @@ sequence diagram.
<TGConnectingPoint num="23" id="4390" />
<extraparam>
<info stereotype="BUS-RR" nodeName="MAPPER_Bus" />
-<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1108" id="4409" >
+<COMPONENT type="1108" id="4409" index="25" uid="4d38c853-82d6-4c02-82c6-3a2ce3425157" >
<cdparam x="97" y="1164" />
<sizeparam width="419" height="85" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="toINTLMemTransfer" value="CP0" />
+<new d="false" />
<TGConnectingPoint num="0" id="4401" />
<TGConnectingPoint num="1" id="4402" />
<TGConnectingPoint num="2" id="4403" />
@@ -8823,13 +9342,14 @@ sequence diagram.
<mappedAttributes type="int" name="counter" value="123" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1110" id="4400" >
+<SUBCOMPONENT type="1110" id="4400" index="62" uid="17224e3d-6fb8-41f6-8ba9-e1bdc6e45a42" >
<father id="4409" num="0" />
<cdparam x="234" y="1203" />
-<sizeparam width="181" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="181" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="238" minY="0" maxY="45" />
<infoparam name="TGComponent" value="Demo_TX::AppSink_ch_in" />
+<new d="false" />
<TGConnectingPoint num="0" id="4392" />
<TGConnectingPoint num="1" id="4393" />
<TGConnectingPoint num="2" id="4394" />
@@ -8839,16 +9359,17 @@ sequence diagram.
<TGConnectingPoint num="6" id="4398" />
<TGConnectingPoint num="7" id="4399" />
<extraparam>
-<info value="Demo_TX::AppSink_ch_in" portName="AppSink_ch_in" referenceCommunicationName="Demo_TX" typeName="port" mappedMemory="INTL_MSS" bufferType="3" packedBinaryIn="ON" width="" bitInOffset="" inputOffset="" packedBinaryOut="ON" bitOutOffset="" outputOffset="" offsetPerm="" lengthPerm="" />
+<info value="Demo_TX::AppSink_ch_in" portName="AppSink_ch_in" referenceCommunicationName="Demo_TX" typeName="port" mappedMemory="INTL_MSS" bufferType="3" packedBinaryIn="" width="" bitInOffset="" inputOffset="" packedBinaryOut="" bitOutOffset="" outputOffset="" offsetPerm="" lengthPerm="" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1108" id="4427" >
+<COMPONENT type="1108" id="4427" index="26" uid="73bbbfc5-d9e0-4dc3-9513-e9da9b853e6e" >
<cdparam x="554" y="1154" />
<sizeparam width="405" height="88" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="ToFFT" value="CP0" />
+<new d="false" />
<TGConnectingPoint num="0" id="4419" />
<TGConnectingPoint num="1" id="4420" />
<TGConnectingPoint num="2" id="4421" />
@@ -8870,13 +9391,14 @@ sequence diagram.
<mappingInfo CPname="DMA_transfer" instanceName="Transfer_Instance_4" architectureUnit="Crossbar, INTL_Bridge, INTL_Bus, FEP_Bridge, FEP_Bus" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1110" id="4418" >
+<SUBCOMPONENT type="1110" id="4418" index="63" uid="b34a7a08-a0a2-4214-9179-0eb3a3d505e4" >
<father id="4427" num="0" />
<cdparam x="701" y="1192" />
-<sizeparam width="154" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="154" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="251" minY="0" maxY="48" />
<infoparam name="TGComponent" value="Demo_TX::FFT_ch_in" />
+<new d="false" />
<TGConnectingPoint num="0" id="4410" />
<TGConnectingPoint num="1" id="4411" />
<TGConnectingPoint num="2" id="4412" />
@@ -8890,337 +9412,365 @@ sequence diagram.
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="125" id="4428" >
+<CONNECTOR type="125" id="4428" index="27" uid="c61cff5c-c898-48aa-8da6-06a41ee3bd93" >
<cdparam x="1367" y="660" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1367" y="660" id="3943" />
<P2 x="1076" y="660" id="3969" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4429" >
+<CONNECTOR type="125" id="4429" index="28" uid="c47cd0ac-bc68-437c-9027-840d757543f5" >
<cdparam x="1147" y="508" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1147" y="508" id="4138" />
<P2 x="1076" y="635" id="3967" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4430" >
+<CONNECTOR type="125" id="4430" index="29" uid="b055b402-0d9c-4d88-b3a0-83103d8b144f" >
<cdparam x="1298" y="875" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1249" y="850" id="4268" />
<P2 x="1076" y="685" id="3972" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4431" >
+<CONNECTOR type="125" id="4431" index="30" uid="cd0336fb-a78f-43e9-854b-07c1411f9421" >
<cdparam x="1019" y="805" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="970" y="780" id="4293" />
<P2 x="864" y="685" id="3980" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4432" >
+<CONNECTOR type="125" id="4432" index="31" uid="378a35fa-61d8-4eaa-95f9-8238928eb683" >
<cdparam x="1004" y="531" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="960" y="566" id="4223" />
<P2 x="864" y="635" id="3974" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4433" >
+<CONNECTOR type="125" id="4433" index="32" uid="516e2481-ab35-423c-8d67-4e6e3d3d0edd" >
<cdparam x="1185" y="660" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1467" y="660" id="3944" />
<P2 x="1527" y="660" id="3918" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4434" >
+<CONNECTOR type="125" id="4434" index="33" uid="9817018d-d165-419d-b818-3c52ab4ede5d" >
<cdparam x="356" y="788" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="356" y="788" id="3996" />
<P2 x="356" y="832" id="4084" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4435" >
+<CONNECTOR type="125" id="4435" index="34" uid="f632fd8e-a897-445f-b8a4-7147e39a0f85" >
<cdparam x="554" y="806" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="560" y="807" id="3704" />
<P2 x="442" y="685" id="3979" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4436" >
+<CONNECTOR type="125" id="4436" index="35" uid="8675d865-a99c-403f-8f0e-503786b9000e" >
<cdparam x="559" y="863" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="560" y="857" id="3707" />
<P2 x="481" y="857" id="4087" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4437" >
+<CONNECTOR type="125" id="4437" index="36" uid="df07fa41-a370-4fd0-8707-a795f913e7a8" >
<cdparam x="586" y="970" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="541" y="949" id="4016" />
<P2 x="418" y="882" id="4098" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4438" >
+<CONNECTOR type="125" id="4438" index="37" uid="84ac4d8e-762f-41b6-9fd7-4fef6d155856" >
<cdparam x="165" y="927" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="208" y="938" id="4059" />
<P2 x="293" y="882" id="4097" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4439" >
+<CONNECTOR type="125" id="4439" index="38" uid="04cdc16f-5bad-4d7b-82e6-81a2ed749333" >
<cdparam x="355" y="576" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="356" y="580" id="3810" />
<P2 x="231" y="635" id="3965" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4440" >
+<CONNECTOR type="125" id="4440" index="39" uid="3a71e9b1-1ae8-4c35-b01f-91667a17d837" >
<cdparam x="355" y="541" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="356" y="545" id="3805" />
<P2 x="356" y="497" id="4114" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4441" >
+<CONNECTOR type="125" id="4441" index="40" uid="3f8f4ef5-3a50-4667-b790-4a43cd47d208" >
<cdparam x="543" y="522" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="543" y="522" id="3734" />
<P2 x="442" y="635" id="3973" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4442" >
+<CONNECTOR type="125" id="4442" index="41" uid="d1fae539-2b84-4832-8eec-73b9b06e0368" >
<cdparam x="536" y="475" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="543" y="472" id="3732" />
<P2 x="481" y="472" id="4112" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4443" >
+<CONNECTOR type="125" id="4443" index="42" uid="16dbe762-741c-4fd0-a130-cc2434340f69" >
<cdparam x="549" y="337" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="454" y="395" id="3760" />
<P2 x="418" y="447" id="4117" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4444" >
+<CONNECTOR type="125" id="4444" index="43" uid="527d3dad-3fbf-4851-8e36-92d3fff8c808" >
<cdparam x="155" y="323" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="155" y="396" id="3785" />
<P2 x="293" y="447" id="4116" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4445" >
+<CONNECTOR type="125" id="4445" index="44" uid="9252541b-060e-4c4e-872e-096b8b55f11c" >
<cdparam x="357" y="778" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="356" y="737" id="3991" />
<P2 x="231" y="685" id="3970" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4446" >
+<CONNECTOR type="125" id="4446" index="45" uid="5f043872-7910-4ca7-befb-4454c8fb489c" >
<cdparam x="1654" y="758" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1652" y="737" id="3830" />
<P2 x="1652" y="685" id="3921" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4447" >
+<CONNECTOR type="125" id="4447" index="46" uid="43fd8402-ec7d-470d-ad32-4e955aa47b65" >
<cdparam x="1651" y="573" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1639" y="558" id="3896" />
<P2 x="1652" y="635" id="3916" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4448" >
+<CONNECTOR type="125" id="4448" index="47" uid="131bd6c1-42f7-478f-92fb-dc3c29304732" >
<cdparam x="959" y="527" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="960" y="531" id="4218" />
<P2 x="960" y="483" id="4248" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4449" >
+<CONNECTOR type="125" id="4449" index="48" uid="a3897926-d302-41eb-9b15-957dcb8a022f" >
<cdparam x="1140" y="461" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1147" y="458" id="4136" />
<P2 x="1085" y="458" id="4246" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4450" >
+<CONNECTOR type="125" id="4450" index="49" uid="349e6978-159c-4525-b2ec-da97ff1400e6" >
<cdparam x="1189" y="374" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1022" y="376" id="4164" />
<P2 x="1022" y="433" id="4251" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4451" >
+<CONNECTOR type="125" id="4451" index="50" uid="be5b0e53-7a34-4647-ab31-f4df704cbec5" >
<cdparam x="795" y="360" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="719" y="383" id="4198" />
<P2 x="897" y="433" id="4250" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4452" >
+<CONNECTOR type="125" id="4452" index="51" uid="ba635192-cebe-4e4b-8f8c-287831461d23" >
<cdparam x="970" y="831" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="970" y="831" id="4298" />
<P2 x="970" y="875" id="4368" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4453" >
+<CONNECTOR type="125" id="4453" index="52" uid="ac3f0110-7747-46fd-bbb7-05d5366bfd6d" >
<cdparam x="1173" y="906" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1174" y="900" id="4270" />
<P2 x="1095" y="900" id="4371" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4454" >
+<CONNECTOR type="125" id="4454" index="53" uid="e935763c-f700-4638-b9d3-881ee9eb989f" >
<cdparam x="1200" y="1013" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="1200" y="978" id="4318" />
<P2 x="1032" y="925" id="4382" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="4455" >
+<CONNECTOR type="125" id="4455" index="54" uid="4d50572d-31b9-4476-8642-c431ca9c2a12" >
<cdparam x="779" y="970" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
<P1 x="868" y="981" id="4343" />
<P2 x="907" y="925" id="4381" />
<AutomaticDrawing data="true" />
+<new d="false" />
<extraparam>
<info priority="0" />
<spy value="false" />
@@ -9236,60 +9786,66 @@ sequence diagram.
<Modeling type="Diplodocus Methodology" nameTab="DIPLODOCUS_Methodology" >
<DiplodocusMethodologyDiagramPanel name="DIPLODOCUS_Methodology" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
-<COMPONENT type="6003" id="4460" >
+<COMPONENT type="6003" id="4460" index="0" uid="db0e833b-2f06-4015-8d2c-8b4dcbc7129b" >
<cdparam x="38" y="218" />
<sizeparam width="200" height="120" minWidth="10" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TGComponent" value="Requirements" />
+<new d="false" />
<TGConnectingPoint num="0" id="4456" />
<TGConnectingPoint num="1" id="4457" />
<TGConnectingPoint num="2" id="4458" />
<TGConnectingPoint num="3" id="4459" />
</COMPONENT>
-<COMPONENT type="6006" id="4468" >
+<COMPONENT type="6006" id="4468" index="1" uid="7ed7a616-984a-44ac-9620-0f5885f9b3cf" >
<cdparam x="644" y="97" />
<sizeparam width="200" height="120" minWidth="10" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TGComponent" value="Com. Patterns" />
+<new d="false" />
<TGConnectingPoint num="0" id="4464" />
<TGConnectingPoint num="1" id="4465" />
<TGConnectingPoint num="2" id="4466" />
<TGConnectingPoint num="3" id="4467" />
</COMPONENT>
-<SUBCOMPONENT type="6005" id="4461" >
+<SUBCOMPONENT type="6005" id="4461" index="8" uid="9d51c28b-1b3a-4a6c-afea-ccfaa88c4837" >
<father id="4468" num="0" />
-<cdparam x="649" y="137" />
-<sizeparam width="10" height="10" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="649" y="167" />
+<sizeparam width="10" height="10" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="605" maxX="605" minY="140" maxY="140" />
-<infoparam name="value " value="CP_Memory_Copy" />
+<cdrectangleparam minX="605" maxX="605" minY="170" maxY="170" />
+<infoparam name="value " value="Double_DMA_transfer" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="6005" id="4462" >
+<SUBCOMPONENT type="6005" id="4462" index="9" uid="2a124cc1-e8f5-428b-8eb7-669ca59c9302" >
<father id="4468" num="1" />
<cdparam x="649" y="152" />
-<sizeparam width="10" height="10" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="10" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="605" maxX="605" minY="155" maxY="155" />
<infoparam name="value " value="DMA_transfer" />
+<new d="false" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="6005" id="4463" >
+<SUBCOMPONENT type="6005" id="4463" index="10" uid="f4b458bd-556b-4e74-a02f-2018be13a3bb" >
<father id="4468" num="2" />
-<cdparam x="649" y="167" />
-<sizeparam width="10" height="10" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="649" y="137" />
+<sizeparam width="10" height="10" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="605" maxX="605" minY="170" maxY="170" />
-<infoparam name="value " value="Double_DMA_transfer" />
+<cdrectangleparam minX="605" maxX="605" minY="140" maxY="140" />
+<infoparam name="value " value="CP_Memory_Copy" />
+<new d="false" />
</SUBCOMPONENT>
-<COMPONENT type="6002" id="4476" >
+<COMPONENT type="6002" id="4476" index="2" uid="237681d4-a054-4d85-9ae2-77358513fd28" >
<cdparam x="592" y="290" />
<sizeparam width="302" height="120" minWidth="10" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TGComponent" value="Mapping" />
+<new d="false" />
<TGConnectingPoint num="0" id="4470" />
<TGConnectingPoint num="1" id="4471" />
<TGConnectingPoint num="2" id="4472" />
@@ -9297,56 +9853,61 @@ sequence diagram.
<TGConnectingPoint num="4" id="4474" />
<TGConnectingPoint num="5" id="4475" />
</COMPONENT>
-<SUBCOMPONENT type="6005" id="4469" >
+<SUBCOMPONENT type="6005" id="4469" index="11" uid="10430dac-4fa0-459b-9cc1-08e19ada4739" >
<father id="4476" num="0" />
<cdparam x="597" y="330" />
-<sizeparam width="10" height="10" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="10" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="605" maxX="605" minY="340" maxY="340" />
<infoparam name="value " value="Mapping_1" />
+<new d="false" />
</SUBCOMPONENT>
-<COMPONENT type="6001" id="4482" >
+<COMPONENT type="6001" id="4482" index="3" uid="872620e8-5325-4bd5-9ed4-b85c7368dd8a" >
<cdparam x="894" y="97" />
<sizeparam width="200" height="120" minWidth="10" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TGComponent" value="Architecture" />
+<new d="false" />
<TGConnectingPoint num="0" id="4478" />
<TGConnectingPoint num="1" id="4479" />
<TGConnectingPoint num="2" id="4480" />
<TGConnectingPoint num="3" id="4481" />
</COMPONENT>
-<SUBCOMPONENT type="6005" id="4477" >
+<SUBCOMPONENT type="6005" id="4477" index="12" uid="797f272d-bae1-4411-b958-39c1332d780e" >
<father id="4482" num="0" />
<cdparam x="899" y="137" />
-<sizeparam width="10" height="10" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="10" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="855" maxX="855" minY="140" maxY="140" />
<infoparam name="value " value="Embb" />
+<new d="false" />
</SUBCOMPONENT>
-<COMPONENT type="6000" id="4488" >
+<COMPONENT type="6000" id="4488" index="4" uid="739b2d4a-7997-4165-9258-8332ea3ddc5e" >
<cdparam x="394" y="97" />
<sizeparam width="200" height="120" minWidth="10" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TGComponent" value="Application" />
+<new d="false" />
<TGConnectingPoint num="0" id="4484" />
<TGConnectingPoint num="1" id="4485" />
<TGConnectingPoint num="2" id="4486" />
<TGConnectingPoint num="3" id="4487" />
</COMPONENT>
-<SUBCOMPONENT type="6005" id="4483" >
+<SUBCOMPONENT type="6005" id="4483" index="13" uid="e6d4aa42-dd7f-4e0e-a5b3-8c2023d3b29a" >
<father id="4488" num="0" />
<cdparam x="399" y="137" />
-<sizeparam width="10" height="10" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="10" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="355" maxX="355" minY="140" maxY="140" />
<infoparam name="value " value="Demo_TX" />
+<new d="false" />
</SUBCOMPONENT>
-<CONNECTOR type="6004" id="4490" >
+<CONNECTOR type="6004" id="4490" index="5" uid="5c2551ff-9823-42ff-a3e3-7408676ee6bf" >
<cdparam x="994" y="217" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="<<deriveReqt>>" />
@@ -9354,8 +9915,9 @@ sequence diagram.
<P1 x="994" y="217" id="4478" />
<P2 x="803" y="290" id="4471" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="6004" id="4492" >
+<CONNECTOR type="6004" id="4492" index="6" uid="7d6dd432-5751-497e-84b3-3f5346cacd03" >
<cdparam x="744" y="217" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="<<deriveReqt>>" />
@@ -9363,8 +9925,9 @@ sequence diagram.
<P1 x="744" y="217" id="4464" />
<P2 x="743" y="290" id="4472" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
-<CONNECTOR type="6004" id="4494" >
+<CONNECTOR type="6004" id="4494" index="7" uid="9126d76f-442b-4bf8-9f06-bbcc1e600732" >
<cdparam x="494" y="217" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="<<deriveReqt>>" />
@@ -9372,6 +9935,7 @@ sequence diagram.
<P1 x="494" y="217" id="4484" />
<P2 x="682" y="290" id="4470" />
<AutomaticDrawing data="true" />
+<new d="false" />
</CONNECTOR>
</DiplodocusMethodologyDiagramPanel>
diff --git a/modeling/WSec/wsec_avatar.xml b/modeling/WSec/wsec_avatar.xml
new file mode 100644
index 0000000000000000000000000000000000000000..040c70194904cffac18b7705a992eebcacabb6d2
--- /dev/null
+++ b/modeling/WSec/wsec_avatar.xml
@@ -0,0 +1,97328 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<TURTLEGMODELING version="3.0 beta" ANIMATE_INTERACTIVE_SIMULATION="true" ACTIVATE_PENALTIES="true" UPDATE_INFORMATION_DIPLO_SIM="true" ANIMATE_WITH_INFO_DIPLO_SIM="true" OPEN_DIAG_DIPLO_SIM="false" LAST_SELECTED_MAIN_TAB="7" LAST_SELECTED_SUB_TAB="0">
+
+<Modeling type="AVATAR Design" nameTab="Nominal" tabs="Block Diagram$Network$Rover$EnvironmentLibrary$Rover1$Rover2$Rover3$EnvironmentFusion$Environment1$Environment2$Environment3$ComputeVar1$ComputeVar2$ComputeVar3" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1499" zoom="1.0000000000000009" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<considerTimingOperators value="true" />
+<Validated value="" />
+<Ignored value="" />
+
+<CONNECTOR type="5002" id="2" index="0" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="1" />
+<P1 x="1003" y="771" id="327" />
+<P2 x="1029" y="772" id="449" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4" index="1" uid="49b256eb-38dc-4869-9f67-bf2947f813b5" >
+<cdparam x="467" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3" />
+<P1 x="465" y="591" id="130" />
+<P2 x="465" y="653" id="283" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="6" index="2" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="878" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="5" />
+<P1 x="879" y="589" id="89" />
+<P2 x="878" y="653" id="324" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="8" index="3" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="7" />
+<P1 x="1297" y="589" id="48" />
+<P2 x="1298" y="653" id="242" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="10" index="4" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9" />
+<P1 x="878" y="890" id="329" />
+<P2 x="876" y="926" id="183" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="12" index="5" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="11" />
+<P1 x="1298" y="891" id="247" />
+<P2 x="1001" y="1040" id="186" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14" index="6" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="13" />
+<P1 x="1423" y="772" id="245" />
+<P2 x="1448" y="773" id="367" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="16" index="7" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="15" />
+<P1 x="590" y="772" id="286" />
+<P2 x="619" y="773" id="408" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="18" index="8" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="893" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="17" />
+<P1 x="465" y="891" id="288" />
+<P2 x="751" y="1040" id="185" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="20" index="9" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19" />
+<P1 x="795" y="243" id="501" />
+<P2 x="465" y="331" id="125" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut3(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
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+This model was done in the scope of the CAPE SPARTA project
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+<TGConnectingPoint num="24" id="470" />
+<TGConnectingPoint num="25" id="471" />
+<TGConnectingPoint num="26" id="472" />
+<TGConnectingPoint num="27" id="473" />
+<TGConnectingPoint num="28" id="474" />
+<TGConnectingPoint num="29" id="475" />
+<TGConnectingPoint num="30" id="476" />
+<TGConnectingPoint num="31" id="477" />
+<TGConnectingPoint num="32" id="478" />
+<TGConnectingPoint num="33" id="479" />
+<TGConnectingPoint num="34" id="480" />
+<TGConnectingPoint num="35" id="481" />
+<TGConnectingPoint num="36" id="482" />
+<TGConnectingPoint num="37" id="483" />
+<TGConnectingPoint num="38" id="484" />
+<TGConnectingPoint num="39" id="485" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="527" index="26" uid="1bfc24e2-04cd-4c7e-9a28-b9058842157f" >
+<cdparam x="713" y="64" />
+<sizeparam width="328" height="179" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Network" />
+<new d="false" />
+<TGConnectingPoint num="0" id="487" />
+<TGConnectingPoint num="1" id="488" />
+<TGConnectingPoint num="2" id="489" />
+<TGConnectingPoint num="3" id="490" />
+<TGConnectingPoint num="4" id="491" />
+<TGConnectingPoint num="5" id="492" />
+<TGConnectingPoint num="6" id="493" />
+<TGConnectingPoint num="7" id="494" />
+<TGConnectingPoint num="8" id="495" />
+<TGConnectingPoint num="9" id="496" />
+<TGConnectingPoint num="10" id="497" />
+<TGConnectingPoint num="11" id="498" />
+<TGConnectingPoint num="12" id="499" />
+<TGConnectingPoint num="13" id="500" />
+<TGConnectingPoint num="14" id="501" />
+<TGConnectingPoint num="15" id="502" />
+<TGConnectingPoint num="16" id="503" />
+<TGConnectingPoint num="17" id="504" />
+<TGConnectingPoint num="18" id="505" />
+<TGConnectingPoint num="19" id="506" />
+<TGConnectingPoint num="20" id="507" />
+<TGConnectingPoint num="21" id="508" />
+<TGConnectingPoint num="22" id="509" />
+<TGConnectingPoint num="23" id="510" />
+<TGConnectingPoint num="24" id="511" />
+<TGConnectingPoint num="25" id="512" />
+<TGConnectingPoint num="26" id="513" />
+<TGConnectingPoint num="27" id="514" />
+<TGConnectingPoint num="28" id="515" />
+<TGConnectingPoint num="29" id="516" />
+<TGConnectingPoint num="30" id="517" />
+<TGConnectingPoint num="31" id="518" />
+<TGConnectingPoint num="32" id="519" />
+<TGConnectingPoint num="33" id="520" />
+<TGConnectingPoint num="34" id="521" />
+<TGConnectingPoint num="35" id="522" />
+<TGConnectingPoint num="36" id="523" />
+<TGConnectingPoint num="37" id="524" />
+<TGConnectingPoint num="38" id="525" />
+<TGConnectingPoint num="39" id="526" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="messageType" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="" type="8" typeOther="" />
+<Signal value="in NetworkIn1(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn2(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn3(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut1(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut2(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut3(int messageType, int messageContent)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Network" minX="10" maxX="4000" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="534" index="0" uid="dede73a6-0507-4c2d-9be0-5c655829f99b" >
+<cdparam x="614" y="7" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="533" />
+<P1 x="620" y="57" id="815" />
+<P2 x="620" y="105" id="743" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="532" index="24" uid="1c8b4bb8-8807-458b-98ec-8160e3369a3d" >
+<father id="534" num="0" />
+<cdparam x="617" y="56" />
+<sizeparam width="50" height="25" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="528" />
+<TGConnectingPoint num="1" id="529" />
+<TGConnectingPoint num="2" id="530" />
+<TGConnectingPoint num="3" id="531" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="541" index="1" uid="f3fb991a-1dd4-4422-95ed-8f504d66d288" >
+<cdparam x="988" y="239" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="540" />
+<P1 x="993" y="240" id="666" />
+<P2 x="991" y="264" id="654" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="539" index="25" uid="440e66fd-c436-4e2a-8dfb-c65fe50fa5b9" >
+<father id="541" num="0" />
+<cdparam x="981" y="251" />
+<sizeparam width="50" height="25" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="535" />
+<TGConnectingPoint num="1" id="536" />
+<TGConnectingPoint num="2" id="537" />
+<TGConnectingPoint num="3" id="538" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="548" index="2" uid="ef932124-ccab-48dd-b58a-66d40378d2d2" >
+<cdparam x="622" y="237" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="547" />
+<P1 x="620" y="237" id="699" />
+<P2 x="618" y="264" id="687" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="546" index="26" uid="c9e43699-7259-4baa-b8da-4b91871bccbc" >
+<father id="548" num="0" />
+<cdparam x="622" y="254" />
+<sizeparam width="50" height="25" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="542" />
+<TGConnectingPoint num="1" id="543" />
+<TGConnectingPoint num="2" id="544" />
+<TGConnectingPoint num="3" id="545" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="555" index="3" uid="df40c864-498c-406d-9ad6-2458f80af67c" >
+<cdparam x="268" y="249" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="554" />
+<P1 x="257" y="237" id="721" />
+<P2 x="255" y="266" id="731" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="553" index="27" uid="28ac56e7-2a6a-4d83-a21d-a5706efdcce2" >
+<father id="555" num="0" />
+<cdparam x="261" y="256" />
+<sizeparam width="50" height="25" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="549" />
+<TGConnectingPoint num="1" id="550" />
+<TGConnectingPoint num="2" id="551" />
+<TGConnectingPoint num="3" id="552" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="562" index="4" uid="d7b2dec9-1f5a-41dc-bb16-6cf3dfdc64e6" >
+<cdparam x="249" y="305" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="561" />
+<P1 x="255" y="296" id="732" />
+<P2 x="255" y="322" id="709" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="560" index="28" uid="f4289ec1-818a-4417-af00-d3fbfcb4b274" >
+<father id="562" num="0" />
+<cdparam x="234" y="349" />
+<sizeparam width="50" height="25" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="556" />
+<TGConnectingPoint num="1" id="557" />
+<TGConnectingPoint num="2" id="558" />
+<TGConnectingPoint num="3" id="559" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="569" index="5" uid="b219789d-0eff-407c-94dd-ec3d58c6e5cf" >
+<cdparam x="715" y="156" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="568" />
+<P1 x="714" y="155" id="781" />
+<P2 x="993" y="210" id="665" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="567" index="29" uid="e3abb03d-780c-4f42-ae27-35029280a5c0" >
+<father id="569" num="0" />
+<cdparam x="720" y="164" />
+<sizeparam width="50" height="25" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="563" />
+<TGConnectingPoint num="1" id="564" />
+<TGConnectingPoint num="2" id="565" />
+<TGConnectingPoint num="3" id="566" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="576" index="6" uid="e532685e-3909-41b7-9eb3-3994fa87286e" >
+<cdparam x="598" y="156" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="575" />
+<P1 x="620" y="155" id="748" />
+<P2 x="620" y="207" id="698" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="574" index="30" uid="bfaa1fd6-3784-43a2-b93f-378cd62e7560" >
+<father id="576" num="0" />
+<cdparam x="598" y="166" />
+<sizeparam width="50" height="25" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="570" />
+<TGConnectingPoint num="1" id="571" />
+<TGConnectingPoint num="2" id="572" />
+<TGConnectingPoint num="3" id="573" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="591" index="7" uid="c2edf871-46bc-4610-8517-10ba8a1540cf" >
+<cdparam x="466" y="359" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="586" />
+<TGConnectingPoint num="1" id="587" />
+<TGConnectingPoint num="2" id="588" />
+<TGConnectingPoint num="3" id="589" />
+<TGConnectingPoint num="4" id="590" />
+<P1 x="255" y="352" id="710" />
+<P2 x="527" y="130" id="745" />
+<Point x="257" y="376" />
+<Point x="36" y="376" />
+<Point x="36" y="110" />
+<Point x="507" y="110" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="577" index="31" uid="363ee9de-d732-413e-8d32-4b5d7323fb7b" >
+<father id="591" num="0" />
+<cdparam x="257" y="376" />
+<sizeparam width="8" height="8" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="578" index="32" uid="1ac06389-bb92-41a4-a289-3a284b053ba0" >
+<father id="591" num="1" />
+<cdparam x="36" y="376" />
+<sizeparam width="8" height="8" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="579" index="33" uid="b8c8c244-4d5d-4a33-bb18-f50fb5fdff0d" >
+<father id="591" num="2" />
+<cdparam x="36" y="110" />
+<sizeparam width="8" height="8" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="580" index="34" uid="a1ffdb24-9f18-4cb7-8c6d-628b54d32011" >
+<father id="591" num="3" />
+<cdparam x="507" y="110" />
+<sizeparam width="8" height="8" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="585" index="35" uid="85539b0b-e2b4-419a-8782-4522152faa07" >
+<father id="591" num="4" />
+<cdparam x="498" y="244" />
+<sizeparam width="50" height="25" minWidth="2" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="581" />
+<TGConnectingPoint num="1" id="582" />
+<TGConnectingPoint num="2" id="583" />
+<TGConnectingPoint num="3" id="584" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="606" index="8" uid="68820cc7-94b9-487e-bcf4-a5fdce0f57fc" >
+<cdparam x="622" y="356" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="601" />
+<TGConnectingPoint num="1" id="602" />
+<TGConnectingPoint num="2" id="603" />
+<TGConnectingPoint num="3" id="604" />
+<TGConnectingPoint num="4" id="605" />
+<P1 x="618" y="352" id="677" />
+<P2 x="527" y="105" id="742" />
+<Point x="620" y="398" />
+<Point x="12" y="398" />
+<Point x="12" y="85" />
+<Point x="507" y="85" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+- turn (45°/-45° heading, until they join the desired lane)
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Send signal" value="toFollower(x, y)" />
+<new d="false" />
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+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
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+<hidden value="false" />
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+<extraparam>
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+</SUBCOMPONENT>
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
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+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R1inputMessage(int messageType, int messageContent)" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R1toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
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+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
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+<extraparam>
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<hidden value="false" />
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+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3939" />
+<TGConnectingPoint num="1" id="3940" />
+<TGConnectingPoint num="2" id="3941" />
+<TGConnectingPoint num="3" id="3942" />
+<TGConnectingPoint num="4" id="3943" />
+<TGConnectingPoint num="5" id="3944" />
+<TGConnectingPoint num="6" id="3945" />
+<TGConnectingPoint num="7" id="3946" />
+<TGConnectingPoint num="8" id="3947" />
+<TGConnectingPoint num="9" id="3948" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R2inputMessage(int messageType, int messageContent)" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="3951" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3950" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="3953" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3952" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="3959" />
+<P1 x="0" y="0" id="4103" />
+<P2 x="0" y="0" id="4105" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="3960" num="0" />
+<cdparam x="425" y="83" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3954" />
+<TGConnectingPoint num="1" id="3955" />
+<TGConnectingPoint num="2" id="3956" />
+<TGConnectingPoint num="3" id="3957" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="3966" />
+<P1 x="0" y="0" id="4106" />
+<P2 x="0" y="0" id="4123" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3965" index="8" uid="6b143580-1801-4724-bdf4-e82df032f3d0" >
+<father id="3967" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3961" />
+<TGConnectingPoint num="1" id="3962" />
+<TGConnectingPoint num="2" id="3963" />
+<TGConnectingPoint num="3" id="3964" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="3974" index="2" uid="247d0238-63ac-4e7b-9515-69130b4d62c4" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="3973" />
+<P1 x="407" y="70" id="3995" />
+<P2 x="407" y="108" id="3982" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="3974" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3968" />
+<TGConnectingPoint num="1" id="3969" />
+<TGConnectingPoint num="2" id="3970" />
+<TGConnectingPoint num="3" id="3971" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="3981" index="3" uid="4283c745-f832-483b-a05c-133aa56eb3bd" >
+<cdparam x="442" y="144" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="3980" />
+<P1 x="407" y="143" id="3983" />
+<P2 x="407" y="188" id="3993" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3979" index="10" uid="a2791555-8e6a-4e68-b085-7dcdb2ff6295" >
+<father id="3981" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3975" />
+<TGConnectingPoint num="1" id="3976" />
+<TGConnectingPoint num="2" id="3977" />
+<TGConnectingPoint num="3" id="3978" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="3992" index="4" uid="d63f3bcc-6746-4fb0-9b37-e16457ad5d5a" >
+<cdparam x="357" y="113" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3982" />
+<TGConnectingPoint num="1" id="3983" />
+<TGConnectingPoint num="2" id="3984" />
+<TGConnectingPoint num="3" id="3985" />
+<TGConnectingPoint num="4" id="3986" />
+<TGConnectingPoint num="5" id="3987" />
+<TGConnectingPoint num="6" id="3988" />
+<TGConnectingPoint num="7" id="3989" />
+<TGConnectingPoint num="8" id="3990" />
+<TGConnectingPoint num="9" id="3991" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R3inputMessage(int messageType, int messageContent)" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R3toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="3994" index="5" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3993" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="3996" index="6" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3995" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="EnvironmentFusion" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4006" />
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+<TGConnectingPoint num="3" id="4009" />
+<TGConnectingPoint num="4" id="4010" />
+<P1 x="573" y="307" id="4077" />
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+<Point x="573" y="327" />
+<Point x="685" y="327" />
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+<AutomaticDrawing data="true" />
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+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4001" />
+<TGConnectingPoint num="1" id="4002" />
+<TGConnectingPoint num="2" id="4003" />
+<TGConnectingPoint num="3" id="4004" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4016" />
+<TGConnectingPoint num="1" id="4017" />
+<TGConnectingPoint num="2" id="4018" />
+<TGConnectingPoint num="3" id="4019" />
+<extraparam>
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+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<P1 x="489" y="72" id="4215" />
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+<hidden value="false" />
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+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4215" />
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+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4217" />
+<TGConnectingPoint num="1" id="4218" />
+<TGConnectingPoint num="2" id="4219" />
+<TGConnectingPoint num="3" id="4220" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4224" />
+<TGConnectingPoint num="1" id="4225" />
+<TGConnectingPoint num="2" id="4226" />
+<TGConnectingPoint num="3" id="4227" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4237" index="2" uid="76993de5-70c9-43bc-86e9-948da3c4acd0" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4236" />
+<P1 x="407" y="70" id="4258" />
+<P2 x="407" y="127" id="4245" />
+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4231" />
+<TGConnectingPoint num="1" id="4232" />
+<TGConnectingPoint num="2" id="4233" />
+<TGConnectingPoint num="3" id="4234" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4243" />
+<P1 x="407" y="162" id="4246" />
+<P2 x="407" y="224" id="4256" />
+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="4239" />
+<TGConnectingPoint num="2" id="4240" />
+<TGConnectingPoint num="3" id="4241" />
+<extraparam>
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+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4245" />
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+<TGConnectingPoint num="8" id="4253" />
+<TGConnectingPoint num="9" id="4254" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4256" />
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+<hidden value="false" />
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+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4258" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<P1 x="0" y="0" id="9998" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="4262" />
+<TGConnectingPoint num="3" id="4263" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4267" />
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+<TGConnectingPoint num="2" id="4269" />
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+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4279" />
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4274" />
+<TGConnectingPoint num="1" id="4275" />
+<TGConnectingPoint num="2" id="4276" />
+<TGConnectingPoint num="3" id="4277" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4286" />
+<P1 x="0" y="0" id="3684" />
+<P2 x="0" y="0" id="3694" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4281" />
+<TGConnectingPoint num="1" id="4282" />
+<TGConnectingPoint num="2" id="4283" />
+<TGConnectingPoint num="3" id="4284" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
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+<P2 x="407" y="125" id="4302" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4288" />
+<TGConnectingPoint num="1" id="4289" />
+<TGConnectingPoint num="2" id="4290" />
+<TGConnectingPoint num="3" id="4291" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4300" />
+<P1 x="407" y="160" id="4303" />
+<P2 x="407" y="224" id="4313" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4295" />
+<TGConnectingPoint num="1" id="4296" />
+<TGConnectingPoint num="2" id="4297" />
+<TGConnectingPoint num="3" id="4298" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4302" />
+<TGConnectingPoint num="1" id="4303" />
+<TGConnectingPoint num="2" id="4304" />
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+<TGConnectingPoint num="5" id="4307" />
+<TGConnectingPoint num="6" id="4308" />
+<TGConnectingPoint num="7" id="4309" />
+<TGConnectingPoint num="8" id="4310" />
+<TGConnectingPoint num="9" id="4311" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="4314" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4313" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="4316" index="8" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4315" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="4323" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4322" />
+<P1 x="0" y="0" id="9998" />
+<P2 x="0" y="0" id="10000" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4321" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="4323" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4317" />
+<TGConnectingPoint num="1" id="4318" />
+<TGConnectingPoint num="2" id="4319" />
+<TGConnectingPoint num="3" id="4320" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4330" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4329" />
+<P1 x="0" y="0" id="10001" />
+<P2 x="0" y="0" id="10018" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4328" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="4330" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4324" />
+<TGConnectingPoint num="1" id="4325" />
+<TGConnectingPoint num="2" id="4326" />
+<TGConnectingPoint num="3" id="4327" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4337" index="2" uid="b76f60d6-0e2e-42cf-8774-337dace6e16e" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4336" />
+<P1 x="0" y="0" id="3739" />
+<P2 x="0" y="0" id="3726" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4335" index="11" uid="0c95aead-f787-42ef-81ed-073b7584a7e5" >
+<father id="4337" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4331" />
+<TGConnectingPoint num="1" id="4332" />
+<TGConnectingPoint num="2" id="4333" />
+<TGConnectingPoint num="3" id="4334" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4344" index="3" uid="efe89462-fbdd-4e9c-aecc-a05afdc02c78" >
+<cdparam x="449" y="165" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4343" />
+<P1 x="0" y="0" id="3727" />
+<P2 x="0" y="0" id="3737" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4342" index="12" uid="64ac3868-1d9f-489e-becb-836c0180fcb5" >
+<father id="4344" num="0" />
+<cdparam x="428" y="194" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4338" />
+<TGConnectingPoint num="1" id="4339" />
+<TGConnectingPoint num="2" id="4340" />
+<TGConnectingPoint num="3" id="4341" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4351" index="4" uid="a54e3f11-115c-4261-818f-80d71459f351" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4350" />
+<P1 x="407" y="70" id="4372" />
+<P2 x="407" y="126" id="4359" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4349" index="13" uid="606518e8-7b65-416c-8390-f3e9ffc6670a" >
+<father id="4351" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4345" />
+<TGConnectingPoint num="1" id="4346" />
+<TGConnectingPoint num="2" id="4347" />
+<TGConnectingPoint num="3" id="4348" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4358" index="5" uid="b29956aa-e046-4baf-a1f7-039d5ec60ae9" >
+<cdparam x="450" y="166" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4357" />
+<P1 x="407" y="161" id="4360" />
+<P2 x="407" y="224" id="4370" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4356" index="14" uid="de5e0c10-75c3-4919-9bdb-f2978c58e726" >
+<father id="4358" num="0" />
+<cdparam x="428" y="195" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4352" />
+<TGConnectingPoint num="1" id="4353" />
+<TGConnectingPoint num="2" id="4354" />
+<TGConnectingPoint num="3" id="4355" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="4369" index="6" uid="ad4e83d7-62b2-4204-aeac-b37e9f434364" >
+<cdparam x="357" y="131" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4359" />
+<TGConnectingPoint num="1" id="4360" />
+<TGConnectingPoint num="2" id="4361" />
+<TGConnectingPoint num="3" id="4362" />
+<TGConnectingPoint num="4" id="4363" />
+<TGConnectingPoint num="5" id="4364" />
+<TGConnectingPoint num="6" id="4365" />
+<TGConnectingPoint num="7" id="4366" />
+<TGConnectingPoint num="8" id="4367" />
+<TGConnectingPoint num="9" id="4368" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="4371" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4370" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="4373" index="8" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4372" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="4388" index="0" uid="126e754b-f33e-4460-af58-1da96618c6ef" >
+<cdparam x="407" y="295" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4383" />
+<TGConnectingPoint num="1" id="4384" />
+<TGConnectingPoint num="2" id="4385" />
+<TGConnectingPoint num="3" id="4386" />
+<TGConnectingPoint num="4" id="4387" />
+<P1 x="407" y="295" id="4411" />
+<P2 x="357" y="110" id="4432" />
+<Point x="407" y="315" />
+<Point x="181" y="315" />
+<Point x="181" y="90" />
+<Point x="337" y="90" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4374" index="8" uid="8354a6c5-d7c9-4300-b545-b29e69fe16a3" >
+<father id="4388" num="0" />
+<cdparam x="407" y="315" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="4375" index="9" uid="2efa540e-1e82-4813-9d76-faefd62cbe53" >
+<father id="4388" num="1" />
+<cdparam x="181" y="315" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="4376" index="10" uid="3c1d7f3e-403c-474c-8336-85bba42b5331" >
+<father id="4388" num="2" />
+<cdparam x="181" y="90" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="4377" index="11" uid="e74af576-0f34-42a9-8dff-60688c3d4046" >
+<father id="4388" num="3" />
+<cdparam x="337" y="90" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="4382" index="12" uid="801dd9e9-d72c-4d3b-9eac-6ef62879a3f8" >
+<father id="4388" num="4" />
+<cdparam x="382" y="202" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4378" />
+<TGConnectingPoint num="1" id="4379" />
+<TGConnectingPoint num="2" id="4380" />
+<TGConnectingPoint num="3" id="4381" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4395" index="1" uid="db4b4692-d106-4db0-a2aa-c59498bcbb2c" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4394" />
+<P1 x="407" y="70" id="4505" />
+<P2 x="407" y="110" id="4433" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4393" index="13" uid="52400786-185c-4a49-848c-62fce6e7ed72" >
+<father id="4395" num="0" />
+<cdparam x="425" y="101" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4389" />
+<TGConnectingPoint num="1" id="4390" />
+<TGConnectingPoint num="2" id="4391" />
+<TGConnectingPoint num="3" id="4392" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+
+</AVATARStateMachineDiagramPanel>
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+</Modeling>
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+<considerTimingOperators value="true" />
+<Validated value="" />
+<Ignored value="" />
+
+<COMPONENT type="301" id="39377" index="0" uid="9ce291c6-f17c-4097-84fc-ed35ad6cb16c" >
+<cdparam x="59" y="11" />
+<sizeparam width="328" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UML Note" value="This model features the mangement of a platoon
+under a scenario where the leader decelerates" />
+<new d="false" />
+<TGConnectingPoint num="0" id="39378" />
+<TGConnectingPoint num="1" id="39379" />
+<TGConnectingPoint num="2" id="39380" />
+<TGConnectingPoint num="3" id="39381" />
+<TGConnectingPoint num="4" id="39382" />
+<TGConnectingPoint num="5" id="39383" />
+<TGConnectingPoint num="6" id="39384" />
+<TGConnectingPoint num="7" id="39385" />
+<TGConnectingPoint num="8" id="39386" />
+<TGConnectingPoint num="9" id="39387" />
+<TGConnectingPoint num="10" id="39388" />
+<TGConnectingPoint num="11" id="39389" />
+<TGConnectingPoint num="12" id="39390" />
+<TGConnectingPoint num="13" id="39391" />
+<TGConnectingPoint num="14" id="39392" />
+<TGConnectingPoint num="15" id="39393" />
+<extraparam>
+<Line value="This model features the mangement of a platoon" />
+<Line value="under a scenario where the leader decelerates" />
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5002" id="4774" index="1" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4773" />
+<P1 x="1003" y="771" id="5082" />
+<P2 x="1029" y="772" id="5204" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4776" index="2" uid="49b256eb-38dc-4869-9f67-bf2947f813b5" >
+<cdparam x="467" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4775" />
+<P1 x="465" y="591" id="4885" />
+<P2 x="465" y="653" id="5038" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4778" index="3" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="878" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4777" />
+<P1 x="879" y="589" id="4844" />
+<P2 x="878" y="653" id="5079" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4780" index="4" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4779" />
+<P1 x="1297" y="589" id="4803" />
+<P2 x="1298" y="653" id="4997" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4782" index="5" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4781" />
+<P1 x="878" y="890" id="5084" />
+<P2 x="876" y="926" id="4938" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4784" index="6" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4783" />
+<P1 x="1298" y="891" id="5002" />
+<P2 x="1001" y="1040" id="4941" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4786" index="7" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4785" />
+<P1 x="1423" y="772" id="5000" />
+<P2 x="1448" y="773" id="5122" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4788" index="8" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4787" />
+<P1 x="590" y="772" id="5041" />
+<P2 x="619" y="773" id="5163" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4790" index="9" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="893" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4789" />
+<P1 x="465" y="891" id="5043" />
+<P2 x="751" y="1040" id="4940" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4792" index="10" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4791" />
+<P1 x="795" y="243" id="5256" />
+<P2 x="465" y="331" id="4880" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut3(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4794" index="11" uid="53b8d66b-cda5-4358-ba2b-31be693139f0" >
+<cdparam x="949" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4793" />
+<P1 x="877" y="243" id="5248" />
+<P2 x="879" y="332" id="4839" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn2(int messageType, int messageContent)" />
+<osd value="out R2outputMessage(int messageType, int messageContent)" />
+<isd value="in R2inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut2(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4796" index="12" uid="b4ab48a9-336f-4ac7-87ba-4d15134b2299" >
+<cdparam x="1266" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="4795" />
+<P1 x="959" y="243" id="5257" />
+<P2 x="1297" y="329" id="4798" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn1(int messageType, int messageContent)" />
+<osd value="out R1outputMessage(int messageType, int messageContent)" />
+<isd value="in R1inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut1(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="4837" index="13" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="1172" y="329" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4797" />
+<TGConnectingPoint num="1" id="4798" />
+<TGConnectingPoint num="2" id="4799" />
+<TGConnectingPoint num="3" id="4800" />
+<TGConnectingPoint num="4" id="4801" />
+<TGConnectingPoint num="5" id="4802" />
+<TGConnectingPoint num="6" id="4803" />
+<TGConnectingPoint num="7" id="4804" />
+<TGConnectingPoint num="8" id="4805" />
+<TGConnectingPoint num="9" id="4806" />
+<TGConnectingPoint num="10" id="4807" />
+<TGConnectingPoint num="11" id="4808" />
+<TGConnectingPoint num="12" id="4809" />
+<TGConnectingPoint num="13" id="4810" />
+<TGConnectingPoint num="14" id="4811" />
+<TGConnectingPoint num="15" id="4812" />
+<TGConnectingPoint num="16" id="4813" />
+<TGConnectingPoint num="17" id="4814" />
+<TGConnectingPoint num="18" id="4815" />
+<TGConnectingPoint num="19" id="4816" />
+<TGConnectingPoint num="20" id="4817" />
+<TGConnectingPoint num="21" id="4818" />
+<TGConnectingPoint num="22" id="4819" />
+<TGConnectingPoint num="23" id="4820" />
+<TGConnectingPoint num="24" id="4821" />
+<TGConnectingPoint num="25" id="4822" />
+<TGConnectingPoint num="26" id="4823" />
+<TGConnectingPoint num="27" id="4824" />
+<TGConnectingPoint num="28" id="4825" />
+<TGConnectingPoint num="29" id="4826" />
+<TGConnectingPoint num="30" id="4827" />
+<TGConnectingPoint num="31" id="4828" />
+<TGConnectingPoint num="32" id="4829" />
+<TGConnectingPoint num="33" id="4830" />
+<TGConnectingPoint num="34" id="4831" />
+<TGConnectingPoint num="35" id="4832" />
+<TGConnectingPoint num="36" id="4833" />
+<TGConnectingPoint num="37" id="4834" />
+<TGConnectingPoint num="38" id="4835" />
+<TGConnectingPoint num="39" id="4836" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R1inputMessage(int messageType, int messageContent)" attached="false" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" attached="false" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="false" />
+<Signal value="out R1toEnvironment(int speed, int heading)" attached="false" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="false" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="4878" index="14" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="754" y="332" />
+<sizeparam width="250" height="257" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4838" />
+<TGConnectingPoint num="1" id="4839" />
+<TGConnectingPoint num="2" id="4840" />
+<TGConnectingPoint num="3" id="4841" />
+<TGConnectingPoint num="4" id="4842" />
+<TGConnectingPoint num="5" id="4843" />
+<TGConnectingPoint num="6" id="4844" />
+<TGConnectingPoint num="7" id="4845" />
+<TGConnectingPoint num="8" id="4846" />
+<TGConnectingPoint num="9" id="4847" />
+<TGConnectingPoint num="10" id="4848" />
+<TGConnectingPoint num="11" id="4849" />
+<TGConnectingPoint num="12" id="4850" />
+<TGConnectingPoint num="13" id="4851" />
+<TGConnectingPoint num="14" id="4852" />
+<TGConnectingPoint num="15" id="4853" />
+<TGConnectingPoint num="16" id="4854" />
+<TGConnectingPoint num="17" id="4855" />
+<TGConnectingPoint num="18" id="4856" />
+<TGConnectingPoint num="19" id="4857" />
+<TGConnectingPoint num="20" id="4858" />
+<TGConnectingPoint num="21" id="4859" />
+<TGConnectingPoint num="22" id="4860" />
+<TGConnectingPoint num="23" id="4861" />
+<TGConnectingPoint num="24" id="4862" />
+<TGConnectingPoint num="25" id="4863" />
+<TGConnectingPoint num="26" id="4864" />
+<TGConnectingPoint num="27" id="4865" />
+<TGConnectingPoint num="28" id="4866" />
+<TGConnectingPoint num="29" id="4867" />
+<TGConnectingPoint num="30" id="4868" />
+<TGConnectingPoint num="31" id="4869" />
+<TGConnectingPoint num="32" id="4870" />
+<TGConnectingPoint num="33" id="4871" />
+<TGConnectingPoint num="34" id="4872" />
+<TGConnectingPoint num="35" id="4873" />
+<TGConnectingPoint num="36" id="4874" />
+<TGConnectingPoint num="37" id="4875" />
+<TGConnectingPoint num="38" id="4876" />
+<TGConnectingPoint num="39" id="4877" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R2inputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R2toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="4919" index="15" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="340" y="331" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover3" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4879" />
+<TGConnectingPoint num="1" id="4880" />
+<TGConnectingPoint num="2" id="4881" />
+<TGConnectingPoint num="3" id="4882" />
+<TGConnectingPoint num="4" id="4883" />
+<TGConnectingPoint num="5" id="4884" />
+<TGConnectingPoint num="6" id="4885" />
+<TGConnectingPoint num="7" id="4886" />
+<TGConnectingPoint num="8" id="4887" />
+<TGConnectingPoint num="9" id="4888" />
+<TGConnectingPoint num="10" id="4889" />
+<TGConnectingPoint num="11" id="4890" />
+<TGConnectingPoint num="12" id="4891" />
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+<TGConnectingPoint num="15" id="4894" />
+<TGConnectingPoint num="16" id="4895" />
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+<TGConnectingPoint num="21" id="4900" />
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+<TGConnectingPoint num="37" id="4916" />
+<TGConnectingPoint num="38" id="4917" />
+<TGConnectingPoint num="39" id="4918" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R3inputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R3toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="303" id="4936" index="16" uid="ab96062f-ee84-487e-9187-40d20a7b63cb" >
+<cdparam x="44" y="128" />
+<sizeparam width="241" height="58" minWidth="80" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UPPAAL Pragma" value="A[] Environment2.gap > 0
+A[] Environment3.gap > 0
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4920" />
+<TGConnectingPoint num="1" id="4921" />
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+<TGConnectingPoint num="14" id="4934" />
+<TGConnectingPoint num="15" id="4935" />
+<extraparam>
+<Line value="A[] Environment2.gap > 0" />
+<Line value="A[] Environment3.gap > 0" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="4977" index="17" uid="e8dc1c1c-55c3-4f60-aed6-cccaae51ecbb" >
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+<sizeparam width="250" height="228" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="EnvironmentFusion" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4937" />
+<TGConnectingPoint num="1" id="4938" />
+<TGConnectingPoint num="2" id="4939" />
+<TGConnectingPoint num="3" id="4940" />
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+<TGConnectingPoint num="16" id="4953" />
+<TGConnectingPoint num="17" id="4954" />
+<TGConnectingPoint num="18" id="4955" />
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+<TGConnectingPoint num="37" id="4974" />
+<TGConnectingPoint num="38" id="4975" />
+<TGConnectingPoint num="39" id="4976" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x3" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y3" value="" type="8" typeOther="" />
+<Signal value="in fromE1(int x1, int y1)" attached="true" />
+<Signal value="in fromE2(int x2, int y2)" attached="true" />
+<Signal value="in fromE3(int x3, int y3)" attached="true" />
+<Signal value="out toE1(int xP1, int yP1)" attached="true" />
+<Signal value="out toE2(int xP2, int yP2)" attached="true" />
+<Signal value="out toE3(int xP3, int yP3)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5005" id="4986" index="18" uid="800dfbeb-d2e9-4003-9a79-2e715a474ec2" >
+<cdparam x="30" y="649" />
+<sizeparam width="250" height="239" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="EnvironmentLibrary" value="EnvironmentLibrary" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4978" />
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+<TGConnectingPoint num="2" id="4980" />
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+<TGConnectingPoint num="5" id="4983" />
+<TGConnectingPoint num="6" id="4984" />
+<TGConnectingPoint num="7" id="4985" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="x" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="y" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="targetOrdinate" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Signal value="in sense(int t, bool f, bool p)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int g, bool l, bool p)" />
+<Signal value="in fromPredecessor(int x, int y)" />
+<Signal value="in fromRover(int s, int h)" />
+<Signal value="out computeVariation(int c, int s, int s)" />
+<Signal value="in variation(int x, int y)" />
+<ReturnAttribute access="0" id="gap" value="60" type="8" typeOther="" />
+<Attribute access="0" var="0" id="heading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="joiningGreaterOrdinate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="joiningSmallerOrdinate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isInLane" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="xPrev" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yPrev" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="fromPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="fromRover" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="firstLoop" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="xvar" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="0" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="5005" id="4995" index="19" uid="afdf6048-2ded-4533-9279-bcf42dece393" >
+<cdparam x="31" y="339" />
+<sizeparam width="250" height="248" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Rover" value="Rover" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4987" />
+<TGConnectingPoint num="1" id="4988" />
+<TGConnectingPoint num="2" id="4989" />
+<TGConnectingPoint num="3" id="4990" />
+<TGConnectingPoint num="4" id="4991" />
+<TGConnectingPoint num="5" id="4992" />
+<TGConnectingPoint num="6" id="4993" />
+<TGConnectingPoint num="7" id="4994" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="roverID" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="targetOrdinate" value="120" type="8" typeOther="" />
+<Parameter access="0" var="0" id="nbCycles" value="0" type="8" typeOther="" />
+<Signal value="in inputMessage(int t, int c)" />
+<Signal value="out outputMessage(int t, int c)" />
+<Signal value="in sensedData(int g, bool l, bool p)" />
+<Signal value="out sense(int t, bool f, bool p)" />
+<Signal value="out toEnvironment(int v, int h)" />
+<ReturnAttribute access="0" id="speed" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageType" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="steeringAngle" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="targetSpeed" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="gap" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yawError" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="lateralError" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="motorsCommand" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="steeringCommand" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="emergencyBrake" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="cosHeading" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinHeading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sensorUpdate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="networkUpdate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="heading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isInLane" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Environment1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="4996" />
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+<TGConnectingPoint num="4" id="5000" />
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+<blockType data="block" color="-4072719" />
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+<Attribute access="0" var="0" id="x" value="80" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="gap" value="60" type="8" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
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+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" attached="true" />
+<Signal value="in fromRover(int speed, int heading)" attached="true" />
+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<TGConnectingPoint num="39" id="5076" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
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+<Attribute access="0" var="0" id="y" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="gap" value="40" type="8" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" attached="true" />
+<Signal value="in fromRover(int speed, int heading)" attached="true" />
+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
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+<Signal value="in fromPredecessor(int xPrev, int yPrev)" attached="true" />
+<Signal value="in fromRover(int speed, int heading)" attached="true" />
+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
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+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
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+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
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+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Network" />
+<new d="false" />
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+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="messageType" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="" type="8" typeOther="" />
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+<Signal value="in NetworkIn3(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut1(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut2(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut3(int messageType, int messageContent)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Network" minX="10" maxX="4000" minY="10" maxY="1500" zoom="1.0" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="5285" />
+<TGConnectingPoint num="3" id="5286" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
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+<guard value="[ ]" enabled="true"/>
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+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<enabled value="true" />
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+</extraparam>
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+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="We consider two lanes :
+ | |
+platoon lane joining/leaving rovers lane
+ (1) (2)
+ y = 80 y = 0
+Rovers can :
+- go ahead (0° heading, keeping their lane)
+- turn (45°/-45° heading, until they join the desired lane)
+" />
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+<Line value="We consider two lanes :" />
+<Line value=" | |" />
+<Line value="platoon lane joining/leaving rovers lane" />
+<Line value=" (1) (2)" />
+<Line value=" y = 80 y = 0 " />
+<Line value="Rovers can :" />
+<Line value="- go ahead (0° heading, keeping their lane)" />
+<Line value="- turn (45°/-45° heading, until they join the desired lane)" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="When leaving, the leader joins the
+left lane with a 45° heading
+(cos(pi/4) = sin(pi/4) ~ 0,7)
+" />
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+<Line value="When leaving, the leader joins the" />
+<Line value="left lane with a 45° heading" />
+<Line value="(cos(pi/4) = sin(pi/4) ~ 0,7)" />
+</extraparam>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="6326" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<new d="false" />
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+<extraparam>
+</extraparam>
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8630" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Receive signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8632" />
+<TGConnectingPoint num="1" id="8633" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Receive signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8643" />
+<TGConnectingPoint num="1" id="8644" />
+<TGConnectingPoint num="2" id="8645" />
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+</COMPONENT>
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+<sizeparam width="104" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Send signal" value="toFollower(x, y)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8654" />
+<TGConnectingPoint num="1" id="8655" />
+<TGConnectingPoint num="2" id="8656" />
+<TGConnectingPoint num="3" id="8657" />
+<TGConnectingPoint num="4" id="8658" />
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+<TGConnectingPoint num="8" id="8662" />
+<TGConnectingPoint num="9" id="8663" />
+</COMPONENT>
+
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+<cdparam x="556" y="894" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8665" />
+<TGConnectingPoint num="1" id="8666" />
+<TGConnectingPoint num="2" id="8667" />
+<TGConnectingPoint num="3" id="8668" />
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+<TGConnectingPoint num="5" id="8670" />
+<TGConnectingPoint num="6" id="8671" />
+<TGConnectingPoint num="7" id="8672" />
+<TGConnectingPoint num="8" id="8673" />
+<TGConnectingPoint num="9" id="8674" />
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+<TGConnectingPoint num="12" id="8677" />
+<TGConnectingPoint num="13" id="8678" />
+<TGConnectingPoint num="14" id="8679" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="8687" index="0" uid="1c5f47af-3244-493b-8719-0df184d8be4e" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="8686" />
+<P1 x="407" y="70" id="8708" />
+<P2 x="407" y="109" id="8695" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="8685" index="5" uid="ccc1c921-0c9d-4665-b53c-eeab245f81c3" >
+<father id="8687" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8681" />
+<TGConnectingPoint num="1" id="8682" />
+<TGConnectingPoint num="2" id="8683" />
+<TGConnectingPoint num="3" id="8684" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="8693" />
+<P1 x="407" y="144" id="8696" />
+<P2 x="407" y="190" id="8706" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="8692" index="6" uid="b63eabf9-c7a8-47a6-a826-71a6802c3c99" >
+<father id="8694" num="0" />
+<cdparam x="427" y="165" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8688" />
+<TGConnectingPoint num="1" id="8689" />
+<TGConnectingPoint num="2" id="8690" />
+<TGConnectingPoint num="3" id="8691" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="8705" index="2" uid="a726928d-9124-410f-bb02-ac11cd14aa95" >
+<cdparam x="357" y="114" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8695" />
+<TGConnectingPoint num="1" id="8696" />
+<TGConnectingPoint num="2" id="8697" />
+<TGConnectingPoint num="3" id="8698" />
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+<TGConnectingPoint num="7" id="8702" />
+<TGConnectingPoint num="8" id="8703" />
+<TGConnectingPoint num="9" id="8704" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R1inputMessage(int messageType, int messageContent)" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R1toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="8707" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="195" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8706" />
+</COMPONENT>
+
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+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8708" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="8716" index="0" uid="097553a3-71a3-493b-9d90-17015d99eff1" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="8715" />
+<P1 x="407" y="70" id="8737" />
+<P2 x="407" y="110" id="8724" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="8714" index="5" uid="96f88ab9-bee6-4f9b-ac13-eecb7fc2b124" >
+<father id="8716" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8710" />
+<TGConnectingPoint num="1" id="8711" />
+<TGConnectingPoint num="2" id="8712" />
+<TGConnectingPoint num="3" id="8713" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="8723" index="1" uid="43d46f5b-11aa-4ebe-8760-5a74e0221c9c" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="8722" />
+<P1 x="407" y="145" id="8725" />
+<P2 x="407" y="188" id="8735" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="8721" index="6" uid="f3e8cc1c-50b7-460f-a536-d40306696928" >
+<father id="8723" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8717" />
+<TGConnectingPoint num="1" id="8718" />
+<TGConnectingPoint num="2" id="8719" />
+<TGConnectingPoint num="3" id="8720" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8724" />
+<TGConnectingPoint num="1" id="8725" />
+<TGConnectingPoint num="2" id="8726" />
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+<TGConnectingPoint num="8" id="8732" />
+<TGConnectingPoint num="9" id="8733" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R2inputMessage(int messageType, int messageContent)" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="8736" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8735" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="8738" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8737" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="8745" index="0" uid="0af0a700-627e-4cf1-9f4a-785ee9cacaf8" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="8744" />
+<P1 x="0" y="0" id="4103" />
+<P2 x="0" y="0" id="4105" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="8743" index="7" uid="b55e7334-a1bc-4ada-93ae-a63371a884a3" >
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9009" />
+<TGConnectingPoint num="1" id="9010" />
+<TGConnectingPoint num="2" id="9011" />
+<TGConnectingPoint num="3" id="9012" />
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+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="1" id="9017" />
+<TGConnectingPoint num="2" id="9018" />
+<TGConnectingPoint num="3" id="9019" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9028" />
+<P1 x="407" y="162" id="9031" />
+<P2 x="407" y="224" id="9041" />
+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9023" />
+<TGConnectingPoint num="1" id="9024" />
+<TGConnectingPoint num="2" id="9025" />
+<TGConnectingPoint num="3" id="9026" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9030" />
+<TGConnectingPoint num="1" id="9031" />
+<TGConnectingPoint num="2" id="9032" />
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+<TGConnectingPoint num="5" id="9035" />
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+<TGConnectingPoint num="8" id="9038" />
+<TGConnectingPoint num="9" id="9039" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="9042" index="5" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9041" />
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9043" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<P1 x="0" y="0" id="9998" />
+<P2 x="0" y="0" id="10000" />
+<AutomaticDrawing data="true" />
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+</CONNECTOR><SUBCOMPONENT type="-1" id="9049" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9045" />
+<TGConnectingPoint num="1" id="9046" />
+<TGConnectingPoint num="2" id="9047" />
+<TGConnectingPoint num="3" id="9048" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9057" />
+<P1 x="0" y="0" id="10001" />
+<P2 x="0" y="0" id="10018" />
+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="9054" />
+<TGConnectingPoint num="3" id="9055" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9065" index="2" uid="c01fda68-5f68-4675-ae16-707780cf3739" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9064" />
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+<P2 x="0" y="0" id="3683" />
+<AutomaticDrawing data="true" />
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+<father id="9065" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9059" />
+<TGConnectingPoint num="1" id="9060" />
+<TGConnectingPoint num="2" id="9061" />
+<TGConnectingPoint num="3" id="9062" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9071" />
+<P1 x="0" y="0" id="3684" />
+<P2 x="0" y="0" id="3694" />
+<AutomaticDrawing data="true" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9066" />
+<TGConnectingPoint num="1" id="9067" />
+<TGConnectingPoint num="2" id="9068" />
+<TGConnectingPoint num="3" id="9069" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9078" />
+<P1 x="407" y="70" id="9100" />
+<P2 x="407" y="125" id="9087" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="9079" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9073" />
+<TGConnectingPoint num="1" id="9074" />
+<TGConnectingPoint num="2" id="9075" />
+<TGConnectingPoint num="3" id="9076" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9086" index="5" uid="73af58d0-7593-441f-b53f-15d211fa59b5" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9085" />
+<P1 x="407" y="160" id="9088" />
+<P2 x="407" y="224" id="9098" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9084" index="14" uid="c0d7ed29-86b9-42e4-a845-78dba883630d" >
+<father id="9086" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9080" />
+<TGConnectingPoint num="1" id="9081" />
+<TGConnectingPoint num="2" id="9082" />
+<TGConnectingPoint num="3" id="9083" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<cdparam x="357" y="130" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9087" />
+<TGConnectingPoint num="1" id="9088" />
+<TGConnectingPoint num="2" id="9089" />
+<TGConnectingPoint num="3" id="9090" />
+<TGConnectingPoint num="4" id="9091" />
+<TGConnectingPoint num="5" id="9092" />
+<TGConnectingPoint num="6" id="9093" />
+<TGConnectingPoint num="7" id="9094" />
+<TGConnectingPoint num="8" id="9095" />
+<TGConnectingPoint num="9" id="9096" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="9099" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9098" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="9101" index="8" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9100" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="9108" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9107" />
+<P1 x="0" y="0" id="9998" />
+<P2 x="0" y="0" id="10000" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9106" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="9108" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="9103" />
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+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<CONNECTOR type="5102" id="9115" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="9111" />
+<TGConnectingPoint num="3" id="9112" />
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+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
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+</extraparam>
+</SUBCOMPONENT>
+
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+<TGConnectingPoint num="0" id="9116" />
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+<TGConnectingPoint num="2" id="9118" />
+<TGConnectingPoint num="3" id="9119" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9123" />
+<TGConnectingPoint num="1" id="9124" />
+<TGConnectingPoint num="2" id="9125" />
+<TGConnectingPoint num="3" id="9126" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9136" index="4" uid="a54e3f11-115c-4261-818f-80d71459f351" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9135" />
+<P1 x="407" y="70" id="9157" />
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+<AutomaticDrawing data="true" />
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+<father id="9136" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9130" />
+<TGConnectingPoint num="1" id="9131" />
+<TGConnectingPoint num="2" id="9132" />
+<TGConnectingPoint num="3" id="9133" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9142" />
+<P1 x="407" y="161" id="9145" />
+<P2 x="407" y="224" id="9155" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9137" />
+<TGConnectingPoint num="1" id="9138" />
+<TGConnectingPoint num="2" id="9139" />
+<TGConnectingPoint num="3" id="9140" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9144" />
+<TGConnectingPoint num="1" id="9145" />
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+<TGConnectingPoint num="8" id="9152" />
+<TGConnectingPoint num="9" id="9153" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9157" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<Point x="181" y="315" />
+<Point x="181" y="90" />
+<Point x="337" y="90" />
+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9163" />
+<TGConnectingPoint num="1" id="9164" />
+<TGConnectingPoint num="2" id="9165" />
+<TGConnectingPoint num="3" id="9166" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9179" />
+<P1 x="407" y="70" id="9290" />
+<P2 x="407" y="110" id="9218" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<cdparam x="425" y="101" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9174" />
+<TGConnectingPoint num="1" id="9175" />
+<TGConnectingPoint num="2" id="9176" />
+<TGConnectingPoint num="3" id="9177" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9186" />
+<P1 x="407" y="160" id="9255" />
+<P2 x="407" y="193" id="9206" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9181" />
+<TGConnectingPoint num="1" id="9182" />
+<TGConnectingPoint num="2" id="9183" />
+<TGConnectingPoint num="3" id="9184" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9193" />
+<P1 x="407" y="223" id="9207" />
+<P2 x="407" y="265" id="9195" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="9194" num="0" />
+<cdparam x="415" y="240" />
+<sizeparam width="165" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9188" />
+<TGConnectingPoint num="1" id="9189" />
+<TGConnectingPoint num="2" id="9190" />
+<TGConnectingPoint num="3" id="9191" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
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+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<extraparam>
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+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9454" />
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+<TGConnectingPoint num="2" id="9456" />
+<TGConnectingPoint num="3" id="9457" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="state0" value="loop" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9483" />
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+<TGConnectingPoint num="70" id="9553" />
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+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="9557" index="7" uid="7dba5ce7-7519-4bbc-bc02-ee0575b9508f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9556" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="Nominal_Attack1" tabs="Block Diagram$Network$Rover$EnvironmentLibrary$Rover1$Rover2$Rover3$EnvironmentFusion$Environment1$Environment2$Environment3$ComputeVar1$ComputeVar2$ComputeVar3" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1499" zoom="1.0000000000000009" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<considerTimingOperators value="true" />
+<Validated value="" />
+<Ignored value="" />
+
+<CONNECTOR type="5002" id="9559" index="0" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9558" />
+<P1 x="1003" y="771" id="9884" />
+<P2 x="1030" y="772" id="10006" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9561" index="1" uid="49b256eb-38dc-4869-9f67-bf2947f813b5" >
+<cdparam x="467" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9560" />
+<P1 x="465" y="591" id="9670" />
+<P2 x="466" y="653" id="9840" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9563" index="2" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="879" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9562" />
+<P1 x="879" y="589" id="9629" />
+<P2 x="878" y="653" id="9881" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9565" index="3" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9564" />
+<P1 x="1297" y="589" id="9588" />
+<P2 x="1298" y="653" id="9799" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9567" index="4" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9566" />
+<P1 x="878" y="890" id="9886" />
+<P2 x="877" y="926" id="9740" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9569" index="5" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9568" />
+<P1 x="1298" y="891" id="9804" />
+<P2 x="1002" y="1040" id="9743" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9571" index="6" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9570" />
+<P1 x="1423" y="772" id="9802" />
+<P2 x="1448" y="773" id="9924" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9573" index="7" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9572" />
+<P1 x="591" y="772" id="9843" />
+<P2 x="619" y="773" id="9965" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9575" index="8" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="894" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9574" />
+<P1 x="466" y="891" id="9845" />
+<P2 x="752" y="1040" id="9742" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9577" index="9" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9576" />
+<P1 x="796" y="244" id="10058" />
+<P2 x="465" y="331" id="9665" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut3(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9579" index="10" uid="53b8d66b-cda5-4358-ba2b-31be693139f0" >
+<cdparam x="949" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9578" />
+<P1 x="878" y="244" id="10050" />
+<P2 x="879" y="332" id="9624" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn2(int messageType, int messageContent)" />
+<osd value="out R2outputMessage(int messageType, int messageContent)" />
+<isd value="in R2inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut2(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="9581" index="11" uid="b4ab48a9-336f-4ac7-87ba-4d15134b2299" >
+<cdparam x="1266" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9580" />
+<P1 x="960" y="244" id="10059" />
+<P2 x="1297" y="329" id="9583" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn1(int messageType, int messageContent)" />
+<osd value="out R1outputMessage(int messageType, int messageContent)" />
+<isd value="in R1inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut1(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="9622" index="12" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="1172" y="329" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9582" />
+<TGConnectingPoint num="1" id="9583" />
+<TGConnectingPoint num="2" id="9584" />
+<TGConnectingPoint num="3" id="9585" />
+<TGConnectingPoint num="4" id="9586" />
+<TGConnectingPoint num="5" id="9587" />
+<TGConnectingPoint num="6" id="9588" />
+<TGConnectingPoint num="7" id="9589" />
+<TGConnectingPoint num="8" id="9590" />
+<TGConnectingPoint num="9" id="9591" />
+<TGConnectingPoint num="10" id="9592" />
+<TGConnectingPoint num="11" id="9593" />
+<TGConnectingPoint num="12" id="9594" />
+<TGConnectingPoint num="13" id="9595" />
+<TGConnectingPoint num="14" id="9596" />
+<TGConnectingPoint num="15" id="9597" />
+<TGConnectingPoint num="16" id="9598" />
+<TGConnectingPoint num="17" id="9599" />
+<TGConnectingPoint num="18" id="9600" />
+<TGConnectingPoint num="19" id="9601" />
+<TGConnectingPoint num="20" id="9602" />
+<TGConnectingPoint num="21" id="9603" />
+<TGConnectingPoint num="22" id="9604" />
+<TGConnectingPoint num="23" id="9605" />
+<TGConnectingPoint num="24" id="9606" />
+<TGConnectingPoint num="25" id="9607" />
+<TGConnectingPoint num="26" id="9608" />
+<TGConnectingPoint num="27" id="9609" />
+<TGConnectingPoint num="28" id="9610" />
+<TGConnectingPoint num="29" id="9611" />
+<TGConnectingPoint num="30" id="9612" />
+<TGConnectingPoint num="31" id="9613" />
+<TGConnectingPoint num="32" id="9614" />
+<TGConnectingPoint num="33" id="9615" />
+<TGConnectingPoint num="34" id="9616" />
+<TGConnectingPoint num="35" id="9617" />
+<TGConnectingPoint num="36" id="9618" />
+<TGConnectingPoint num="37" id="9619" />
+<TGConnectingPoint num="38" id="9620" />
+<TGConnectingPoint num="39" id="9621" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R1inputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R1toEnvironment(int speed, int heading)" attached="true" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="9663" index="13" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="754" y="332" />
+<sizeparam width="250" height="257" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9623" />
+<TGConnectingPoint num="1" id="9624" />
+<TGConnectingPoint num="2" id="9625" />
+<TGConnectingPoint num="3" id="9626" />
+<TGConnectingPoint num="4" id="9627" />
+<TGConnectingPoint num="5" id="9628" />
+<TGConnectingPoint num="6" id="9629" />
+<TGConnectingPoint num="7" id="9630" />
+<TGConnectingPoint num="8" id="9631" />
+<TGConnectingPoint num="9" id="9632" />
+<TGConnectingPoint num="10" id="9633" />
+<TGConnectingPoint num="11" id="9634" />
+<TGConnectingPoint num="12" id="9635" />
+<TGConnectingPoint num="13" id="9636" />
+<TGConnectingPoint num="14" id="9637" />
+<TGConnectingPoint num="15" id="9638" />
+<TGConnectingPoint num="16" id="9639" />
+<TGConnectingPoint num="17" id="9640" />
+<TGConnectingPoint num="18" id="9641" />
+<TGConnectingPoint num="19" id="9642" />
+<TGConnectingPoint num="20" id="9643" />
+<TGConnectingPoint num="21" id="9644" />
+<TGConnectingPoint num="22" id="9645" />
+<TGConnectingPoint num="23" id="9646" />
+<TGConnectingPoint num="24" id="9647" />
+<TGConnectingPoint num="25" id="9648" />
+<TGConnectingPoint num="26" id="9649" />
+<TGConnectingPoint num="27" id="9650" />
+<TGConnectingPoint num="28" id="9651" />
+<TGConnectingPoint num="29" id="9652" />
+<TGConnectingPoint num="30" id="9653" />
+<TGConnectingPoint num="31" id="9654" />
+<TGConnectingPoint num="32" id="9655" />
+<TGConnectingPoint num="33" id="9656" />
+<TGConnectingPoint num="34" id="9657" />
+<TGConnectingPoint num="35" id="9658" />
+<TGConnectingPoint num="36" id="9659" />
+<TGConnectingPoint num="37" id="9660" />
+<TGConnectingPoint num="38" id="9661" />
+<TGConnectingPoint num="39" id="9662" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R2inputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R2toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="9704" index="14" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="340" y="331" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover3" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9664" />
+<TGConnectingPoint num="1" id="9665" />
+<TGConnectingPoint num="2" id="9666" />
+<TGConnectingPoint num="3" id="9667" />
+<TGConnectingPoint num="4" id="9668" />
+<TGConnectingPoint num="5" id="9669" />
+<TGConnectingPoint num="6" id="9670" />
+<TGConnectingPoint num="7" id="9671" />
+<TGConnectingPoint num="8" id="9672" />
+<TGConnectingPoint num="9" id="9673" />
+<TGConnectingPoint num="10" id="9674" />
+<TGConnectingPoint num="11" id="9675" />
+<TGConnectingPoint num="12" id="9676" />
+<TGConnectingPoint num="13" id="9677" />
+<TGConnectingPoint num="14" id="9678" />
+<TGConnectingPoint num="15" id="9679" />
+<TGConnectingPoint num="16" id="9680" />
+<TGConnectingPoint num="17" id="9681" />
+<TGConnectingPoint num="18" id="9682" />
+<TGConnectingPoint num="19" id="9683" />
+<TGConnectingPoint num="20" id="9684" />
+<TGConnectingPoint num="21" id="9685" />
+<TGConnectingPoint num="22" id="9686" />
+<TGConnectingPoint num="23" id="9687" />
+<TGConnectingPoint num="24" id="9688" />
+<TGConnectingPoint num="25" id="9689" />
+<TGConnectingPoint num="26" id="9690" />
+<TGConnectingPoint num="27" id="9691" />
+<TGConnectingPoint num="28" id="9692" />
+<TGConnectingPoint num="29" id="9693" />
+<TGConnectingPoint num="30" id="9694" />
+<TGConnectingPoint num="31" id="9695" />
+<TGConnectingPoint num="32" id="9696" />
+<TGConnectingPoint num="33" id="9697" />
+<TGConnectingPoint num="34" id="9698" />
+<TGConnectingPoint num="35" id="9699" />
+<TGConnectingPoint num="36" id="9700" />
+<TGConnectingPoint num="37" id="9701" />
+<TGConnectingPoint num="38" id="9702" />
+<TGConnectingPoint num="39" id="9703" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R3inputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R3toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="9721" index="15" uid="52c9e34d-063c-49e5-8dd9-44bced548377" >
+<cdparam x="10" y="10" />
+<sizeparam width="299" height="51" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UML Note" value="This models features the platoon under a
+scenario where the leader keeps a constant
+speed, with an attack scenario where false
+speed values are sent to the followers" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9705" />
+<TGConnectingPoint num="1" id="9706" />
+<TGConnectingPoint num="2" id="9707" />
+<TGConnectingPoint num="3" id="9708" />
+<TGConnectingPoint num="4" id="9709" />
+<TGConnectingPoint num="5" id="9710" />
+<TGConnectingPoint num="6" id="9711" />
+<TGConnectingPoint num="7" id="9712" />
+<TGConnectingPoint num="8" id="9713" />
+<TGConnectingPoint num="9" id="9714" />
+<TGConnectingPoint num="10" id="9715" />
+<TGConnectingPoint num="11" id="9716" />
+<TGConnectingPoint num="12" id="9717" />
+<TGConnectingPoint num="13" id="9718" />
+<TGConnectingPoint num="14" id="9719" />
+<TGConnectingPoint num="15" id="9720" />
+<extraparam>
+<Line value="This models features the platoon under a" />
+<Line value="scenario where the leader keeps a constant" />
+<Line value="speed, with an attack scenario where false" />
+<Line value="speed values are sent to the followers" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="303" id="9738" index="16" uid="ab96062f-ee84-487e-9187-40d20a7b63cb" >
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+" />
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+<Line value="A[] Environment3.gap > 0" />
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+<Signal value="out toE3(int xP3, int yP3)" attached="true" />
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+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="9961" index="23" uid="b28f9c9a-3c39-4319-a73b-f8f269357704" >
+<cdparam x="1448" y="692" />
+<sizeparam width="115" height="163" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9921" />
+<TGConnectingPoint num="1" id="9922" />
+<TGConnectingPoint num="2" id="9923" />
+<TGConnectingPoint num="3" id="9924" />
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+<TGConnectingPoint num="5" id="9926" />
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+<TGConnectingPoint num="8" id="9929" />
+<TGConnectingPoint num="9" id="9930" />
+<TGConnectingPoint num="10" id="9931" />
+<TGConnectingPoint num="11" id="9932" />
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+<TGConnectingPoint num="14" id="9935" />
+<TGConnectingPoint num="15" id="9936" />
+<TGConnectingPoint num="16" id="9937" />
+<TGConnectingPoint num="17" id="9938" />
+<TGConnectingPoint num="18" id="9939" />
+<TGConnectingPoint num="19" id="9940" />
+<TGConnectingPoint num="20" id="9941" />
+<TGConnectingPoint num="21" id="9942" />
+<TGConnectingPoint num="22" id="9943" />
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+<TGConnectingPoint num="37" id="9958" />
+<TGConnectingPoint num="38" id="9959" />
+<TGConnectingPoint num="39" id="9960" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="10002" index="24" uid="b28f9c9a-3c39-4319-a73b-f8f269357704" >
+<cdparam x="619" y="692" />
+<sizeparam width="115" height="163" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar3" />
+<new d="false" />
+<TGConnectingPoint num="0" id="9962" />
+<TGConnectingPoint num="1" id="9963" />
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+<TGConnectingPoint num="14" id="9976" />
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+<TGConnectingPoint num="31" id="9993" />
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+<TGConnectingPoint num="36" id="9998" />
+<TGConnectingPoint num="37" id="9999" />
+<TGConnectingPoint num="38" id="10000" />
+<TGConnectingPoint num="39" id="10001" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="10043" index="25" uid="b28f9c9a-3c39-4319-a73b-f8f269357704" >
+<cdparam x="1030" y="691" />
+<sizeparam width="115" height="163" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10003" />
+<TGConnectingPoint num="1" id="10004" />
+<TGConnectingPoint num="2" id="10005" />
+<TGConnectingPoint num="3" id="10006" />
+<TGConnectingPoint num="4" id="10007" />
+<TGConnectingPoint num="5" id="10008" />
+<TGConnectingPoint num="6" id="10009" />
+<TGConnectingPoint num="7" id="10010" />
+<TGConnectingPoint num="8" id="10011" />
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+<TGConnectingPoint num="10" id="10013" />
+<TGConnectingPoint num="11" id="10014" />
+<TGConnectingPoint num="12" id="10015" />
+<TGConnectingPoint num="13" id="10016" />
+<TGConnectingPoint num="14" id="10017" />
+<TGConnectingPoint num="15" id="10018" />
+<TGConnectingPoint num="16" id="10019" />
+<TGConnectingPoint num="17" id="10020" />
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+<TGConnectingPoint num="19" id="10022" />
+<TGConnectingPoint num="20" id="10023" />
+<TGConnectingPoint num="21" id="10024" />
+<TGConnectingPoint num="22" id="10025" />
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+<TGConnectingPoint num="37" id="10040" />
+<TGConnectingPoint num="38" id="10041" />
+<TGConnectingPoint num="39" id="10042" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="10084" index="26" uid="1bfc24e2-04cd-4c7e-9a28-b9058842157f" >
+<cdparam x="714" y="58" />
+<sizeparam width="328" height="186" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Network" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10044" />
+<TGConnectingPoint num="1" id="10045" />
+<TGConnectingPoint num="2" id="10046" />
+<TGConnectingPoint num="3" id="10047" />
+<TGConnectingPoint num="4" id="10048" />
+<TGConnectingPoint num="5" id="10049" />
+<TGConnectingPoint num="6" id="10050" />
+<TGConnectingPoint num="7" id="10051" />
+<TGConnectingPoint num="8" id="10052" />
+<TGConnectingPoint num="9" id="10053" />
+<TGConnectingPoint num="10" id="10054" />
+<TGConnectingPoint num="11" id="10055" />
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+<TGConnectingPoint num="16" id="10060" />
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+<TGConnectingPoint num="20" id="10064" />
+<TGConnectingPoint num="21" id="10065" />
+<TGConnectingPoint num="22" id="10066" />
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+<TGConnectingPoint num="32" id="10076" />
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+<TGConnectingPoint num="37" id="10081" />
+<TGConnectingPoint num="38" id="10082" />
+<TGConnectingPoint num="39" id="10083" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="messageType" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leaderID" value="" type="8" typeOther="" />
+<Signal value="in NetworkIn1(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn2(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn3(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut1(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut2(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut3(int messageType, int messageContent)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Network" minX="10" maxX="4000" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="10091" index="0" uid="5ab4c8bb-29c9-4213-9d2e-ca5a8cf288c0" >
+<cdparam x="912" y="565" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10090" />
+<P1 x="911" y="565" id="10249" />
+<P2 x="911" y="596" id="10237" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10089" index="31" uid="66a79568-1df5-4df2-a712-7de90660cf4c" >
+<father id="10091" num="0" />
+<cdparam x="903" y="573" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10085" />
+<TGConnectingPoint num="1" id="10086" />
+<TGConnectingPoint num="2" id="10087" />
+<TGConnectingPoint num="3" id="10088" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10098" index="1" uid="561513ac-2ac8-4743-a8fd-71f0a5c83ced" >
+<cdparam x="914" y="478" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10097" />
+<P1 x="913" y="478" id="10472" />
+<P2 x="911" y="535" id="10248" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10096" index="32" uid="521f7867-2232-4783-94ae-119ea0cdc12a" >
+<father id="10098" num="0" />
+<cdparam x="920" y="507" />
+<sizeparam width="100" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10092" />
+<TGConnectingPoint num="1" id="10093" />
+<TGConnectingPoint num="2" id="10094" />
+<TGConnectingPoint num="3" id="10095" />
+<extraparam>
+<guard value="[leaderID == 3]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10105" index="2" uid="bb642482-0fc1-4562-b5b1-e12fd7131b0b" >
+<cdparam x="554" y="565" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10104" />
+<P1 x="555" y="565" id="10271" />
+<P2 x="555" y="596" id="10259" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10103" index="33" uid="fb3f5d10-e93b-4452-bce0-6fb59584f4d6" >
+<father id="10105" num="0" />
+<cdparam x="542" y="576" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10099" />
+<TGConnectingPoint num="1" id="10100" />
+<TGConnectingPoint num="2" id="10101" />
+<TGConnectingPoint num="3" id="10102" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10112" index="3" uid="38f1529f-a3c3-4adb-ae3e-0f98a1ad8a68" >
+<cdparam x="556" y="478" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10111" />
+<P1 x="557" y="478" id="10447" />
+<P2 x="555" y="535" id="10270" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="10112" num="0" />
+<cdparam x="564" y="510" />
+<sizeparam width="100" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10106" />
+<TGConnectingPoint num="1" id="10107" />
+<TGConnectingPoint num="2" id="10108" />
+<TGConnectingPoint num="3" id="10109" />
+<extraparam>
+<guard value="[leaderID == 2]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10119" index="4" uid="41e502b8-868a-401d-9b9c-996ce9699113" >
+<cdparam x="187" y="565" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10118" />
+<P1 x="188" y="565" id="10293" />
+<P2 x="188" y="596" id="10281" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10117" index="35" uid="d87f4106-9073-40d4-b477-5a455461767d" >
+<father id="10119" num="0" />
+<cdparam x="190" y="579" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3491" minY="10" maxY="1491" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10113" />
+<TGConnectingPoint num="1" id="10114" />
+<TGConnectingPoint num="2" id="10115" />
+<TGConnectingPoint num="3" id="10116" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10126" index="5" uid="7498f7f4-b7f1-44bd-8c21-9d506d15c170" >
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+<father id="11012" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="0" id="11006" />
+<TGConnectingPoint num="1" id="11007" />
+<TGConnectingPoint num="2" id="11008" />
+<TGConnectingPoint num="3" id="11009" />
+<extraparam>
+<guard value="[n >= nbCycles]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="11018" />
+<P1 x="2399" y="217" id="11299" />
+<P2 x="2509" y="217" id="11031" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="11017" index="190" uid="68a65851-f450-43bf-90af-1e287b39c2c1" >
+<father id="11019" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="11014" />
+<TGConnectingPoint num="2" id="11015" />
+<TGConnectingPoint num="3" id="11016" />
+<extraparam>
+<guard value="[n>=nbCycles]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="inputMessage(messageType, messageContent)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="11020" />
+<TGConnectingPoint num="1" id="11021" />
+<TGConnectingPoint num="2" id="11022" />
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+<TGConnectingPoint num="7" id="11027" />
+<TGConnectingPoint num="8" id="11028" />
+<TGConnectingPoint num="9" id="11029" />
+</COMPONENT>
+
+<COMPONENT type="5101" id="11032" index="54" uid="ca0c22e1-3275-41b0-be98-30b2bd6e9635" >
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="11031" />
+</COMPONENT>
+
+<COMPONENT type="5101" id="11034" index="55" uid="d717d1ac-e88d-42bb-9731-d5540aeadb54" >
+<cdparam x="1510" y="274" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="11033" />
+</COMPONENT>
+
+<COMPONENT type="5101" id="11036" index="56" uid="61f287f0-ab3b-4f11-a5ab-cfb896dc4798" >
+<cdparam x="211" y="239" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="11035" />
+</COMPONENT>
+
+<COMPONENT type="5101" id="11038" index="57" uid="b0290ad2-9fe8-4103-a924-105ce670b1bc" >
+<cdparam x="2521" y="676" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="11037" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="11111" index="58" uid="cf8d8307-f4df-4ee1-b41c-fcbc2007f03a" >
+<cdparam x="2449" y="582" />
+<sizeparam width="165" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="state0" value="AJoiningPlatoon" />
+<new d="false" />
+<TGConnectingPoint num="0" id="11039" />
+<TGConnectingPoint num="1" id="11040" />
+<TGConnectingPoint num="2" id="11041" />
+<TGConnectingPoint num="3" id="11042" />
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+<TGConnectingPoint num="5" id="11044" />
+<TGConnectingPoint num="6" id="11045" />
+<TGConnectingPoint num="7" id="11046" />
+<TGConnectingPoint num="8" id="11047" />
+<TGConnectingPoint num="9" id="11048" />
+<TGConnectingPoint num="10" id="11049" />
+<TGConnectingPoint num="11" id="11050" />
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+<TGConnectingPoint num="20" id="11059" />
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+<TGConnectingPoint num="24" id="11063" />
+<TGConnectingPoint num="25" id="11064" />
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+<TGConnectingPoint num="27" id="11066" />
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+<TGConnectingPoint num="36" id="11075" />
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+<TGConnectingPoint num="70" id="11109" />
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+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5107" id="11127" index="59" uid="63dddf73-e71f-4e00-8ec5-5deee801cc90" >
+<cdparam x="2628" y="485" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="11112" />
+<TGConnectingPoint num="1" id="11113" />
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+<TGConnectingPoint num="12" id="11124" />
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+</COMPONENT>
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+<sizeparam width="165" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="state0" value="ALeavingPlatoon" />
+<new d="false" />
+<TGConnectingPoint num="0" id="11128" />
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+<TGConnectingPoint num="69" id="11197" />
+<TGConnectingPoint num="70" id="11198" />
+<TGConnectingPoint num="71" id="11199" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
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+<cdparam x="26" y="37" />
+<sizeparam width="354" height="99" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="We consider two lanes :
+ | |
+platoon lane joining/leaving rovers lane
+ (1) (2)
+ y = 80 y = 0
+Rovers can :
+- go ahead (0° heading, keeping their lane)
+- turn (45°/-45° heading, until they join the desired lane)
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="11201" />
+<TGConnectingPoint num="1" id="11202" />
+<TGConnectingPoint num="2" id="11203" />
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+<TGConnectingPoint num="13" id="11214" />
+<TGConnectingPoint num="14" id="11215" />
+<TGConnectingPoint num="15" id="11216" />
+<extraparam>
+<Line value="We consider two lanes :" />
+<Line value=" | |" />
+<Line value="platoon lane joining/leaving rovers lane" />
+<Line value=" (1) (2)" />
+<Line value=" y = 80 y = 0 " />
+<Line value="Rovers can :" />
+<Line value="- go ahead (0° heading, keeping their lane)" />
+<Line value="- turn (45°/-45° heading, until they join the desired lane)" />
+</extraparam>
+</COMPONENT>
+
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+<sizeparam width="215" height="39" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="When leaving, the leader joins the
+left lane with a 45° heading
+(cos(pi/4) = sin(pi/4) ~ 0,7)
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="11218" />
+<TGConnectingPoint num="1" id="11219" />
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+<TGConnectingPoint num="13" id="11231" />
+<TGConnectingPoint num="14" id="11232" />
+<TGConnectingPoint num="15" id="11233" />
+<extraparam>
+<Line value="When leaving, the leader joins the" />
+<Line value="left lane with a 45° heading" />
+<Line value="(cos(pi/4) = sin(pi/4) ~ 0,7)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5104" id="11245" index="63" uid="c3d8e7c6-9311-48bd-adaa-dad201393b46" >
+<cdparam x="1052" y="461" />
+<sizeparam width="269" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="11235" />
+<TGConnectingPoint num="1" id="11236" />
+<TGConnectingPoint num="2" id="11237" />
+<TGConnectingPoint num="3" id="11238" />
+<TGConnectingPoint num="4" id="11239" />
+<TGConnectingPoint num="5" id="11240" />
+<TGConnectingPoint num="6" id="11241" />
+<TGConnectingPoint num="7" id="11242" />
+<TGConnectingPoint num="8" id="11243" />
+<TGConnectingPoint num="9" id="11244" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="11256" index="64" uid="d2f57ad3-f917-4615-9c41-639f624a81c2" >
+<cdparam x="1032" y="410" />
+<sizeparam width="309" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="11246" />
+<TGConnectingPoint num="1" id="11247" />
+<TGConnectingPoint num="2" id="11248" />
+<TGConnectingPoint num="3" id="11249" />
+<TGConnectingPoint num="4" id="11250" />
+<TGConnectingPoint num="5" id="11251" />
+<TGConnectingPoint num="6" id="11252" />
+<TGConnectingPoint num="7" id="11253" />
+<TGConnectingPoint num="8" id="11254" />
+<TGConnectingPoint num="9" id="11255" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="11267" index="65" uid="59e46f98-c6ec-483d-ad8c-05e5025ff53d" >
+<cdparam x="360" y="289" />
+<sizeparam width="309" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="13659" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="13662" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13661" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="13668" />
+<P1 x="407" y="70" id="13690" />
+<P2 x="407" y="110" id="13677" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="13667" index="5" uid="96f88ab9-bee6-4f9b-ac13-eecb7fc2b124" >
+<father id="13669" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13663" />
+<TGConnectingPoint num="1" id="13664" />
+<TGConnectingPoint num="2" id="13665" />
+<TGConnectingPoint num="3" id="13666" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="13675" />
+<P1 x="407" y="145" id="13678" />
+<P2 x="407" y="188" id="13688" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="13674" index="6" uid="f3e8cc1c-50b7-460f-a536-d40306696928" >
+<father id="13676" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13670" />
+<TGConnectingPoint num="1" id="13671" />
+<TGConnectingPoint num="2" id="13672" />
+<TGConnectingPoint num="3" id="13673" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="13687" index="2" uid="63df8d93-c187-4688-a782-773d8fb5d2b6" >
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13677" />
+<TGConnectingPoint num="1" id="13678" />
+<TGConnectingPoint num="2" id="13679" />
+<TGConnectingPoint num="3" id="13680" />
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+<TGConnectingPoint num="5" id="13682" />
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+<TGConnectingPoint num="7" id="13684" />
+<TGConnectingPoint num="8" id="13685" />
+<TGConnectingPoint num="9" id="13686" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R2inputMessage(int messageType, int messageContent)" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="13689" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13688" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="13691" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13690" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="13697" />
+<P1 x="0" y="0" id="4103" />
+<P2 x="0" y="0" id="4105" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="13698" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13692" />
+<TGConnectingPoint num="1" id="13693" />
+<TGConnectingPoint num="2" id="13694" />
+<TGConnectingPoint num="3" id="13695" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
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+<P1 x="0" y="0" id="4106" />
+<P2 x="0" y="0" id="4123" />
+<AutomaticDrawing data="true" />
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+</CONNECTOR><SUBCOMPONENT type="-1" id="13703" index="8" uid="6b143580-1801-4724-bdf4-e82df032f3d0" >
+<father id="13705" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13699" />
+<TGConnectingPoint num="1" id="13700" />
+<TGConnectingPoint num="2" id="13701" />
+<TGConnectingPoint num="3" id="13702" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="13711" />
+<P1 x="407" y="70" id="13733" />
+<P2 x="407" y="108" id="13720" />
+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13706" />
+<TGConnectingPoint num="1" id="13707" />
+<TGConnectingPoint num="2" id="13708" />
+<TGConnectingPoint num="3" id="13709" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="13719" index="3" uid="4283c745-f832-483b-a05c-133aa56eb3bd" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="13718" />
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+<P2 x="407" y="188" id="13731" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="13719" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13713" />
+<TGConnectingPoint num="1" id="13714" />
+<TGConnectingPoint num="2" id="13715" />
+<TGConnectingPoint num="3" id="13716" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13720" />
+<TGConnectingPoint num="1" id="13721" />
+<TGConnectingPoint num="2" id="13722" />
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+<TGConnectingPoint num="7" id="13727" />
+<TGConnectingPoint num="8" id="13728" />
+<TGConnectingPoint num="9" id="13729" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R3inputMessage(int messageType, int messageContent)" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R3toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="13732" index="5" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13731" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="13734" index="6" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13733" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="EnvironmentFusion" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="13749" index="0" uid="c673fe86-3bb2-4771-9c3e-a9314bb076d0" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="13744" />
+<TGConnectingPoint num="1" id="13745" />
+<TGConnectingPoint num="2" id="13746" />
+<TGConnectingPoint num="3" id="13747" />
+<TGConnectingPoint num="4" id="13748" />
+<P1 x="573" y="307" id="13815" />
+<P2 x="621" y="131" id="13882" />
+<Point x="573" y="327" />
+<Point x="685" y="327" />
+<Point x="685" y="111" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13739" />
+<TGConnectingPoint num="1" id="13740" />
+<TGConnectingPoint num="2" id="13741" />
+<TGConnectingPoint num="3" id="13742" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
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+<new d="false" />
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+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<extraparam>
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+</SUBCOMPONENT>
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="13964" />
+<TGConnectingPoint num="3" id="13965" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
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+<new d="false" />
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+<TGConnectingPoint num="2" id="13971" />
+<TGConnectingPoint num="3" id="13972" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="13981" />
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+<P2 x="407" y="224" id="13994" />
+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
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+<new d="false" />
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+<TGConnectingPoint num="2" id="13978" />
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+<extraparam>
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+<afterMax value="" enabled="true"/>
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+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13983" />
+<TGConnectingPoint num="1" id="13984" />
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+<TGConnectingPoint num="8" id="13991" />
+<TGConnectingPoint num="9" id="13992" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
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+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13994" />
+</COMPONENT>
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+<hidden value="false" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="13996" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="13999" />
+<TGConnectingPoint num="2" id="14000" />
+<TGConnectingPoint num="3" id="14001" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14010" />
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="14006" />
+<TGConnectingPoint num="2" id="14007" />
+<TGConnectingPoint num="3" id="14008" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14012" />
+<TGConnectingPoint num="1" id="14013" />
+<TGConnectingPoint num="2" id="14014" />
+<TGConnectingPoint num="3" id="14015" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14024" />
+<P1 x="0" y="0" id="3684" />
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
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+<new d="false" />
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+<TGConnectingPoint num="2" id="14021" />
+<TGConnectingPoint num="3" id="14022" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<AutomaticDrawing data="true" />
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+<father id="14032" num="0" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="2" id="14028" />
+<TGConnectingPoint num="3" id="14029" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<P2 x="407" y="224" id="14051" />
+<AutomaticDrawing data="true" />
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+<father id="14039" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14033" />
+<TGConnectingPoint num="1" id="14034" />
+<TGConnectingPoint num="2" id="14035" />
+<TGConnectingPoint num="3" id="14036" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
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+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14040" />
+<TGConnectingPoint num="1" id="14041" />
+<TGConnectingPoint num="2" id="14042" />
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+<TGConnectingPoint num="8" id="14048" />
+<TGConnectingPoint num="9" id="14049" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14051" />
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14053" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<P1 x="0" y="0" id="9998" />
+<P2 x="0" y="0" id="10000" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="14061" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14055" />
+<TGConnectingPoint num="1" id="14056" />
+<TGConnectingPoint num="2" id="14057" />
+<TGConnectingPoint num="3" id="14058" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14067" />
+<P1 x="0" y="0" id="10001" />
+<P2 x="0" y="0" id="10018" />
+<AutomaticDrawing data="true" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14062" />
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+<TGConnectingPoint num="2" id="14064" />
+<TGConnectingPoint num="3" id="14065" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="14075" index="2" uid="b76f60d6-0e2e-42cf-8774-337dace6e16e" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14074" />
+<P1 x="0" y="0" id="3739" />
+<P2 x="0" y="0" id="3726" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="14075" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14069" />
+<TGConnectingPoint num="1" id="14070" />
+<TGConnectingPoint num="2" id="14071" />
+<TGConnectingPoint num="3" id="14072" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14081" />
+<P1 x="0" y="0" id="3727" />
+<P2 x="0" y="0" id="3737" />
+<AutomaticDrawing data="true" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14076" />
+<TGConnectingPoint num="1" id="14077" />
+<TGConnectingPoint num="2" id="14078" />
+<TGConnectingPoint num="3" id="14079" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14088" />
+<P1 x="407" y="70" id="14110" />
+<P2 x="407" y="126" id="14097" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="14089" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14083" />
+<TGConnectingPoint num="1" id="14084" />
+<TGConnectingPoint num="2" id="14085" />
+<TGConnectingPoint num="3" id="14086" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="14096" index="5" uid="b29956aa-e046-4baf-a1f7-039d5ec60ae9" >
+<cdparam x="450" y="166" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14095" />
+<P1 x="407" y="161" id="14098" />
+<P2 x="407" y="224" id="14108" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="14094" index="14" uid="de5e0c10-75c3-4919-9bdb-f2978c58e726" >
+<father id="14096" num="0" />
+<cdparam x="428" y="195" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14090" />
+<TGConnectingPoint num="1" id="14091" />
+<TGConnectingPoint num="2" id="14092" />
+<TGConnectingPoint num="3" id="14093" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<cdparam x="357" y="131" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14097" />
+<TGConnectingPoint num="1" id="14098" />
+<TGConnectingPoint num="2" id="14099" />
+<TGConnectingPoint num="3" id="14100" />
+<TGConnectingPoint num="4" id="14101" />
+<TGConnectingPoint num="5" id="14102" />
+<TGConnectingPoint num="6" id="14103" />
+<TGConnectingPoint num="7" id="14104" />
+<TGConnectingPoint num="8" id="14105" />
+<TGConnectingPoint num="9" id="14106" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="14109" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14108" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="14111" index="8" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14110" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="14126" index="0" uid="126e754b-f33e-4460-af58-1da96618c6ef" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="14121" />
+<TGConnectingPoint num="1" id="14122" />
+<TGConnectingPoint num="2" id="14123" />
+<TGConnectingPoint num="3" id="14124" />
+<TGConnectingPoint num="4" id="14125" />
+<P1 x="407" y="295" id="14149" />
+<P2 x="357" y="110" id="14170" />
+<Point x="407" y="315" />
+<Point x="181" y="315" />
+<Point x="181" y="90" />
+<Point x="337" y="90" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="14112" index="8" uid="8354a6c5-d7c9-4300-b545-b29e69fe16a3" >
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+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="state0" value="loop" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14436" />
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+<TGConnectingPoint num="30" id="14466" />
+<TGConnectingPoint num="31" id="14467" />
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+<TGConnectingPoint num="33" id="14469" />
+<TGConnectingPoint num="34" id="14470" />
+<TGConnectingPoint num="35" id="14471" />
+<TGConnectingPoint num="36" id="14472" />
+<TGConnectingPoint num="37" id="14473" />
+<TGConnectingPoint num="38" id="14474" />
+<TGConnectingPoint num="39" id="14475" />
+<TGConnectingPoint num="40" id="14476" />
+<TGConnectingPoint num="41" id="14477" />
+<TGConnectingPoint num="42" id="14478" />
+<TGConnectingPoint num="43" id="14479" />
+<TGConnectingPoint num="44" id="14480" />
+<TGConnectingPoint num="45" id="14481" />
+<TGConnectingPoint num="46" id="14482" />
+<TGConnectingPoint num="47" id="14483" />
+<TGConnectingPoint num="48" id="14484" />
+<TGConnectingPoint num="49" id="14485" />
+<TGConnectingPoint num="50" id="14486" />
+<TGConnectingPoint num="51" id="14487" />
+<TGConnectingPoint num="52" id="14488" />
+<TGConnectingPoint num="53" id="14489" />
+<TGConnectingPoint num="54" id="14490" />
+<TGConnectingPoint num="55" id="14491" />
+<TGConnectingPoint num="56" id="14492" />
+<TGConnectingPoint num="57" id="14493" />
+<TGConnectingPoint num="58" id="14494" />
+<TGConnectingPoint num="59" id="14495" />
+<TGConnectingPoint num="60" id="14496" />
+<TGConnectingPoint num="61" id="14497" />
+<TGConnectingPoint num="62" id="14498" />
+<TGConnectingPoint num="63" id="14499" />
+<TGConnectingPoint num="64" id="14500" />
+<TGConnectingPoint num="65" id="14501" />
+<TGConnectingPoint num="66" id="14502" />
+<TGConnectingPoint num="67" id="14503" />
+<TGConnectingPoint num="68" id="14504" />
+<TGConnectingPoint num="69" id="14505" />
+<TGConnectingPoint num="70" id="14506" />
+<TGConnectingPoint num="71" id="14507" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="14510" index="7" uid="7dba5ce7-7519-4bbc-bc02-ee0575b9508f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14509" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="Nominal_Attack1_Deceleration" tabs="Block Diagram$Network$Rover$EnvironmentLibrary$Rover1$Rover2$Rover3$EnvironmentFusion$Environment1$Environment2$Environment3$ComputeVar1$ComputeVar2$ComputeVar3" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1499" zoom="1.0000000000000009" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<considerTimingOperators value="true" />
+<Validated value="" />
+<Ignored value="" />
+
+<COMPONENT type="301" id="39394" index="0" uid="a581a01e-d88e-4e32-a287-dae2d1a27dba" >
+<cdparam x="28" y="116" />
+<sizeparam width="301" height="51" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UML Note" value="This models features the platoon under a
+scenario where the leader decelerates, with
+an attack scenario where false speed values
+are sent to the followers" />
+<new d="false" />
+<TGConnectingPoint num="0" id="39395" />
+<TGConnectingPoint num="1" id="39396" />
+<TGConnectingPoint num="2" id="39397" />
+<TGConnectingPoint num="3" id="39398" />
+<TGConnectingPoint num="4" id="39399" />
+<TGConnectingPoint num="5" id="39400" />
+<TGConnectingPoint num="6" id="39401" />
+<TGConnectingPoint num="7" id="39402" />
+<TGConnectingPoint num="8" id="39403" />
+<TGConnectingPoint num="9" id="39404" />
+<TGConnectingPoint num="10" id="39405" />
+<TGConnectingPoint num="11" id="39406" />
+<TGConnectingPoint num="12" id="39407" />
+<TGConnectingPoint num="13" id="39408" />
+<TGConnectingPoint num="14" id="39409" />
+<TGConnectingPoint num="15" id="39410" />
+<extraparam>
+<Line value="This models features the platoon under a" />
+<Line value="scenario where the leader decelerates, with" />
+<Line value="an attack scenario where false speed values" />
+<Line value="are sent to the followers" />
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5002" id="14512" index="1" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14511" />
+<P1 x="1003" y="771" id="14837" />
+<P2 x="1030" y="772" id="14959" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14514" index="2" uid="49b256eb-38dc-4869-9f67-bf2947f813b5" >
+<cdparam x="467" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14513" />
+<P1 x="465" y="591" id="14623" />
+<P2 x="466" y="653" id="14793" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14516" index="3" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="879" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14515" />
+<P1 x="879" y="589" id="14582" />
+<P2 x="878" y="653" id="14834" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14518" index="4" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14517" />
+<P1 x="1297" y="589" id="14541" />
+<P2 x="1298" y="653" id="14752" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14520" index="5" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14519" />
+<P1 x="878" y="890" id="14839" />
+<P2 x="877" y="926" id="14693" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14522" index="6" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14521" />
+<P1 x="1298" y="891" id="14757" />
+<P2 x="1002" y="1040" id="14696" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14524" index="7" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14523" />
+<P1 x="1423" y="772" id="14755" />
+<P2 x="1448" y="773" id="14877" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14526" index="8" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14525" />
+<P1 x="591" y="772" id="14796" />
+<P2 x="619" y="773" id="14918" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14528" index="9" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="894" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14527" />
+<P1 x="466" y="891" id="14798" />
+<P2 x="752" y="1040" id="14695" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14530" index="10" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14529" />
+<P1 x="796" y="244" id="15011" />
+<P2 x="465" y="331" id="14618" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut3(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14532" index="11" uid="53b8d66b-cda5-4358-ba2b-31be693139f0" >
+<cdparam x="949" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14531" />
+<P1 x="878" y="244" id="15003" />
+<P2 x="879" y="332" id="14577" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn2(int messageType, int messageContent)" />
+<osd value="out R2outputMessage(int messageType, int messageContent)" />
+<isd value="in R2inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut2(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="14534" index="12" uid="b4ab48a9-336f-4ac7-87ba-4d15134b2299" >
+<cdparam x="1266" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="14533" />
+<P1 x="960" y="244" id="15012" />
+<P2 x="1297" y="329" id="14536" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn1(int messageType, int messageContent)" />
+<osd value="out R1outputMessage(int messageType, int messageContent)" />
+<isd value="in R1inputMessage(int messageType, int messageContent)" />
+<oso value="out NetworkOut1(int messageType, int messageContent)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="14575" index="13" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="1172" y="329" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14535" />
+<TGConnectingPoint num="1" id="14536" />
+<TGConnectingPoint num="2" id="14537" />
+<TGConnectingPoint num="3" id="14538" />
+<TGConnectingPoint num="4" id="14539" />
+<TGConnectingPoint num="5" id="14540" />
+<TGConnectingPoint num="6" id="14541" />
+<TGConnectingPoint num="7" id="14542" />
+<TGConnectingPoint num="8" id="14543" />
+<TGConnectingPoint num="9" id="14544" />
+<TGConnectingPoint num="10" id="14545" />
+<TGConnectingPoint num="11" id="14546" />
+<TGConnectingPoint num="12" id="14547" />
+<TGConnectingPoint num="13" id="14548" />
+<TGConnectingPoint num="14" id="14549" />
+<TGConnectingPoint num="15" id="14550" />
+<TGConnectingPoint num="16" id="14551" />
+<TGConnectingPoint num="17" id="14552" />
+<TGConnectingPoint num="18" id="14553" />
+<TGConnectingPoint num="19" id="14554" />
+<TGConnectingPoint num="20" id="14555" />
+<TGConnectingPoint num="21" id="14556" />
+<TGConnectingPoint num="22" id="14557" />
+<TGConnectingPoint num="23" id="14558" />
+<TGConnectingPoint num="24" id="14559" />
+<TGConnectingPoint num="25" id="14560" />
+<TGConnectingPoint num="26" id="14561" />
+<TGConnectingPoint num="27" id="14562" />
+<TGConnectingPoint num="28" id="14563" />
+<TGConnectingPoint num="29" id="14564" />
+<TGConnectingPoint num="30" id="14565" />
+<TGConnectingPoint num="31" id="14566" />
+<TGConnectingPoint num="32" id="14567" />
+<TGConnectingPoint num="33" id="14568" />
+<TGConnectingPoint num="34" id="14569" />
+<TGConnectingPoint num="35" id="14570" />
+<TGConnectingPoint num="36" id="14571" />
+<TGConnectingPoint num="37" id="14572" />
+<TGConnectingPoint num="38" id="14573" />
+<TGConnectingPoint num="39" id="14574" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R1inputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R1toEnvironment(int speed, int heading)" attached="true" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="14616" index="14" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
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+<hidden value="false" />
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+<infoparam name="Block0" value="Rover2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14576" />
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+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="3" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
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+<Signal value="in R2inputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R2toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
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+<COMPONENT type="5000" id="14657" index="15" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
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+<TGConnectingPoint num="39" id="14656" />
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+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="3" type="8" typeOther="" />
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+<Signal value="in R3inputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R3toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="303" id="14691" index="16" uid="ab96062f-ee84-487e-9187-40d20a7b63cb" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UPPAAL Pragma" value="A[] Environment2.gap > 0
+A[] Environment3.gap > 0
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14675" />
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+<extraparam>
+<Line value="A[] Environment2.gap > 0" />
+<Line value="A[] Environment3.gap > 0" />
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+<TGConnectingPoint num="37" id="14729" />
+<TGConnectingPoint num="38" id="14730" />
+<TGConnectingPoint num="39" id="14731" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y1" value="" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="y2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x3" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y3" value="" type="8" typeOther="" />
+<Signal value="in fromE1(int x1, int y1)" attached="true" />
+<Signal value="in fromE2(int x2, int y2)" attached="true" />
+<Signal value="in fromE3(int x3, int y3)" attached="true" />
+<Signal value="out toE1(int xP1, int yP1)" attached="true" />
+<Signal value="out toE2(int xP2, int yP2)" attached="true" />
+<Signal value="out toE3(int xP3, int yP3)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="5005" id="14741" index="18" uid="800dfbeb-d2e9-4003-9a79-2e715a474ec2" >
+<cdparam x="30" y="650" />
+<sizeparam width="250" height="239" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="EnvironmentLibrary" value="EnvironmentLibrary" />
+<new d="false" />
+<TGConnectingPoint num="0" id="14733" />
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+<TGConnectingPoint num="5" id="14738" />
+<TGConnectingPoint num="6" id="14739" />
+<TGConnectingPoint num="7" id="14740" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="x" value="0" type="8" typeOther="" />
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+<Parameter access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Signal value="in sense(int t, bool f, bool p)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int g, bool l, bool p)" />
+<Signal value="in fromPredecessor(int x, int y)" />
+<Signal value="in fromRover(int s, int h)" />
+<Signal value="out computeVariation(int c, int s, int s)" />
+<Signal value="in variation(int x, int y)" />
+<ReturnAttribute access="0" id="gap" value="60" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="speed" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="joiningGreaterOrdinate" value="false" type="4" typeOther="" />
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+<Attribute access="0" var="0" id="cosH" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="0" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="yPrev" value="0" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="fromRover" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="firstLoop" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="xvar" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="0" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
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+<new d="false" />
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+<TGConnectingPoint num="5" id="14747" />
+<TGConnectingPoint num="6" id="14748" />
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+<CryptoLibraryFunction value="false" />
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+<Signal value="in inputMessage(int t, int c)" />
+<Signal value="out outputMessage(int t, int c)" />
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+<Signal value="out sense(int t, bool f, bool p)" />
+<Signal value="out toEnvironment(int v, int h)" />
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+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="gap" value="60" type="8" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" attached="true" />
+<Signal value="in fromRover(int speed, int heading)" attached="true" />
+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<infoparam name="Block0" value="Environment3" />
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+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y" value="80" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="gap" value="40" type="8" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" attached="true" />
+<Signal value="in fromRover(int speed, int heading)" attached="true" />
+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="5000" id="14873" index="22" uid="53950085-dae1-40d4-9d5d-655f3fd05f63" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Environment2" />
+<new d="false" />
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+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
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+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar1" />
+<new d="false" />
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+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
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+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar3" />
+<new d="false" />
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+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
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+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
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+<new d="false" />
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+<CryptoBlock value="false" />
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+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Network" />
+<new d="false" />
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+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="messageType" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leaderID" value="" type="8" typeOther="" />
+<Signal value="in NetworkIn1(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn2(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn3(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut1(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut2(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut3(int messageType, int messageContent)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Network" minX="10" maxX="4000" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="15043" />
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+platoon lane joining/leaving rovers lane
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+ y = 80 y = 0
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+- turn (45°/-45° heading, until they join the desired lane)
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+<Line value=" | |" />
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+<Line value=" y = 80 y = 0 " />
+<Line value="Rovers can :" />
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+(cos(pi/4) = sin(pi/4) ~ 0,7)
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+<Line value="(cos(pi/4) = sin(pi/4) ~ 0,7)" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
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+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
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+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
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+<hidden value="false" />
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+<infoparam name="point " value="null" />
+<new d="false" />
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+<hidden value="false" />
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+<new d="false" />
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+<hidden value="false" />
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+<infoparam name="point " value="null" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="17587" />
+<TGConnectingPoint num="2" id="17588" />
+<TGConnectingPoint num="3" id="17589" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="17602" />
+<P1 x="571" y="784" id="18118" />
+<P2 x="571" y="790" id="17638" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
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+<TGConnectingPoint num="1" id="17598" />
+<TGConnectingPoint num="2" id="17599" />
+<TGConnectingPoint num="3" id="17600" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<hidden value="false" />
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+<infoparam name="UML Note" value="Correcting x in order to model
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+" />
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+<extraparam>
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+<Line value="the collision between the rover" />
+<Line value="and its predecessor" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="UML Note" value="Correcting y in order to compensate the
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+<TGConnectingPoint num="15" id="17636" />
+<extraparam>
+<Line value="Correcting y in order to compensate the" />
+<Line value="heading control modeling approximations" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Send signal" value="computeVariation(cosH, sinH, speed)" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Receive signal" value="variation(xvar, yvar)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17649" />
+<TGConnectingPoint num="1" id="17650" />
+<TGConnectingPoint num="2" id="17651" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="state3" value="waitingSense" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Send signal" value="toFollower(x, y)" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Receive signal" value="fromRover(speed, heading)" />
+<new d="false" />
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+<infoparam name="state2" value="rootP" />
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+</extraparam>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18566" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Receive signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18568" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Receive signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18579" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="Send signal" value="toFollower(x, y)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18590" />
+<TGConnectingPoint num="1" id="18591" />
+<TGConnectingPoint num="2" id="18592" />
+<TGConnectingPoint num="3" id="18593" />
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+</COMPONENT>
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+<cdparam x="556" y="894" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18601" />
+<TGConnectingPoint num="1" id="18602" />
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+<TGConnectingPoint num="12" id="18613" />
+<TGConnectingPoint num="13" id="18614" />
+<TGConnectingPoint num="14" id="18615" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18622" />
+<P1 x="407" y="70" id="18644" />
+<P2 x="407" y="109" id="18631" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18621" index="5" uid="ccc1c921-0c9d-4665-b53c-eeab245f81c3" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18617" />
+<TGConnectingPoint num="1" id="18618" />
+<TGConnectingPoint num="2" id="18619" />
+<TGConnectingPoint num="3" id="18620" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18629" />
+<P1 x="407" y="144" id="18632" />
+<P2 x="407" y="190" id="18642" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="18630" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18624" />
+<TGConnectingPoint num="1" id="18625" />
+<TGConnectingPoint num="2" id="18626" />
+<TGConnectingPoint num="3" id="18627" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18631" />
+<TGConnectingPoint num="1" id="18632" />
+<TGConnectingPoint num="2" id="18633" />
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+<TGConnectingPoint num="8" id="18639" />
+<TGConnectingPoint num="9" id="18640" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R1inputMessage(int messageType, int messageContent)" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R1toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="18643" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18642" />
+</COMPONENT>
+
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18644" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18651" />
+<P1 x="407" y="70" id="18673" />
+<P2 x="407" y="110" id="18660" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18646" />
+<TGConnectingPoint num="1" id="18647" />
+<TGConnectingPoint num="2" id="18648" />
+<TGConnectingPoint num="3" id="18649" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18658" />
+<P1 x="407" y="145" id="18661" />
+<P2 x="407" y="188" id="18671" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18657" index="6" uid="f3e8cc1c-50b7-460f-a536-d40306696928" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18653" />
+<TGConnectingPoint num="1" id="18654" />
+<TGConnectingPoint num="2" id="18655" />
+<TGConnectingPoint num="3" id="18656" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18660" />
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+<TGConnectingPoint num="8" id="18668" />
+<TGConnectingPoint num="9" id="18669" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R2inputMessage(int messageType, int messageContent)" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="18672" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18671" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="18674" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18673" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="18681" index="0" uid="0af0a700-627e-4cf1-9f4a-785ee9cacaf8" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<new d="false" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18945" />
+<TGConnectingPoint num="1" id="18946" />
+<TGConnectingPoint num="2" id="18947" />
+<TGConnectingPoint num="3" id="18948" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="18958" index="2" uid="76993de5-70c9-43bc-86e9-948da3c4acd0" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18957" />
+<P1 x="407" y="70" id="18979" />
+<P2 x="407" y="127" id="18966" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="18958" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18952" />
+<TGConnectingPoint num="1" id="18953" />
+<TGConnectingPoint num="2" id="18954" />
+<TGConnectingPoint num="3" id="18955" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="18965" index="3" uid="eb57a216-c3fe-46a2-b8ae-ed1ed64dbb61" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18964" />
+<P1 x="407" y="162" id="18967" />
+<P2 x="407" y="224" id="18977" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18963" index="10" uid="c51c2be6-dd61-4ff0-9821-765076ff8c68" >
+<father id="18965" num="0" />
+<cdparam x="426" y="197" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18959" />
+<TGConnectingPoint num="1" id="18960" />
+<TGConnectingPoint num="2" id="18961" />
+<TGConnectingPoint num="3" id="18962" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="18976" index="4" uid="4fe291a9-5a88-4606-85fe-0adac539d325" >
+<cdparam x="357" y="132" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18966" />
+<TGConnectingPoint num="1" id="18967" />
+<TGConnectingPoint num="2" id="18968" />
+<TGConnectingPoint num="3" id="18969" />
+<TGConnectingPoint num="4" id="18970" />
+<TGConnectingPoint num="5" id="18971" />
+<TGConnectingPoint num="6" id="18972" />
+<TGConnectingPoint num="7" id="18973" />
+<TGConnectingPoint num="8" id="18974" />
+<TGConnectingPoint num="9" id="18975" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="18978" index="5" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18977" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="18980" index="6" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18979" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="18987" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18986" />
+<P1 x="0" y="0" id="9998" />
+<P2 x="0" y="0" id="10000" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18985" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="18987" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18981" />
+<TGConnectingPoint num="1" id="18982" />
+<TGConnectingPoint num="2" id="18983" />
+<TGConnectingPoint num="3" id="18984" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="18994" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="18993" />
+<P1 x="0" y="0" id="10001" />
+<P2 x="0" y="0" id="10018" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18992" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="18994" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18988" />
+<TGConnectingPoint num="1" id="18989" />
+<TGConnectingPoint num="2" id="18990" />
+<TGConnectingPoint num="3" id="18991" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="19001" index="2" uid="c01fda68-5f68-4675-ae16-707780cf3739" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19000" />
+<P1 x="0" y="0" id="3696" />
+<P2 x="0" y="0" id="3683" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="18999" index="11" uid="bac371ec-9ba5-4be8-b49a-d8c5fec7a9e2" >
+<father id="19001" num="0" />
+<cdparam x="424" y="97" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18995" />
+<TGConnectingPoint num="1" id="18996" />
+<TGConnectingPoint num="2" id="18997" />
+<TGConnectingPoint num="3" id="18998" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="19008" index="3" uid="1055f1f2-b440-4a57-8190-f76594012e04" >
+<cdparam x="442" y="160" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19007" />
+<P1 x="0" y="0" id="3684" />
+<P2 x="0" y="0" id="3694" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="19006" index="12" uid="01a8a71b-f78c-4112-b8e3-09b89c33b5fb" >
+<father id="19008" num="0" />
+<cdparam x="424" y="192" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19002" />
+<TGConnectingPoint num="1" id="19003" />
+<TGConnectingPoint num="2" id="19004" />
+<TGConnectingPoint num="3" id="19005" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="19015" index="4" uid="a8df2b69-b24c-48ad-9e14-0e34289bb18f" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19014" />
+<P1 x="407" y="70" id="19036" />
+<P2 x="407" y="125" id="19023" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="19013" index="13" uid="5689b7aa-b7a8-4d54-a49a-2089adc41fe7" >
+<father id="19015" num="0" />
+<cdparam x="425" y="101" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19009" />
+<TGConnectingPoint num="1" id="19010" />
+<TGConnectingPoint num="2" id="19011" />
+<TGConnectingPoint num="3" id="19012" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="19022" index="5" uid="73af58d0-7593-441f-b53f-15d211fa59b5" >
+<cdparam x="444" y="168" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19021" />
+<P1 x="407" y="160" id="19024" />
+<P2 x="407" y="224" id="19034" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="19020" index="14" uid="c0d7ed29-86b9-42e4-a845-78dba883630d" >
+<father id="19022" num="0" />
+<cdparam x="425" y="196" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19016" />
+<TGConnectingPoint num="1" id="19017" />
+<TGConnectingPoint num="2" id="19018" />
+<TGConnectingPoint num="3" id="19019" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="19033" index="6" uid="2dbf43e9-6a78-4752-b5b3-3e0f60cbaf81" >
+<cdparam x="357" y="130" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19023" />
+<TGConnectingPoint num="1" id="19024" />
+<TGConnectingPoint num="2" id="19025" />
+<TGConnectingPoint num="3" id="19026" />
+<TGConnectingPoint num="4" id="19027" />
+<TGConnectingPoint num="5" id="19028" />
+<TGConnectingPoint num="6" id="19029" />
+<TGConnectingPoint num="7" id="19030" />
+<TGConnectingPoint num="8" id="19031" />
+<TGConnectingPoint num="9" id="19032" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="19035" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19034" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="19037" index="8" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19036" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="19044" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19043" />
+<P1 x="0" y="0" id="9998" />
+<P2 x="0" y="0" id="10000" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="19042" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
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+
+</AVATARStateMachineDiagramPanel>
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+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
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+<TGConnectingPoint num="70" id="19356" />
+<TGConnectingPoint num="71" id="19357" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="19360" index="7" uid="7dba5ce7-7519-4bbc-bc02-ee0575b9508f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19359" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="19375" index="0" uid="126e754b-f33e-4460-af58-1da96618c6ef" >
+<cdparam x="407" y="295" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19370" />
+<TGConnectingPoint num="1" id="19371" />
+<TGConnectingPoint num="2" id="19372" />
+<TGConnectingPoint num="3" id="19373" />
+<TGConnectingPoint num="4" id="19374" />
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+<Point x="407" y="315" />
+<Point x="181" y="315" />
+<Point x="181" y="90" />
+<Point x="337" y="90" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="19361" index="8" uid="8354a6c5-d7c9-4300-b545-b29e69fe16a3" >
+<father id="19375" num="0" />
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="19362" index="9" uid="2efa540e-1e82-4813-9d76-faefd62cbe53" >
+<father id="19375" num="1" />
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="19363" index="10" uid="3c1d7f3e-403c-474c-8336-85bba42b5331" >
+<father id="19375" num="2" />
+<cdparam x="181" y="90" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="19364" index="11" uid="e74af576-0f34-42a9-8dff-60688c3d4046" >
+<father id="19375" num="3" />
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="19369" index="12" uid="801dd9e9-d72c-4d3b-9eac-6ef62879a3f8" >
+<father id="19375" num="4" />
+<cdparam x="382" y="202" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19365" />
+<TGConnectingPoint num="1" id="19366" />
+<TGConnectingPoint num="2" id="19367" />
+<TGConnectingPoint num="3" id="19368" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="19382" index="1" uid="db4b4692-d106-4db0-a2aa-c59498bcbb2c" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19381" />
+<P1 x="407" y="70" id="19492" />
+<P2 x="407" y="110" id="19420" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="19380" index="13" uid="52400786-185c-4a49-848c-62fce6e7ed72" >
+<father id="19382" num="0" />
+<cdparam x="425" y="101" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19376" />
+<TGConnectingPoint num="1" id="19377" />
+<TGConnectingPoint num="2" id="19378" />
+<TGConnectingPoint num="3" id="19379" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="19389" index="2" uid="ba7ba4a7-d1d0-4862-ac85-1da2fc29b06c" >
+<cdparam x="407" y="160" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19388" />
+<P1 x="407" y="160" id="19457" />
+<P2 x="407" y="193" id="19408" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="19387" index="14" uid="2b071846-7882-4b48-bece-f7e167430610" >
+<father id="19389" num="0" />
+<cdparam x="408" y="172" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19383" />
+<TGConnectingPoint num="1" id="19384" />
+<TGConnectingPoint num="2" id="19385" />
+<TGConnectingPoint num="3" id="19386" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="19396" index="3" uid="6ed600ff-b5d0-4bd6-a725-280fa95e1a62" >
+<cdparam x="407" y="223" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="19395" />
+<P1 x="407" y="223" id="19409" />
+<P2 x="407" y="265" id="19397" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="19394" index="15" uid="a898eb76-1114-478b-b66b-0db1bb456f1d" >
+<father id="19396" num="0" />
+<cdparam x="415" y="240" />
+<sizeparam width="165" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19390" />
+<TGConnectingPoint num="1" id="19391" />
+<TGConnectingPoint num="2" id="19392" />
+<TGConnectingPoint num="3" id="19393" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="19407" index="4" uid="98c7cd84-a0e5-4359-beeb-9a66dd2cfb7f" >
+<cdparam x="341" y="270" />
+<sizeparam width="132" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19397" />
+<TGConnectingPoint num="1" id="19398" />
+<TGConnectingPoint num="2" id="19399" />
+<TGConnectingPoint num="3" id="19400" />
+<TGConnectingPoint num="4" id="19401" />
+<TGConnectingPoint num="5" id="19402" />
+<TGConnectingPoint num="6" id="19403" />
+<TGConnectingPoint num="7" id="19404" />
+<TGConnectingPoint num="8" id="19405" />
+<TGConnectingPoint num="9" id="19406" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="19418" index="5" uid="1898f801-1ffe-4c14-8645-b07ff4268dbc" >
+<cdparam x="281" y="198" />
+<sizeparam width="252" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19408" />
+<TGConnectingPoint num="1" id="19409" />
+<TGConnectingPoint num="2" id="19410" />
+<TGConnectingPoint num="3" id="19411" />
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+<TGConnectingPoint num="5" id="19413" />
+<TGConnectingPoint num="6" id="19414" />
+<TGConnectingPoint num="7" id="19415" />
+<TGConnectingPoint num="8" id="19416" />
+<TGConnectingPoint num="9" id="19417" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="19491" index="6" uid="42d36278-3570-422a-b91a-3ee94dc0769a" >
+<cdparam x="357" y="110" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="state0" value="loop" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19419" />
+<TGConnectingPoint num="1" id="19420" />
+<TGConnectingPoint num="2" id="19421" />
+<TGConnectingPoint num="3" id="19422" />
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+<TGConnectingPoint num="5" id="19424" />
+<TGConnectingPoint num="6" id="19425" />
+<TGConnectingPoint num="7" id="19426" />
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+<TGConnectingPoint num="10" id="19429" />
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+<TGConnectingPoint num="22" id="19441" />
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+<TGConnectingPoint num="31" id="19450" />
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+<TGConnectingPoint num="36" id="19455" />
+<TGConnectingPoint num="37" id="19456" />
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+<TGConnectingPoint num="43" id="19462" />
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+<TGConnectingPoint num="50" id="19469" />
+<TGConnectingPoint num="51" id="19470" />
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+<TGConnectingPoint num="54" id="19473" />
+<TGConnectingPoint num="55" id="19474" />
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+<TGConnectingPoint num="62" id="19481" />
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+<TGConnectingPoint num="65" id="19484" />
+<TGConnectingPoint num="66" id="19485" />
+<TGConnectingPoint num="67" id="19486" />
+<TGConnectingPoint num="68" id="19487" />
+<TGConnectingPoint num="69" id="19488" />
+<TGConnectingPoint num="70" id="19489" />
+<TGConnectingPoint num="71" id="19490" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="19493" index="7" uid="7dba5ce7-7519-4bbc-bc02-ee0575b9508f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19492" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="MAC" tabs="Block Diagram$Network$Rover$EnvironmentLibrary$Rover1$Rover2$Rover3$EnvironmentFusion$Environment1$Environment2$Environment3$ComputeVar1$ComputeVar2$ComputeVar3" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1499" zoom="1.0000000000000009" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<considerTimingOperators value="true" />
+<Validated value="" />
+<Ignored value="" />
+
+<COMPONENT type="301" id="39411" index="0" uid="e5ec835a-7015-4529-8ab5-256c6d70d6ed" >
+<cdparam x="54" y="170" />
+<sizeparam width="357" height="63" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UML Note" value="This models feature the platoon with a
+message authentication code countermeasure
+added to the communications between the leader
+and the followers, where the leader keeps a constant
+speed." />
+<new d="false" />
+<TGConnectingPoint num="0" id="39412" />
+<TGConnectingPoint num="1" id="39413" />
+<TGConnectingPoint num="2" id="39414" />
+<TGConnectingPoint num="3" id="39415" />
+<TGConnectingPoint num="4" id="39416" />
+<TGConnectingPoint num="5" id="39417" />
+<TGConnectingPoint num="6" id="39418" />
+<TGConnectingPoint num="7" id="39419" />
+<TGConnectingPoint num="8" id="39420" />
+<TGConnectingPoint num="9" id="39421" />
+<TGConnectingPoint num="10" id="39422" />
+<TGConnectingPoint num="11" id="39423" />
+<TGConnectingPoint num="12" id="39424" />
+<TGConnectingPoint num="13" id="39425" />
+<TGConnectingPoint num="14" id="39426" />
+<TGConnectingPoint num="15" id="39427" />
+<extraparam>
+<Line value="This models feature the platoon with a" />
+<Line value="message authentication code countermeasure" />
+<Line value="added to the communications between the leader" />
+<Line value="and the followers, where the leader keeps a constant" />
+<Line value="speed." />
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5002" id="19495" index="1" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19494" />
+<P1 x="1003" y="771" id="19803" />
+<P2 x="1029" y="772" id="19925" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19497" index="2" uid="49b256eb-38dc-4869-9f67-bf2947f813b5" >
+<cdparam x="467" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19496" />
+<P1 x="465" y="591" id="19606" />
+<P2 x="465" y="653" id="19759" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19499" index="3" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="878" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19498" />
+<P1 x="879" y="589" id="19565" />
+<P2 x="878" y="653" id="19800" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19501" index="4" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19500" />
+<P1 x="1297" y="589" id="19524" />
+<P2 x="1298" y="653" id="19718" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19503" index="5" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19502" />
+<P1 x="878" y="890" id="19805" />
+<P2 x="876" y="926" id="19659" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19505" index="6" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19504" />
+<P1 x="1298" y="891" id="19723" />
+<P2 x="1001" y="1040" id="19662" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19507" index="7" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19506" />
+<P1 x="1423" y="772" id="19721" />
+<P2 x="1448" y="773" id="19843" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19509" index="8" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19508" />
+<P1 x="590" y="772" id="19762" />
+<P2 x="619" y="773" id="19884" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19511" index="9" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="893" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19510" />
+<P1 x="465" y="891" id="19764" />
+<P2 x="751" y="1040" id="19661" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19513" index="10" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19512" />
+<P1 x="795" y="243" id="19977" />
+<P2 x="465" y="331" id="19601" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut3(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19515" index="11" uid="53b8d66b-cda5-4358-ba2b-31be693139f0" >
+<cdparam x="949" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19514" />
+<P1 x="877" y="243" id="19969" />
+<P2 x="879" y="332" id="19560" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn2(int messageType, int messageContent)" />
+<osd value="out R2outputMessage(int messageType, int messageContent)" />
+<isd value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut2(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="19517" index="12" uid="b4ab48a9-336f-4ac7-87ba-4d15134b2299" >
+<cdparam x="1266" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="19516" />
+<P1 x="959" y="243" id="19978" />
+<P2 x="1297" y="329" id="19519" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn1(int messageType, int messageContent)" />
+<osd value="out R1outputMessage(int messageType, int messageContent)" />
+<isd value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut1(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="19558" index="13" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="1172" y="329" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19518" />
+<TGConnectingPoint num="1" id="19519" />
+<TGConnectingPoint num="2" id="19520" />
+<TGConnectingPoint num="3" id="19521" />
+<TGConnectingPoint num="4" id="19522" />
+<TGConnectingPoint num="5" id="19523" />
+<TGConnectingPoint num="6" id="19524" />
+<TGConnectingPoint num="7" id="19525" />
+<TGConnectingPoint num="8" id="19526" />
+<TGConnectingPoint num="9" id="19527" />
+<TGConnectingPoint num="10" id="19528" />
+<TGConnectingPoint num="11" id="19529" />
+<TGConnectingPoint num="12" id="19530" />
+<TGConnectingPoint num="13" id="19531" />
+<TGConnectingPoint num="14" id="19532" />
+<TGConnectingPoint num="15" id="19533" />
+<TGConnectingPoint num="16" id="19534" />
+<TGConnectingPoint num="17" id="19535" />
+<TGConnectingPoint num="18" id="19536" />
+<TGConnectingPoint num="19" id="19537" />
+<TGConnectingPoint num="20" id="19538" />
+<TGConnectingPoint num="21" id="19539" />
+<TGConnectingPoint num="22" id="19540" />
+<TGConnectingPoint num="23" id="19541" />
+<TGConnectingPoint num="24" id="19542" />
+<TGConnectingPoint num="25" id="19543" />
+<TGConnectingPoint num="26" id="19544" />
+<TGConnectingPoint num="27" id="19545" />
+<TGConnectingPoint num="28" id="19546" />
+<TGConnectingPoint num="29" id="19547" />
+<TGConnectingPoint num="30" id="19548" />
+<TGConnectingPoint num="31" id="19549" />
+<TGConnectingPoint num="32" id="19550" />
+<TGConnectingPoint num="33" id="19551" />
+<TGConnectingPoint num="34" id="19552" />
+<TGConnectingPoint num="35" id="19553" />
+<TGConnectingPoint num="36" id="19554" />
+<TGConnectingPoint num="37" id="19555" />
+<TGConnectingPoint num="38" id="19556" />
+<TGConnectingPoint num="39" id="19557" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R1toEnvironment(int speed, int heading)" attached="true" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="19599" index="14" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="754" y="332" />
+<sizeparam width="250" height="257" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19559" />
+<TGConnectingPoint num="1" id="19560" />
+<TGConnectingPoint num="2" id="19561" />
+<TGConnectingPoint num="3" id="19562" />
+<TGConnectingPoint num="4" id="19563" />
+<TGConnectingPoint num="5" id="19564" />
+<TGConnectingPoint num="6" id="19565" />
+<TGConnectingPoint num="7" id="19566" />
+<TGConnectingPoint num="8" id="19567" />
+<TGConnectingPoint num="9" id="19568" />
+<TGConnectingPoint num="10" id="19569" />
+<TGConnectingPoint num="11" id="19570" />
+<TGConnectingPoint num="12" id="19571" />
+<TGConnectingPoint num="13" id="19572" />
+<TGConnectingPoint num="14" id="19573" />
+<TGConnectingPoint num="15" id="19574" />
+<TGConnectingPoint num="16" id="19575" />
+<TGConnectingPoint num="17" id="19576" />
+<TGConnectingPoint num="18" id="19577" />
+<TGConnectingPoint num="19" id="19578" />
+<TGConnectingPoint num="20" id="19579" />
+<TGConnectingPoint num="21" id="19580" />
+<TGConnectingPoint num="22" id="19581" />
+<TGConnectingPoint num="23" id="19582" />
+<TGConnectingPoint num="24" id="19583" />
+<TGConnectingPoint num="25" id="19584" />
+<TGConnectingPoint num="26" id="19585" />
+<TGConnectingPoint num="27" id="19586" />
+<TGConnectingPoint num="28" id="19587" />
+<TGConnectingPoint num="29" id="19588" />
+<TGConnectingPoint num="30" id="19589" />
+<TGConnectingPoint num="31" id="19590" />
+<TGConnectingPoint num="32" id="19591" />
+<TGConnectingPoint num="33" id="19592" />
+<TGConnectingPoint num="34" id="19593" />
+<TGConnectingPoint num="35" id="19594" />
+<TGConnectingPoint num="36" id="19595" />
+<TGConnectingPoint num="37" id="19596" />
+<TGConnectingPoint num="38" id="19597" />
+<TGConnectingPoint num="39" id="19598" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R2toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="19640" index="15" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="340" y="331" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover3" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19600" />
+<TGConnectingPoint num="1" id="19601" />
+<TGConnectingPoint num="2" id="19602" />
+<TGConnectingPoint num="3" id="19603" />
+<TGConnectingPoint num="4" id="19604" />
+<TGConnectingPoint num="5" id="19605" />
+<TGConnectingPoint num="6" id="19606" />
+<TGConnectingPoint num="7" id="19607" />
+<TGConnectingPoint num="8" id="19608" />
+<TGConnectingPoint num="9" id="19609" />
+<TGConnectingPoint num="10" id="19610" />
+<TGConnectingPoint num="11" id="19611" />
+<TGConnectingPoint num="12" id="19612" />
+<TGConnectingPoint num="13" id="19613" />
+<TGConnectingPoint num="14" id="19614" />
+<TGConnectingPoint num="15" id="19615" />
+<TGConnectingPoint num="16" id="19616" />
+<TGConnectingPoint num="17" id="19617" />
+<TGConnectingPoint num="18" id="19618" />
+<TGConnectingPoint num="19" id="19619" />
+<TGConnectingPoint num="20" id="19620" />
+<TGConnectingPoint num="21" id="19621" />
+<TGConnectingPoint num="22" id="19622" />
+<TGConnectingPoint num="23" id="19623" />
+<TGConnectingPoint num="24" id="19624" />
+<TGConnectingPoint num="25" id="19625" />
+<TGConnectingPoint num="26" id="19626" />
+<TGConnectingPoint num="27" id="19627" />
+<TGConnectingPoint num="28" id="19628" />
+<TGConnectingPoint num="29" id="19629" />
+<TGConnectingPoint num="30" id="19630" />
+<TGConnectingPoint num="31" id="19631" />
+<TGConnectingPoint num="32" id="19632" />
+<TGConnectingPoint num="33" id="19633" />
+<TGConnectingPoint num="34" id="19634" />
+<TGConnectingPoint num="35" id="19635" />
+<TGConnectingPoint num="36" id="19636" />
+<TGConnectingPoint num="37" id="19637" />
+<TGConnectingPoint num="38" id="19638" />
+<TGConnectingPoint num="39" id="19639" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R3toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="303" id="19657" index="16" uid="ab96062f-ee84-487e-9187-40d20a7b63cb" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UPPAAL Pragma" value="A[] Environment2.gap > 0
+A[] Environment3.gap > 0
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19641" />
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+<TGConnectingPoint num="15" id="19656" />
+<extraparam>
+<Line value="A[] Environment2.gap > 0" />
+<Line value="A[] Environment3.gap > 0" />
+</extraparam>
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+<COMPONENT type="5000" id="19698" index="17" uid="e8dc1c1c-55c3-4f60-aed6-cccaae51ecbb" >
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+<hidden value="false" />
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+<TGConnectingPoint num="37" id="19695" />
+<TGConnectingPoint num="38" id="19696" />
+<TGConnectingPoint num="39" id="19697" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x3" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y3" value="" type="8" typeOther="" />
+<Signal value="in fromE1(int x1, int y1)" attached="true" />
+<Signal value="in fromE2(int x2, int y2)" attached="true" />
+<Signal value="in fromE3(int x3, int y3)" attached="true" />
+<Signal value="out toE1(int xP1, int yP1)" attached="true" />
+<Signal value="out toE2(int xP2, int yP2)" attached="true" />
+<Signal value="out toE3(int xP3, int yP3)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="5005" id="19707" index="18" uid="800dfbeb-d2e9-4003-9a79-2e715a474ec2" >
+<cdparam x="30" y="649" />
+<sizeparam width="250" height="239" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="EnvironmentLibrary" value="EnvironmentLibrary" />
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+<TGConnectingPoint num="6" id="19705" />
+<TGConnectingPoint num="7" id="19706" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="x" value="0" type="8" typeOther="" />
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+<Signal value="in sense(int t, bool f, bool p)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int g, bool l, bool p)" />
+<Signal value="in fromPredecessor(int x, int y)" />
+<Signal value="in fromRover(int s, int h)" />
+<Signal value="out computeVariation(int c, int s, int s)" />
+<Signal value="in variation(int x, int y)" />
+<ReturnAttribute access="0" id="gap" value="60" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="speed" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="joiningGreaterOrdinate" value="false" type="4" typeOther="" />
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+<Attribute access="0" var="0" id="isInLane" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="0" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="fromRover" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="firstLoop" value="true" type="4" typeOther="" />
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+<Attribute access="0" var="0" id="yvar" value="0" type="8" typeOther="" />
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+<COMPONENT type="5005" id="19716" index="19" uid="afdf6048-2ded-4533-9279-bcf42dece393" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Rover" value="Rover" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19708" />
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+<TGConnectingPoint num="5" id="19713" />
+<TGConnectingPoint num="6" id="19714" />
+<TGConnectingPoint num="7" id="19715" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
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+<Parameter access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
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+<Signal value="in inputMessage(int t, int c, int k)" />
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+<Signal value="out sense(int t, bool f, bool p)" />
+<Signal value="out toEnvironment(int v, int h)" />
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+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
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+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x" value="40" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="gap" value="40" type="8" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" attached="true" />
+<Signal value="in fromRover(int speed, int heading)" attached="true" />
+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="19880" index="23" uid="b28f9c9a-3c39-4319-a73b-f8f269357704" >
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+<sizeparam width="115" height="163" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19840" />
+<TGConnectingPoint num="1" id="19841" />
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+<TGConnectingPoint num="16" id="19856" />
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+<TGConnectingPoint num="39" id="19879" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="19921" index="24" uid="b28f9c9a-3c39-4319-a73b-f8f269357704" >
+<cdparam x="619" y="692" />
+<sizeparam width="115" height="163" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar3" />
+<new d="false" />
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+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="19962" index="25" uid="b28f9c9a-3c39-4319-a73b-f8f269357704" >
+<cdparam x="1029" y="691" />
+<sizeparam width="115" height="163" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19922" />
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+<TGConnectingPoint num="38" id="19960" />
+<TGConnectingPoint num="39" id="19961" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="20003" index="26" uid="1bfc24e2-04cd-4c7e-9a28-b9058842157f" >
+<cdparam x="713" y="51" />
+<sizeparam width="328" height="192" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Network" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19963" />
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+<TGConnectingPoint num="2" id="19965" />
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+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="messageType" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageCheck" value="0" type="8" typeOther="" />
+<Signal value="in NetworkIn1(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn2(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn3(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut1(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out NetworkOut2(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out NetworkOut3(int messageType, int messageContent, int messageCheck)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Network" minX="10" maxX="4000" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="20004" />
+<TGConnectingPoint num="1" id="20005" />
+<TGConnectingPoint num="2" id="20006" />
+<TGConnectingPoint num="3" id="20007" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<P1 x="1038" y="238" id="20142" />
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="2" id="20013" />
+<TGConnectingPoint num="3" id="20014" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<P1 x="620" y="237" id="20175" />
+<P2 x="618" y="264" id="20163" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="20024" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="20020" />
+<TGConnectingPoint num="3" id="20021" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<P1 x="257" y="237" id="20197" />
+<P2 x="255" y="266" id="20207" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="20027" />
+<TGConnectingPoint num="3" id="20028" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="20037" />
+<P1 x="255" y="296" id="20208" />
+<P2 x="255" y="322" id="20185" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="20038" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+
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+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="We consider two lanes :
+ | |
+platoon lane joining/leaving rovers lane
+ (1) (2)
+ y = 80 y = 0
+Rovers can :
+- go ahead (0° heading, keeping their lane)
+- turn (45°/-45° heading, until they join the desired lane)
+" />
+<new d="false" />
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+<Line value="We consider two lanes :" />
+<Line value=" | |" />
+<Line value="platoon lane joining/leaving rovers lane" />
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+<Line value=" y = 80 y = 0 " />
+<Line value="Rovers can :" />
+<Line value="- go ahead (0° heading, keeping their lane)" />
+<Line value="- turn (45°/-45° heading, until they join the desired lane)" />
+</extraparam>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="When leaving, the leader joins the
+left lane with a 45° heading
+(cos(pi/4) = sin(pi/4) ~ 0,7)
+" />
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+<Line value="When leaving, the leader joins the" />
+<Line value="left lane with a 45° heading" />
+<Line value="(cos(pi/4) = sin(pi/4) ~ 0,7)" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="21116" />
+<TGConnectingPoint num="1" id="21117" />
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+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="21127" />
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+</COMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="state0" value="AReceivingData" />
+<new d="false" />
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+</AVATARStateMachineDiagramPanel>
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
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+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R1toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
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+
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+<hidden value="false" />
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+<TGConnectingPoint num="4" id="23529" />
+<TGConnectingPoint num="5" id="23530" />
+<TGConnectingPoint num="6" id="23531" />
+<TGConnectingPoint num="7" id="23532" />
+<TGConnectingPoint num="8" id="23533" />
+<TGConnectingPoint num="9" id="23534" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="23537" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23536" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="23539" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23538" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="23546" index="0" uid="0af0a700-627e-4cf1-9f4a-785ee9cacaf8" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23545" />
+<P1 x="0" y="0" id="4103" />
+<P2 x="0" y="0" id="4105" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23544" index="7" uid="b55e7334-a1bc-4ada-93ae-a63371a884a3" >
+<father id="23546" num="0" />
+<cdparam x="425" y="83" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23540" />
+<TGConnectingPoint num="1" id="23541" />
+<TGConnectingPoint num="2" id="23542" />
+<TGConnectingPoint num="3" id="23543" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23552" />
+<P1 x="0" y="0" id="4106" />
+<P2 x="0" y="0" id="4123" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23551" index="8" uid="6b143580-1801-4724-bdf4-e82df032f3d0" >
+<father id="23553" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23547" />
+<TGConnectingPoint num="1" id="23548" />
+<TGConnectingPoint num="2" id="23549" />
+<TGConnectingPoint num="3" id="23550" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23560" index="2" uid="247d0238-63ac-4e7b-9515-69130b4d62c4" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23559" />
+<P1 x="407" y="70" id="23581" />
+<P2 x="407" y="108" id="23568" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23558" index="9" uid="ca7ccbb8-095e-4374-be6f-6ba9c564f1c6" >
+<father id="23560" num="0" />
+<cdparam x="424" y="89" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23554" />
+<TGConnectingPoint num="1" id="23555" />
+<TGConnectingPoint num="2" id="23556" />
+<TGConnectingPoint num="3" id="23557" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23567" index="3" uid="4283c745-f832-483b-a05c-133aa56eb3bd" >
+<cdparam x="442" y="144" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23566" />
+<P1 x="407" y="143" id="23569" />
+<P2 x="407" y="188" id="23579" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23565" index="10" uid="a2791555-8e6a-4e68-b085-7dcdb2ff6295" >
+<father id="23567" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23561" />
+<TGConnectingPoint num="1" id="23562" />
+<TGConnectingPoint num="2" id="23563" />
+<TGConnectingPoint num="3" id="23564" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="23578" index="4" uid="d63f3bcc-6746-4fb0-9b37-e16457ad5d5a" >
+<cdparam x="357" y="113" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23568" />
+<TGConnectingPoint num="1" id="23569" />
+<TGConnectingPoint num="2" id="23570" />
+<TGConnectingPoint num="3" id="23571" />
+<TGConnectingPoint num="4" id="23572" />
+<TGConnectingPoint num="5" id="23573" />
+<TGConnectingPoint num="6" id="23574" />
+<TGConnectingPoint num="7" id="23575" />
+<TGConnectingPoint num="8" id="23576" />
+<TGConnectingPoint num="9" id="23577" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R3toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="23580" index="5" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23579" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="23582" index="6" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23581" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="EnvironmentFusion" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="23597" index="0" uid="c673fe86-3bb2-4771-9c3e-a9314bb076d0" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23592" />
+<TGConnectingPoint num="1" id="23593" />
+<TGConnectingPoint num="2" id="23594" />
+<TGConnectingPoint num="3" id="23595" />
+<TGConnectingPoint num="4" id="23596" />
+<P1 x="573" y="307" id="23663" />
+<P2 x="621" y="131" id="23730" />
+<Point x="573" y="327" />
+<Point x="685" y="327" />
+<Point x="685" y="111" />
+<Point x="641" y="111" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23587" />
+<TGConnectingPoint num="1" id="23588" />
+<TGConnectingPoint num="2" id="23589" />
+<TGConnectingPoint num="3" id="23590" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<TGConnectingPoint num="3" id="23610" />
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+<Point x="275" y="444" />
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+<hidden value="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23602" />
+<TGConnectingPoint num="1" id="23603" />
+<TGConnectingPoint num="2" id="23604" />
+<TGConnectingPoint num="3" id="23605" />
+<extraparam>
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+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
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+<P1 x="489" y="72" id="23801" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23801" />
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+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23803" />
+<TGConnectingPoint num="1" id="23804" />
+<TGConnectingPoint num="2" id="23805" />
+<TGConnectingPoint num="3" id="23806" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23815" />
+<P1 x="0" y="0" id="3643" />
+<P2 x="0" y="0" id="3640" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23810" />
+<TGConnectingPoint num="1" id="23811" />
+<TGConnectingPoint num="2" id="23812" />
+<TGConnectingPoint num="3" id="23813" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23823" index="2" uid="76993de5-70c9-43bc-86e9-948da3c4acd0" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23822" />
+<P1 x="407" y="70" id="23844" />
+<P2 x="407" y="127" id="23831" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="23823" num="0" />
+<cdparam x="426" y="103" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23817" />
+<TGConnectingPoint num="1" id="23818" />
+<TGConnectingPoint num="2" id="23819" />
+<TGConnectingPoint num="3" id="23820" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23830" index="3" uid="eb57a216-c3fe-46a2-b8ae-ed1ed64dbb61" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23829" />
+<P1 x="407" y="162" id="23832" />
+<P2 x="407" y="224" id="23842" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23824" />
+<TGConnectingPoint num="1" id="23825" />
+<TGConnectingPoint num="2" id="23826" />
+<TGConnectingPoint num="3" id="23827" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="23841" index="4" uid="4fe291a9-5a88-4606-85fe-0adac539d325" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23831" />
+<TGConnectingPoint num="1" id="23832" />
+<TGConnectingPoint num="2" id="23833" />
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+<TGConnectingPoint num="7" id="23838" />
+<TGConnectingPoint num="8" id="23839" />
+<TGConnectingPoint num="9" id="23840" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23842" />
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23844" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="23852" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23851" />
+<P1 x="0" y="0" id="9998" />
+<P2 x="0" y="0" id="10000" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23846" />
+<TGConnectingPoint num="1" id="23847" />
+<TGConnectingPoint num="2" id="23848" />
+<TGConnectingPoint num="3" id="23849" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23859" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23858" />
+<P1 x="0" y="0" id="10001" />
+<P2 x="0" y="0" id="10018" />
+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23853" />
+<TGConnectingPoint num="1" id="23854" />
+<TGConnectingPoint num="2" id="23855" />
+<TGConnectingPoint num="3" id="23856" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23866" index="2" uid="c01fda68-5f68-4675-ae16-707780cf3739" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23865" />
+<P1 x="0" y="0" id="3696" />
+<P2 x="0" y="0" id="3683" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23860" />
+<TGConnectingPoint num="1" id="23861" />
+<TGConnectingPoint num="2" id="23862" />
+<TGConnectingPoint num="3" id="23863" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23872" />
+<P1 x="0" y="0" id="3684" />
+<P2 x="0" y="0" id="3694" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23867" />
+<TGConnectingPoint num="1" id="23868" />
+<TGConnectingPoint num="2" id="23869" />
+<TGConnectingPoint num="3" id="23870" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23879" />
+<P1 x="407" y="70" id="23901" />
+<P2 x="407" y="125" id="23888" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23878" index="13" uid="5689b7aa-b7a8-4d54-a49a-2089adc41fe7" >
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23874" />
+<TGConnectingPoint num="1" id="23875" />
+<TGConnectingPoint num="2" id="23876" />
+<TGConnectingPoint num="3" id="23877" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23886" />
+<P1 x="407" y="160" id="23889" />
+<P2 x="407" y="224" id="23899" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23881" />
+<TGConnectingPoint num="1" id="23882" />
+<TGConnectingPoint num="2" id="23883" />
+<TGConnectingPoint num="3" id="23884" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23888" />
+<TGConnectingPoint num="1" id="23889" />
+<TGConnectingPoint num="2" id="23890" />
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+<TGConnectingPoint num="4" id="23892" />
+<TGConnectingPoint num="5" id="23893" />
+<TGConnectingPoint num="6" id="23894" />
+<TGConnectingPoint num="7" id="23895" />
+<TGConnectingPoint num="8" id="23896" />
+<TGConnectingPoint num="9" id="23897" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="23900" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23899" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="23902" index="8" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23901" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="23909" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23908" />
+<P1 x="0" y="0" id="9998" />
+<P2 x="0" y="0" id="10000" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23907" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="23909" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23903" />
+<TGConnectingPoint num="1" id="23904" />
+<TGConnectingPoint num="2" id="23905" />
+<TGConnectingPoint num="3" id="23906" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23916" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
+<cdparam x="407" y="178" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23915" />
+<P1 x="0" y="0" id="10001" />
+<P2 x="0" y="0" id="10018" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23914" index="10" uid="e032a05d-48c1-4716-befd-710f422bcbd6" >
+<father id="23916" num="0" />
+<cdparam x="408" y="208" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23910" />
+<TGConnectingPoint num="1" id="23911" />
+<TGConnectingPoint num="2" id="23912" />
+<TGConnectingPoint num="3" id="23913" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23923" index="2" uid="b76f60d6-0e2e-42cf-8774-337dace6e16e" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23922" />
+<P1 x="0" y="0" id="3739" />
+<P2 x="0" y="0" id="3726" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23921" index="11" uid="0c95aead-f787-42ef-81ed-073b7584a7e5" >
+<father id="23923" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23917" />
+<TGConnectingPoint num="1" id="23918" />
+<TGConnectingPoint num="2" id="23919" />
+<TGConnectingPoint num="3" id="23920" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23930" index="3" uid="efe89462-fbdd-4e9c-aecc-a05afdc02c78" >
+<cdparam x="449" y="165" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23929" />
+<P1 x="0" y="0" id="3727" />
+<P2 x="0" y="0" id="3737" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23928" index="12" uid="64ac3868-1d9f-489e-becb-836c0180fcb5" >
+<father id="23930" num="0" />
+<cdparam x="428" y="194" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23924" />
+<TGConnectingPoint num="1" id="23925" />
+<TGConnectingPoint num="2" id="23926" />
+<TGConnectingPoint num="3" id="23927" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23937" index="4" uid="a54e3f11-115c-4261-818f-80d71459f351" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23936" />
+<P1 x="407" y="70" id="23958" />
+<P2 x="407" y="126" id="23945" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23935" index="13" uid="606518e8-7b65-416c-8390-f3e9ffc6670a" >
+<father id="23937" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23931" />
+<TGConnectingPoint num="1" id="23932" />
+<TGConnectingPoint num="2" id="23933" />
+<TGConnectingPoint num="3" id="23934" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23944" index="5" uid="b29956aa-e046-4baf-a1f7-039d5ec60ae9" >
+<cdparam x="450" y="166" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23943" />
+<P1 x="407" y="161" id="23946" />
+<P2 x="407" y="224" id="23956" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23942" index="14" uid="de5e0c10-75c3-4919-9bdb-f2978c58e726" >
+<father id="23944" num="0" />
+<cdparam x="428" y="195" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23938" />
+<TGConnectingPoint num="1" id="23939" />
+<TGConnectingPoint num="2" id="23940" />
+<TGConnectingPoint num="3" id="23941" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="23955" index="6" uid="ad4e83d7-62b2-4204-aeac-b37e9f434364" >
+<cdparam x="357" y="131" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23945" />
+<TGConnectingPoint num="1" id="23946" />
+<TGConnectingPoint num="2" id="23947" />
+<TGConnectingPoint num="3" id="23948" />
+<TGConnectingPoint num="4" id="23949" />
+<TGConnectingPoint num="5" id="23950" />
+<TGConnectingPoint num="6" id="23951" />
+<TGConnectingPoint num="7" id="23952" />
+<TGConnectingPoint num="8" id="23953" />
+<TGConnectingPoint num="9" id="23954" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="23957" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23956" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="23959" index="8" uid="2c8f3d97-e782-4d13-b27d-de2c5dae745a" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23958" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="23974" index="0" uid="126e754b-f33e-4460-af58-1da96618c6ef" >
+<cdparam x="407" y="295" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23969" />
+<TGConnectingPoint num="1" id="23970" />
+<TGConnectingPoint num="2" id="23971" />
+<TGConnectingPoint num="3" id="23972" />
+<TGConnectingPoint num="4" id="23973" />
+<P1 x="407" y="295" id="23997" />
+<P2 x="357" y="110" id="24018" />
+<Point x="407" y="315" />
+<Point x="181" y="315" />
+<Point x="181" y="90" />
+<Point x="337" y="90" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23960" index="8" uid="8354a6c5-d7c9-4300-b545-b29e69fe16a3" >
+<father id="23974" num="0" />
+<cdparam x="407" y="315" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="23961" index="9" uid="2efa540e-1e82-4813-9d76-faefd62cbe53" >
+<father id="23974" num="1" />
+<cdparam x="181" y="315" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="23962" index="10" uid="3c1d7f3e-403c-474c-8336-85bba42b5331" >
+<father id="23974" num="2" />
+<cdparam x="181" y="90" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="23963" index="11" uid="e74af576-0f34-42a9-8dff-60688c3d4046" >
+<father id="23974" num="3" />
+<cdparam x="337" y="90" />
+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="23968" index="12" uid="801dd9e9-d72c-4d3b-9eac-6ef62879a3f8" >
+<father id="23974" num="4" />
+<cdparam x="382" y="202" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23964" />
+<TGConnectingPoint num="1" id="23965" />
+<TGConnectingPoint num="2" id="23966" />
+<TGConnectingPoint num="3" id="23967" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="23981" index="1" uid="db4b4692-d106-4db0-a2aa-c59498bcbb2c" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="23980" />
+<P1 x="407" y="70" id="24091" />
+<P2 x="407" y="110" id="24019" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="23979" index="13" uid="52400786-185c-4a49-848c-62fce6e7ed72" >
+<father id="23981" num="0" />
+<cdparam x="425" y="101" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="23975" />
+<TGConnectingPoint num="1" id="23976" />
+<TGConnectingPoint num="2" id="23977" />
+<TGConnectingPoint num="3" id="23978" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+</AVATARStateMachineDiagramPanel>
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+<AVATARStateMachineDiagramPanel name="ComputeVar3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
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+<new d="false" />
+<TGConnectingPoint num="0" id="24357" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="MAC_Deceleration" tabs="Block Diagram$Network$Rover$EnvironmentLibrary$Rover1$Rover2$Rover3$EnvironmentFusion$Environment1$Environment2$Environment3$ComputeVar1$ComputeVar2$ComputeVar3" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1499" zoom="1.0000000000000009" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<considerTimingOperators value="true" />
+<Validated value="" />
+<Ignored value="" />
+
+<COMPONENT type="301" id="39428" index="0" uid="5c201ac1-4e16-4bd3-b81b-45dd62528533" >
+<cdparam x="50" y="169" />
+<sizeparam width="335" height="51" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UML Note" value="This models feature the platoon with a
+message authentication code countermeasure
+added to the communications between the leader
+and the followers, where the leader decelerates." />
+<new d="false" />
+<TGConnectingPoint num="0" id="39429" />
+<TGConnectingPoint num="1" id="39430" />
+<TGConnectingPoint num="2" id="39431" />
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+<TGConnectingPoint num="12" id="39441" />
+<TGConnectingPoint num="13" id="39442" />
+<TGConnectingPoint num="14" id="39443" />
+<TGConnectingPoint num="15" id="39444" />
+<extraparam>
+<Line value="This models feature the platoon with a" />
+<Line value="message authentication code countermeasure" />
+<Line value="added to the communications between the leader" />
+<Line value="and the followers, where the leader decelerates." />
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5002" id="24360" index="1" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24359" />
+<P1 x="1003" y="771" id="24668" />
+<P2 x="1029" y="772" id="24790" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24362" index="2" uid="49b256eb-38dc-4869-9f67-bf2947f813b5" >
+<cdparam x="467" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24361" />
+<P1 x="465" y="591" id="24471" />
+<P2 x="465" y="653" id="24624" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24364" index="3" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="878" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24363" />
+<P1 x="879" y="589" id="24430" />
+<P2 x="878" y="653" id="24665" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24366" index="4" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24365" />
+<P1 x="1297" y="589" id="24389" />
+<P2 x="1298" y="653" id="24583" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24368" index="5" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24367" />
+<P1 x="878" y="890" id="24670" />
+<P2 x="876" y="926" id="24524" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24370" index="6" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24369" />
+<P1 x="1298" y="891" id="24588" />
+<P2 x="1001" y="1040" id="24527" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24372" index="7" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24371" />
+<P1 x="1423" y="772" id="24586" />
+<P2 x="1448" y="773" id="24708" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24374" index="8" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24373" />
+<P1 x="590" y="772" id="24627" />
+<P2 x="619" y="773" id="24749" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24376" index="9" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="893" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24375" />
+<P1 x="465" y="891" id="24629" />
+<P2 x="751" y="1040" id="24526" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24378" index="10" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24377" />
+<P1 x="795" y="243" id="24842" />
+<P2 x="465" y="331" id="24466" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut3(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
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+<cdparam x="949" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="24379" />
+<P1 x="877" y="243" id="24834" />
+<P2 x="879" y="332" id="24425" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn2(int messageType, int messageContent)" />
+<osd value="out R2outputMessage(int messageType, int messageContent)" />
+<isd value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut2(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="24382" index="12" uid="b4ab48a9-336f-4ac7-87ba-4d15134b2299" >
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+<infoparam name="connector" value="" />
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+<P2 x="1297" y="329" id="24384" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn1(int messageType, int messageContent)" />
+<osd value="out R1outputMessage(int messageType, int messageContent)" />
+<isd value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut1(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="24423" index="13" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24383" />
+<TGConnectingPoint num="1" id="24384" />
+<TGConnectingPoint num="2" id="24385" />
+<TGConnectingPoint num="3" id="24386" />
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+<TGConnectingPoint num="37" id="24420" />
+<TGConnectingPoint num="38" id="24421" />
+<TGConnectingPoint num="39" id="24422" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R1toEnvironment(int speed, int heading)" attached="true" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="24464" index="14" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="754" y="332" />
+<sizeparam width="250" height="257" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24424" />
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+<TGConnectingPoint num="37" id="24461" />
+<TGConnectingPoint num="38" id="24462" />
+<TGConnectingPoint num="39" id="24463" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R2toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="24505" index="15" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="340" y="331" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover3" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24465" />
+<TGConnectingPoint num="1" id="24466" />
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+<TGConnectingPoint num="5" id="24470" />
+<TGConnectingPoint num="6" id="24471" />
+<TGConnectingPoint num="7" id="24472" />
+<TGConnectingPoint num="8" id="24473" />
+<TGConnectingPoint num="9" id="24474" />
+<TGConnectingPoint num="10" id="24475" />
+<TGConnectingPoint num="11" id="24476" />
+<TGConnectingPoint num="12" id="24477" />
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+<TGConnectingPoint num="15" id="24480" />
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+<TGConnectingPoint num="37" id="24502" />
+<TGConnectingPoint num="38" id="24503" />
+<TGConnectingPoint num="39" id="24504" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R3toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="303" id="24522" index="16" uid="ab96062f-ee84-487e-9187-40d20a7b63cb" >
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+<sizeparam width="241" height="58" minWidth="80" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UPPAAL Pragma" value="A[] Environment2.gap > 0
+A[] Environment3.gap > 0
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24506" />
+<TGConnectingPoint num="1" id="24507" />
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+<TGConnectingPoint num="14" id="24520" />
+<TGConnectingPoint num="15" id="24521" />
+<extraparam>
+<Line value="A[] Environment2.gap > 0" />
+<Line value="A[] Environment3.gap > 0" />
+</extraparam>
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+<COMPONENT type="5000" id="24563" index="17" uid="e8dc1c1c-55c3-4f60-aed6-cccaae51ecbb" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="EnvironmentFusion" />
+<new d="false" />
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+<TGConnectingPoint num="37" id="24560" />
+<TGConnectingPoint num="38" id="24561" />
+<TGConnectingPoint num="39" id="24562" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x3" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y3" value="" type="8" typeOther="" />
+<Signal value="in fromE1(int x1, int y1)" attached="true" />
+<Signal value="in fromE2(int x2, int y2)" attached="true" />
+<Signal value="in fromE3(int x3, int y3)" attached="true" />
+<Signal value="out toE1(int xP1, int yP1)" attached="true" />
+<Signal value="out toE2(int xP2, int yP2)" attached="true" />
+<Signal value="out toE3(int xP3, int yP3)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5005" id="24572" index="18" uid="800dfbeb-d2e9-4003-9a79-2e715a474ec2" >
+<cdparam x="30" y="649" />
+<sizeparam width="250" height="239" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="EnvironmentLibrary" value="EnvironmentLibrary" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24564" />
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+<TGConnectingPoint num="5" id="24569" />
+<TGConnectingPoint num="6" id="24570" />
+<TGConnectingPoint num="7" id="24571" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="x" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="y" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="targetOrdinate" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Signal value="in sense(int t, bool f, bool p)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int g, bool l, bool p)" />
+<Signal value="in fromPredecessor(int x, int y)" />
+<Signal value="in fromRover(int s, int h)" />
+<Signal value="out computeVariation(int c, int s, int s)" />
+<Signal value="in variation(int x, int y)" />
+<ReturnAttribute access="0" id="gap" value="60" type="8" typeOther="" />
+<Attribute access="0" var="0" id="heading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="joiningGreaterOrdinate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="joiningSmallerOrdinate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isInLane" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="xPrev" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yPrev" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="fromPredecessor" value="false" type="4" typeOther="" />
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+<Attribute access="0" var="0" id="fromRover" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="firstLoop" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="xvar" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="0" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="5005" id="24581" index="19" uid="afdf6048-2ded-4533-9279-bcf42dece393" >
+<cdparam x="31" y="339" />
+<sizeparam width="250" height="248" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Rover" value="Rover" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24573" />
+<TGConnectingPoint num="1" id="24574" />
+<TGConnectingPoint num="2" id="24575" />
+<TGConnectingPoint num="3" id="24576" />
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+<TGConnectingPoint num="5" id="24578" />
+<TGConnectingPoint num="6" id="24579" />
+<TGConnectingPoint num="7" id="24580" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="roverID" value="0" type="8" typeOther="" />
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+<Parameter access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
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+<Parameter access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="targetOrdinate" value="120" type="8" typeOther="" />
+<Parameter access="0" var="0" id="nbCycles" value="0" type="8" typeOther="" />
+<Signal value="in inputMessage(int t, int c, int k)" />
+<Signal value="out outputMessage(int t, int c)" />
+<Signal value="in sensedData(int g, bool l, bool p)" />
+<Signal value="out sense(int t, bool f, bool p)" />
+<Signal value="out toEnvironment(int v, int h)" />
+<ReturnAttribute access="0" id="speed" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageType" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="0" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="emergencyBrake" value="false" type="4" typeOther="" />
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+<Attribute access="0" var="0" id="sinHeading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sensorUpdate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="networkUpdate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="heading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isInLane" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+</extraparam>
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+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
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+<CryptoBlock value="false" />
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+<Attribute access="0" var="0" id="y" value="80" type="8" typeOther="" />
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+<Attribute access="0" var="0" id="gap" value="40" type="8" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" attached="true" />
+<Signal value="in fromRover(int speed, int heading)" attached="true" />
+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="24704" index="22" uid="53950085-dae1-40d4-9d5d-655f3fd05f63" >
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+<hidden value="false" />
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+<infoparam name="Block0" value="Environment2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24664" />
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+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x" value="40" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="gap" value="40" type="8" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" attached="true" />
+<Signal value="in fromRover(int speed, int heading)" attached="true" />
+<Signal value="out toFollower(int x, int y)" attached="true" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="5000" id="24745" index="23" uid="b28f9c9a-3c39-4319-a73b-f8f269357704" >
+<cdparam x="1448" y="692" />
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+<hidden value="false" />
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+<infoparam name="Block0" value="ComputeVar1" />
+<new d="false" />
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+<TGConnectingPoint num="39" id="24744" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="24786" index="24" uid="b28f9c9a-3c39-4319-a73b-f8f269357704" >
+<cdparam x="619" y="692" />
+<sizeparam width="115" height="163" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar3" />
+<new d="false" />
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+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="24827" index="25" uid="b28f9c9a-3c39-4319-a73b-f8f269357704" >
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+<sizeparam width="115" height="163" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="ComputeVar2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24787" />
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+<TGConnectingPoint num="39" id="24826" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="xvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="out variation(int xvar, int yvar)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="24868" index="26" uid="1bfc24e2-04cd-4c7e-9a28-b9058842157f" >
+<cdparam x="713" y="51" />
+<sizeparam width="328" height="192" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Network" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24828" />
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+<TGConnectingPoint num="2" id="24830" />
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+<TGConnectingPoint num="39" id="24867" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="messageType" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageCheck" value="0" type="8" typeOther="" />
+<Signal value="in NetworkIn1(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn2(int messageType, int messageContent)" attached="true" />
+<Signal value="in NetworkIn3(int messageType, int messageContent)" attached="true" />
+<Signal value="out NetworkOut1(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out NetworkOut2(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out NetworkOut3(int messageType, int messageContent, int messageCheck)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Network" minX="10" maxX="4000" minY="10" maxY="1500" zoom="1.0" >
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+<P2 x="620" y="105" id="25084" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24869" />
+<TGConnectingPoint num="1" id="24870" />
+<TGConnectingPoint num="2" id="24871" />
+<TGConnectingPoint num="3" id="24872" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="1" id="24877" />
+<TGConnectingPoint num="2" id="24878" />
+<TGConnectingPoint num="3" id="24879" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="24889" index="2" uid="ef932124-ccab-48dd-b58a-66d40378d2d2" >
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+<infoparam name="connector" value="null" />
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+<P1 x="620" y="237" id="25040" />
+<P2 x="618" y="264" id="25028" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="24889" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3494" minY="10" maxY="1494" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="24883" />
+<TGConnectingPoint num="1" id="24884" />
+<TGConnectingPoint num="2" id="24885" />
+<TGConnectingPoint num="3" id="24886" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
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+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="28401" index="2" uid="a726928d-9124-410f-bb02-ac11cd14aa95" >
+<cdparam x="357" y="114" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28391" />
+<TGConnectingPoint num="1" id="28392" />
+<TGConnectingPoint num="2" id="28393" />
+<TGConnectingPoint num="3" id="28394" />
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+<TGConnectingPoint num="5" id="28396" />
+<TGConnectingPoint num="6" id="28397" />
+<TGConnectingPoint num="7" id="28398" />
+<TGConnectingPoint num="8" id="28399" />
+<TGConnectingPoint num="9" id="28400" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R1toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="28403" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="195" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28402" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="28405" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28404" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="28412" index="0" uid="097553a3-71a3-493b-9d90-17015d99eff1" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28411" />
+<P1 x="407" y="70" id="28433" />
+<P2 x="407" y="110" id="28420" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28410" index="5" uid="96f88ab9-bee6-4f9b-ac13-eecb7fc2b124" >
+<father id="28412" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28406" />
+<TGConnectingPoint num="1" id="28407" />
+<TGConnectingPoint num="2" id="28408" />
+<TGConnectingPoint num="3" id="28409" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28418" />
+<P1 x="407" y="145" id="28421" />
+<P2 x="407" y="188" id="28431" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28417" index="6" uid="f3e8cc1c-50b7-460f-a536-d40306696928" >
+<father id="28419" num="0" />
+<cdparam x="427" y="175" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28413" />
+<TGConnectingPoint num="1" id="28414" />
+<TGConnectingPoint num="2" id="28415" />
+<TGConnectingPoint num="3" id="28416" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="28430" index="2" uid="63df8d93-c187-4688-a782-773d8fb5d2b6" >
+<cdparam x="357" y="115" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28420" />
+<TGConnectingPoint num="1" id="28421" />
+<TGConnectingPoint num="2" id="28422" />
+<TGConnectingPoint num="3" id="28423" />
+<TGConnectingPoint num="4" id="28424" />
+<TGConnectingPoint num="5" id="28425" />
+<TGConnectingPoint num="6" id="28426" />
+<TGConnectingPoint num="7" id="28427" />
+<TGConnectingPoint num="8" id="28428" />
+<TGConnectingPoint num="9" id="28429" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="28432" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28431" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="28434" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28433" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="28441" index="0" uid="0af0a700-627e-4cf1-9f4a-785ee9cacaf8" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28440" />
+<P1 x="0" y="0" id="4103" />
+<P2 x="0" y="0" id="4105" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28439" index="7" uid="b55e7334-a1bc-4ada-93ae-a63371a884a3" >
+<father id="28441" num="0" />
+<cdparam x="425" y="83" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28435" />
+<TGConnectingPoint num="1" id="28436" />
+<TGConnectingPoint num="2" id="28437" />
+<TGConnectingPoint num="3" id="28438" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="28448" index="1" uid="95ba7f47-0d40-4294-879d-695c08066a86" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28447" />
+<P1 x="0" y="0" id="4106" />
+<P2 x="0" y="0" id="4123" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28446" index="8" uid="6b143580-1801-4724-bdf4-e82df032f3d0" >
+<father id="28448" num="0" />
+<cdparam x="408" y="166" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28442" />
+<TGConnectingPoint num="1" id="28443" />
+<TGConnectingPoint num="2" id="28444" />
+<TGConnectingPoint num="3" id="28445" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="28455" index="2" uid="247d0238-63ac-4e7b-9515-69130b4d62c4" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28454" />
+<P1 x="407" y="70" id="28476" />
+<P2 x="407" y="108" id="28463" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28453" index="9" uid="ca7ccbb8-095e-4374-be6f-6ba9c564f1c6" >
+<father id="28455" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28449" />
+<TGConnectingPoint num="1" id="28450" />
+<TGConnectingPoint num="2" id="28451" />
+<TGConnectingPoint num="3" id="28452" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="28462" index="3" uid="4283c745-f832-483b-a05c-133aa56eb3bd" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28461" />
+<P1 x="407" y="143" id="28464" />
+<P2 x="407" y="188" id="28474" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28456" />
+<TGConnectingPoint num="1" id="28457" />
+<TGConnectingPoint num="2" id="28458" />
+<TGConnectingPoint num="3" id="28459" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28463" />
+<TGConnectingPoint num="1" id="28464" />
+<TGConnectingPoint num="2" id="28465" />
+<TGConnectingPoint num="3" id="28466" />
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+<TGConnectingPoint num="6" id="28469" />
+<TGConnectingPoint num="7" id="28470" />
+<TGConnectingPoint num="8" id="28471" />
+<TGConnectingPoint num="9" id="28472" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R3toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="28475" index="5" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28474" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="28477" index="6" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28476" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="EnvironmentFusion" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28487" />
+<TGConnectingPoint num="1" id="28488" />
+<TGConnectingPoint num="2" id="28489" />
+<TGConnectingPoint num="3" id="28490" />
+<TGConnectingPoint num="4" id="28491" />
+<P1 x="573" y="307" id="28558" />
+<P2 x="621" y="131" id="28625" />
+<Point x="573" y="327" />
+<Point x="685" y="327" />
+<Point x="685" y="111" />
+<Point x="641" y="111" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<new d="false" />
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+
+</AVATARStateMachineDiagramPanel>
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+</SUBCOMPONENT>
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+<hidden value="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
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+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
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+<infoparam name="stop state" value="null" />
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+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
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+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<extraparam>
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+<computeMin value="" enabled="true"/>
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+<probability value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<TGConnectingPoint num="2" id="28757" />
+<TGConnectingPoint num="3" id="28758" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
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+<delayDistributionLaw value="0" enabled="true"/>
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+</SUBCOMPONENT>
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="2" id="28764" />
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+<extraparam>
+<guard value="[ ]" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="2" id="28771" />
+<TGConnectingPoint num="3" id="28772" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28781" />
+<P1 x="407" y="160" id="28784" />
+<P2 x="407" y="224" id="28794" />
+<AutomaticDrawing data="true" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28776" />
+<TGConnectingPoint num="1" id="28777" />
+<TGConnectingPoint num="2" id="28778" />
+<TGConnectingPoint num="3" id="28779" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28783" />
+<TGConnectingPoint num="1" id="28784" />
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+<TGConnectingPoint num="7" id="28790" />
+<TGConnectingPoint num="8" id="28791" />
+<TGConnectingPoint num="9" id="28792" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28794" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28796" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<P1 x="0" y="0" id="9998" />
+<P2 x="0" y="0" id="10000" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="28804" num="0" />
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+<hidden value="false" />
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+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="28800" />
+<TGConnectingPoint num="3" id="28801" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
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+<P2 x="0" y="0" id="10018" />
+<AutomaticDrawing data="true" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28805" />
+<TGConnectingPoint num="1" id="28806" />
+<TGConnectingPoint num="2" id="28807" />
+<TGConnectingPoint num="3" id="28808" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="28818" index="2" uid="b76f60d6-0e2e-42cf-8774-337dace6e16e" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28817" />
+<P1 x="0" y="0" id="3739" />
+<P2 x="0" y="0" id="3726" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="28818" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28812" />
+<TGConnectingPoint num="1" id="28813" />
+<TGConnectingPoint num="2" id="28814" />
+<TGConnectingPoint num="3" id="28815" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="28825" index="3" uid="efe89462-fbdd-4e9c-aecc-a05afdc02c78" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28824" />
+<P1 x="0" y="0" id="3727" />
+<P2 x="0" y="0" id="3737" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="28825" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28819" />
+<TGConnectingPoint num="1" id="28820" />
+<TGConnectingPoint num="2" id="28821" />
+<TGConnectingPoint num="3" id="28822" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="28832" index="4" uid="a54e3f11-115c-4261-818f-80d71459f351" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28831" />
+<P1 x="407" y="70" id="28853" />
+<P2 x="407" y="126" id="28840" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28830" index="13" uid="606518e8-7b65-416c-8390-f3e9ffc6670a" >
+<father id="28832" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28826" />
+<TGConnectingPoint num="1" id="28827" />
+<TGConnectingPoint num="2" id="28828" />
+<TGConnectingPoint num="3" id="28829" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="28839" index="5" uid="b29956aa-e046-4baf-a1f7-039d5ec60ae9" >
+<cdparam x="450" y="166" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28838" />
+<P1 x="407" y="161" id="28841" />
+<P2 x="407" y="224" id="28851" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="28837" index="14" uid="de5e0c10-75c3-4919-9bdb-f2978c58e726" >
+<father id="28839" num="0" />
+<cdparam x="428" y="195" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28833" />
+<TGConnectingPoint num="1" id="28834" />
+<TGConnectingPoint num="2" id="28835" />
+<TGConnectingPoint num="3" id="28836" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="28850" index="6" uid="ad4e83d7-62b2-4204-aeac-b37e9f434364" >
+<cdparam x="357" y="131" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28840" />
+<TGConnectingPoint num="1" id="28841" />
+<TGConnectingPoint num="2" id="28842" />
+<TGConnectingPoint num="3" id="28843" />
+<TGConnectingPoint num="4" id="28844" />
+<TGConnectingPoint num="5" id="28845" />
+<TGConnectingPoint num="6" id="28846" />
+<TGConnectingPoint num="7" id="28847" />
+<TGConnectingPoint num="8" id="28848" />
+<TGConnectingPoint num="9" id="28849" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="28852" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28851" />
+</COMPONENT>
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+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28853" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<Point x="181" y="90" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
+</SUBCOMPONENT>
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+<father id="28869" num="2" />
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
+</SUBCOMPONENT>
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28859" />
+<TGConnectingPoint num="1" id="28860" />
+<TGConnectingPoint num="2" id="28861" />
+<TGConnectingPoint num="3" id="28862" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28875" />
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+<P2 x="407" y="110" id="28914" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28870" />
+<TGConnectingPoint num="1" id="28871" />
+<TGConnectingPoint num="2" id="28872" />
+<TGConnectingPoint num="3" id="28873" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="28882" />
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+<P2 x="407" y="193" id="28902" />
+<AutomaticDrawing data="true" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="28878" />
+<TGConnectingPoint num="2" id="28879" />
+<TGConnectingPoint num="3" id="28880" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<P1 x="407" y="223" id="28903" />
+<P2 x="407" y="265" id="28891" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="28890" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28884" />
+<TGConnectingPoint num="1" id="28885" />
+<TGConnectingPoint num="2" id="28886" />
+<TGConnectingPoint num="3" id="28887" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="28901" index="4" uid="98c7cd84-a0e5-4359-beeb-9a66dd2cfb7f" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28891" />
+<TGConnectingPoint num="1" id="28892" />
+<TGConnectingPoint num="2" id="28893" />
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+<TGConnectingPoint num="5" id="28896" />
+<TGConnectingPoint num="6" id="28897" />
+<TGConnectingPoint num="7" id="28898" />
+<TGConnectingPoint num="8" id="28899" />
+<TGConnectingPoint num="9" id="28900" />
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28902" />
+<TGConnectingPoint num="1" id="28903" />
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+<hidden value="false" />
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+<infoparam name="state0" value="loop" />
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+<extraparam>
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+<hidden value="false" />
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+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28986" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
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+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="28992" />
+<TGConnectingPoint num="1" id="28993" />
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+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
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+<hidden value="false" />
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+</AVATARStateMachineDiagramPanel>
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+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="29167" index="4" uid="98c7cd84-a0e5-4359-beeb-9a66dd2cfb7f" >
+<cdparam x="341" y="270" />
+<sizeparam width="132" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="29157" />
+<TGConnectingPoint num="1" id="29158" />
+<TGConnectingPoint num="2" id="29159" />
+<TGConnectingPoint num="3" id="29160" />
+<TGConnectingPoint num="4" id="29161" />
+<TGConnectingPoint num="5" id="29162" />
+<TGConnectingPoint num="6" id="29163" />
+<TGConnectingPoint num="7" id="29164" />
+<TGConnectingPoint num="8" id="29165" />
+<TGConnectingPoint num="9" id="29166" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="29178" index="5" uid="1898f801-1ffe-4c14-8645-b07ff4268dbc" >
+<cdparam x="281" y="198" />
+<sizeparam width="252" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="29168" />
+<TGConnectingPoint num="1" id="29169" />
+<TGConnectingPoint num="2" id="29170" />
+<TGConnectingPoint num="3" id="29171" />
+<TGConnectingPoint num="4" id="29172" />
+<TGConnectingPoint num="5" id="29173" />
+<TGConnectingPoint num="6" id="29174" />
+<TGConnectingPoint num="7" id="29175" />
+<TGConnectingPoint num="8" id="29176" />
+<TGConnectingPoint num="9" id="29177" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="29251" index="6" uid="42d36278-3570-422a-b91a-3ee94dc0769a" >
+<cdparam x="357" y="110" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="state0" value="loop" />
+<new d="false" />
+<TGConnectingPoint num="0" id="29179" />
+<TGConnectingPoint num="1" id="29180" />
+<TGConnectingPoint num="2" id="29181" />
+<TGConnectingPoint num="3" id="29182" />
+<TGConnectingPoint num="4" id="29183" />
+<TGConnectingPoint num="5" id="29184" />
+<TGConnectingPoint num="6" id="29185" />
+<TGConnectingPoint num="7" id="29186" />
+<TGConnectingPoint num="8" id="29187" />
+<TGConnectingPoint num="9" id="29188" />
+<TGConnectingPoint num="10" id="29189" />
+<TGConnectingPoint num="11" id="29190" />
+<TGConnectingPoint num="12" id="29191" />
+<TGConnectingPoint num="13" id="29192" />
+<TGConnectingPoint num="14" id="29193" />
+<TGConnectingPoint num="15" id="29194" />
+<TGConnectingPoint num="16" id="29195" />
+<TGConnectingPoint num="17" id="29196" />
+<TGConnectingPoint num="18" id="29197" />
+<TGConnectingPoint num="19" id="29198" />
+<TGConnectingPoint num="20" id="29199" />
+<TGConnectingPoint num="21" id="29200" />
+<TGConnectingPoint num="22" id="29201" />
+<TGConnectingPoint num="23" id="29202" />
+<TGConnectingPoint num="24" id="29203" />
+<TGConnectingPoint num="25" id="29204" />
+<TGConnectingPoint num="26" id="29205" />
+<TGConnectingPoint num="27" id="29206" />
+<TGConnectingPoint num="28" id="29207" />
+<TGConnectingPoint num="29" id="29208" />
+<TGConnectingPoint num="30" id="29209" />
+<TGConnectingPoint num="31" id="29210" />
+<TGConnectingPoint num="32" id="29211" />
+<TGConnectingPoint num="33" id="29212" />
+<TGConnectingPoint num="34" id="29213" />
+<TGConnectingPoint num="35" id="29214" />
+<TGConnectingPoint num="36" id="29215" />
+<TGConnectingPoint num="37" id="29216" />
+<TGConnectingPoint num="38" id="29217" />
+<TGConnectingPoint num="39" id="29218" />
+<TGConnectingPoint num="40" id="29219" />
+<TGConnectingPoint num="41" id="29220" />
+<TGConnectingPoint num="42" id="29221" />
+<TGConnectingPoint num="43" id="29222" />
+<TGConnectingPoint num="44" id="29223" />
+<TGConnectingPoint num="45" id="29224" />
+<TGConnectingPoint num="46" id="29225" />
+<TGConnectingPoint num="47" id="29226" />
+<TGConnectingPoint num="48" id="29227" />
+<TGConnectingPoint num="49" id="29228" />
+<TGConnectingPoint num="50" id="29229" />
+<TGConnectingPoint num="51" id="29230" />
+<TGConnectingPoint num="52" id="29231" />
+<TGConnectingPoint num="53" id="29232" />
+<TGConnectingPoint num="54" id="29233" />
+<TGConnectingPoint num="55" id="29234" />
+<TGConnectingPoint num="56" id="29235" />
+<TGConnectingPoint num="57" id="29236" />
+<TGConnectingPoint num="58" id="29237" />
+<TGConnectingPoint num="59" id="29238" />
+<TGConnectingPoint num="60" id="29239" />
+<TGConnectingPoint num="61" id="29240" />
+<TGConnectingPoint num="62" id="29241" />
+<TGConnectingPoint num="63" id="29242" />
+<TGConnectingPoint num="64" id="29243" />
+<TGConnectingPoint num="65" id="29244" />
+<TGConnectingPoint num="66" id="29245" />
+<TGConnectingPoint num="67" id="29246" />
+<TGConnectingPoint num="68" id="29247" />
+<TGConnectingPoint num="69" id="29248" />
+<TGConnectingPoint num="70" id="29249" />
+<TGConnectingPoint num="71" id="29250" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="29253" index="7" uid="7dba5ce7-7519-4bbc-bc02-ee0575b9508f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="29252" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="MAC_Attack1" tabs="Block Diagram$Network$Rover$EnvironmentLibrary$Rover1$Rover2$Rover3$EnvironmentFusion$Environment1$Environment2$Environment3$ComputeVar1$ComputeVar2$ComputeVar3" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1499" zoom="1.0000000000000009" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<considerTimingOperators value="true" />
+<Validated value="" />
+<Ignored value="" />
+
+<COMPONENT type="301" id="39462" index="0" uid="48b8e211-7041-4f94-8483-e490304fa742" >
+<cdparam x="63" y="137" />
+<sizeparam width="357" height="75" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UML Note" value="This models feature the platoon with a
+message authentication code countermeasure
+added to the communications between the leader
+and the followers, where the leader keeps a constant
+speed, and where the attacker injects false speed
+values to the followers." />
+<new d="false" />
+<TGConnectingPoint num="0" id="39463" />
+<TGConnectingPoint num="1" id="39464" />
+<TGConnectingPoint num="2" id="39465" />
+<TGConnectingPoint num="3" id="39466" />
+<TGConnectingPoint num="4" id="39467" />
+<TGConnectingPoint num="5" id="39468" />
+<TGConnectingPoint num="6" id="39469" />
+<TGConnectingPoint num="7" id="39470" />
+<TGConnectingPoint num="8" id="39471" />
+<TGConnectingPoint num="9" id="39472" />
+<TGConnectingPoint num="10" id="39473" />
+<TGConnectingPoint num="11" id="39474" />
+<TGConnectingPoint num="12" id="39475" />
+<TGConnectingPoint num="13" id="39476" />
+<TGConnectingPoint num="14" id="39477" />
+<TGConnectingPoint num="15" id="39478" />
+<extraparam>
+<Line value="This models feature the platoon with a" />
+<Line value="message authentication code countermeasure" />
+<Line value="added to the communications between the leader" />
+<Line value="and the followers, where the leader keeps a constant" />
+<Line value="speed, and where the attacker injects false speed" />
+<Line value="values to the followers." />
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5002" id="29255" index="1" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29254" />
+<P1 x="1003" y="771" id="29563" />
+<P2 x="1029" y="772" id="29685" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29257" index="2" uid="49b256eb-38dc-4869-9f67-bf2947f813b5" >
+<cdparam x="467" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29256" />
+<P1 x="465" y="591" id="29366" />
+<P2 x="465" y="653" id="29519" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29259" index="3" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="878" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29258" />
+<P1 x="879" y="589" id="29325" />
+<P2 x="878" y="653" id="29560" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29261" index="4" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29260" />
+<P1 x="1297" y="589" id="29284" />
+<P2 x="1298" y="653" id="29478" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29263" index="5" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29262" />
+<P1 x="878" y="890" id="29565" />
+<P2 x="876" y="926" id="29419" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29265" index="6" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29264" />
+<P1 x="1298" y="891" id="29483" />
+<P2 x="1001" y="1040" id="29422" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29267" index="7" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29266" />
+<P1 x="1423" y="772" id="29481" />
+<P2 x="1448" y="773" id="29603" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29269" index="8" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29268" />
+<P1 x="590" y="772" id="29522" />
+<P2 x="619" y="773" id="29644" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29271" index="9" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="893" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29270" />
+<P1 x="465" y="891" id="29524" />
+<P2 x="751" y="1040" id="29421" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29273" index="10" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29272" />
+<P1 x="795" y="243" id="29737" />
+<P2 x="465" y="331" id="29361" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut3(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29275" index="11" uid="53b8d66b-cda5-4358-ba2b-31be693139f0" >
+<cdparam x="949" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29274" />
+<P1 x="877" y="243" id="29729" />
+<P2 x="879" y="332" id="29320" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn2(int messageType, int messageContent)" />
+<osd value="out R2outputMessage(int messageType, int messageContent)" />
+<isd value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut2(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="29277" index="12" uid="b4ab48a9-336f-4ac7-87ba-4d15134b2299" >
+<cdparam x="1266" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="29276" />
+<P1 x="959" y="243" id="29738" />
+<P2 x="1297" y="329" id="29279" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn1(int messageType, int messageContent)" />
+<osd value="out R1outputMessage(int messageType, int messageContent)" />
+<isd value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut1(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="29318" index="13" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="1172" y="329" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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+<Line value="A[] Environment3.gap > 0" />
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+<CryptoBlock value="false" />
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+<Attribute access="0" var="0" id="y3" value="" type="8" typeOther="" />
+<Signal value="in fromE1(int x1, int y1)" attached="true" />
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+<Signal value="out toE3(int xP3, int yP3)" attached="true" />
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+<extraparam>
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+<Signal value="in sense(int t, bool f, bool p)" />
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+<Signal value="out sensedData(int g, bool l, bool p)" />
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+<Attribute access="0" var="0" id="firstLoop" value="true" type="4" typeOther="" />
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+<Signal value="in inputMessage(int t, int c, int k)" />
+<Signal value="out outputMessage(int t, int c)" />
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+<Signal value="out sense(int t, bool f, bool p)" />
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+</AVATARBlockDiagramPanel>
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+<extraDelay1 value="" enabled="true"/>
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+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+</extraparam>
+</COMPONENT>
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+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
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+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="We consider two lanes :
+ | |
+platoon lane joining/leaving rovers lane
+ (1) (2)
+ y = 80 y = 0
+Rovers can :
+- go ahead (0° heading, keeping their lane)
+- turn (45°/-45° heading, until they join the desired lane)
+" />
+<new d="false" />
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+<TGConnectingPoint num="14" id="31004" />
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+<Line value="We consider two lanes :" />
+<Line value=" | |" />
+<Line value="platoon lane joining/leaving rovers lane" />
+<Line value=" (1) (2)" />
+<Line value=" y = 80 y = 0 " />
+<Line value="Rovers can :" />
+<Line value="- go ahead (0° heading, keeping their lane)" />
+<Line value="- turn (45°/-45° heading, until they join the desired lane)" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="When leaving, the leader joins the
+left lane with a 45° heading
+(cos(pi/4) = sin(pi/4) ~ 0,7)
+" />
+<new d="false" />
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+<TGConnectingPoint num="14" id="31021" />
+<TGConnectingPoint num="15" id="31022" />
+<extraparam>
+<Line value="When leaving, the leader joins the" />
+<Line value="left lane with a 45° heading" />
+<Line value="(cos(pi/4) = sin(pi/4) ~ 0,7)" />
+</extraparam>
+</COMPONENT>
+
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+<sizeparam width="269" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="sensedData(gap, isInLane, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="31024" />
+<TGConnectingPoint num="1" id="31025" />
+<TGConnectingPoint num="2" id="31026" />
+<TGConnectingPoint num="3" id="31027" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="sense(targetOrdinate, hasFollower, hasPredecessor)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="31035" />
+<TGConnectingPoint num="1" id="31036" />
+<TGConnectingPoint num="2" id="31037" />
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+<actions value="fromPredecessor = false" enabled="true"/>
+<actions value="fromRover = false" enabled="true"/>
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+<Parameter id="nbCycles" />
+<Signal value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R1toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="33449" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="195" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33448" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="33451" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33450" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="33458" index="0" uid="097553a3-71a3-493b-9d90-17015d99eff1" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33457" />
+<P1 x="407" y="70" id="33479" />
+<P2 x="407" y="110" id="33466" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33456" index="5" uid="96f88ab9-bee6-4f9b-ac13-eecb7fc2b124" >
+<father id="33458" num="0" />
+<cdparam x="427" y="99" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33452" />
+<TGConnectingPoint num="1" id="33453" />
+<TGConnectingPoint num="2" id="33454" />
+<TGConnectingPoint num="3" id="33455" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33465" index="1" uid="43d46f5b-11aa-4ebe-8760-5a74e0221c9c" >
+<cdparam x="448" y="163" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33464" />
+<P1 x="407" y="145" id="33467" />
+<P2 x="407" y="188" id="33477" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33463" index="6" uid="f3e8cc1c-50b7-460f-a536-d40306696928" >
+<father id="33465" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33459" />
+<TGConnectingPoint num="1" id="33460" />
+<TGConnectingPoint num="2" id="33461" />
+<TGConnectingPoint num="3" id="33462" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="33476" index="2" uid="63df8d93-c187-4688-a782-773d8fb5d2b6" >
+<cdparam x="357" y="115" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33466" />
+<TGConnectingPoint num="1" id="33467" />
+<TGConnectingPoint num="2" id="33468" />
+<TGConnectingPoint num="3" id="33469" />
+<TGConnectingPoint num="4" id="33470" />
+<TGConnectingPoint num="5" id="33471" />
+<TGConnectingPoint num="6" id="33472" />
+<TGConnectingPoint num="7" id="33473" />
+<TGConnectingPoint num="8" id="33474" />
+<TGConnectingPoint num="9" id="33475" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="33478" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33477" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="33480" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33479" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="33487" index="0" uid="0af0a700-627e-4cf1-9f4a-785ee9cacaf8" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33486" />
+<P1 x="0" y="0" id="4103" />
+<P2 x="0" y="0" id="4105" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33485" index="7" uid="b55e7334-a1bc-4ada-93ae-a63371a884a3" >
+<father id="33487" num="0" />
+<cdparam x="425" y="83" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33481" />
+<TGConnectingPoint num="1" id="33482" />
+<TGConnectingPoint num="2" id="33483" />
+<TGConnectingPoint num="3" id="33484" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33494" index="1" uid="95ba7f47-0d40-4294-879d-695c08066a86" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33493" />
+<P1 x="0" y="0" id="4106" />
+<P2 x="0" y="0" id="4123" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33492" index="8" uid="6b143580-1801-4724-bdf4-e82df032f3d0" >
+<father id="33494" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33488" />
+<TGConnectingPoint num="1" id="33489" />
+<TGConnectingPoint num="2" id="33490" />
+<TGConnectingPoint num="3" id="33491" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33501" index="2" uid="247d0238-63ac-4e7b-9515-69130b4d62c4" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33500" />
+<P1 x="407" y="70" id="33522" />
+<P2 x="407" y="108" id="33509" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33499" index="9" uid="ca7ccbb8-095e-4374-be6f-6ba9c564f1c6" >
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33495" />
+<TGConnectingPoint num="1" id="33496" />
+<TGConnectingPoint num="2" id="33497" />
+<TGConnectingPoint num="3" id="33498" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33508" index="3" uid="4283c745-f832-483b-a05c-133aa56eb3bd" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33507" />
+<P1 x="407" y="143" id="33510" />
+<P2 x="407" y="188" id="33520" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33502" />
+<TGConnectingPoint num="1" id="33503" />
+<TGConnectingPoint num="2" id="33504" />
+<TGConnectingPoint num="3" id="33505" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33509" />
+<TGConnectingPoint num="1" id="33510" />
+<TGConnectingPoint num="2" id="33511" />
+<TGConnectingPoint num="3" id="33512" />
+<TGConnectingPoint num="4" id="33513" />
+<TGConnectingPoint num="5" id="33514" />
+<TGConnectingPoint num="6" id="33515" />
+<TGConnectingPoint num="7" id="33516" />
+<TGConnectingPoint num="8" id="33517" />
+<TGConnectingPoint num="9" id="33518" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R3toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="33521" index="5" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33520" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="33523" index="6" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33522" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="EnvironmentFusion" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33533" />
+<TGConnectingPoint num="1" id="33534" />
+<TGConnectingPoint num="2" id="33535" />
+<TGConnectingPoint num="3" id="33536" />
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+<P1 x="573" y="307" id="33604" />
+<P2 x="621" y="131" id="33671" />
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+<Point x="685" y="327" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="33527" index="20" uid="fca0923a-e0d0-4bb0-aa41-cd662127fe94" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<father id="33538" num="4" />
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+</COMPONENT>
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+<new d="false" />
+<TGConnectingPoint num="0" id="33742" />
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+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
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+<extraparam>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="33753" />
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+<extraparam>
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+<afterMin value="" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
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+<TGConnectingPoint num="3" id="33761" />
+<extraparam>
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+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
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+<extraparam>
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+<computeMin value="" enabled="true"/>
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+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33772" />
+<TGConnectingPoint num="1" id="33773" />
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+<TGConnectingPoint num="9" id="33781" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
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+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33783" />
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+<hidden value="false" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="33785" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
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+<extraparam>
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+<afterMin value="" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33801" />
+<TGConnectingPoint num="1" id="33802" />
+<TGConnectingPoint num="2" id="33803" />
+<TGConnectingPoint num="3" id="33804" />
+<extraparam>
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+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<P1 x="0" y="0" id="3684" />
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+<AutomaticDrawing data="true" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33808" />
+<TGConnectingPoint num="1" id="33809" />
+<TGConnectingPoint num="2" id="33810" />
+<TGConnectingPoint num="3" id="33811" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
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+<P1 x="407" y="70" id="33842" />
+<P2 x="407" y="125" id="33829" />
+<AutomaticDrawing data="true" />
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+<father id="33821" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="1" id="33816" />
+<TGConnectingPoint num="2" id="33817" />
+<TGConnectingPoint num="3" id="33818" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33827" />
+<P1 x="407" y="160" id="33830" />
+<P2 x="407" y="224" id="33840" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="33828" num="0" />
+<cdparam x="425" y="196" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33822" />
+<TGConnectingPoint num="1" id="33823" />
+<TGConnectingPoint num="2" id="33824" />
+<TGConnectingPoint num="3" id="33825" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33829" />
+<TGConnectingPoint num="1" id="33830" />
+<TGConnectingPoint num="2" id="33831" />
+<TGConnectingPoint num="3" id="33832" />
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+<TGConnectingPoint num="8" id="33837" />
+<TGConnectingPoint num="9" id="33838" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="33841" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33840" />
+</COMPONENT>
+
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33842" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="33850" index="0" uid="363be074-74c2-4456-b6fb-8420e0e7e305" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33849" />
+<P1 x="0" y="0" id="9998" />
+<P2 x="0" y="0" id="10000" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33848" index="9" uid="9b0d4097-2637-4d9d-910e-c113a45d364b" >
+<father id="33850" num="0" />
+<cdparam x="421" y="91" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33844" />
+<TGConnectingPoint num="1" id="33845" />
+<TGConnectingPoint num="2" id="33846" />
+<TGConnectingPoint num="3" id="33847" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33857" index="1" uid="5be6ba38-7f77-4599-98df-7d59195cbec6" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33856" />
+<P1 x="0" y="0" id="10001" />
+<P2 x="0" y="0" id="10018" />
+<AutomaticDrawing data="true" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33851" />
+<TGConnectingPoint num="1" id="33852" />
+<TGConnectingPoint num="2" id="33853" />
+<TGConnectingPoint num="3" id="33854" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33864" index="2" uid="b76f60d6-0e2e-42cf-8774-337dace6e16e" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33863" />
+<P1 x="0" y="0" id="3739" />
+<P2 x="0" y="0" id="3726" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="33864" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33858" />
+<TGConnectingPoint num="1" id="33859" />
+<TGConnectingPoint num="2" id="33860" />
+<TGConnectingPoint num="3" id="33861" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33871" index="3" uid="efe89462-fbdd-4e9c-aecc-a05afdc02c78" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33870" />
+<P1 x="0" y="0" id="3727" />
+<P2 x="0" y="0" id="3737" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="33871" num="0" />
+<cdparam x="428" y="194" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33865" />
+<TGConnectingPoint num="1" id="33866" />
+<TGConnectingPoint num="2" id="33867" />
+<TGConnectingPoint num="3" id="33868" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33878" index="4" uid="a54e3f11-115c-4261-818f-80d71459f351" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33877" />
+<P1 x="407" y="70" id="33899" />
+<P2 x="407" y="126" id="33886" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33876" index="13" uid="606518e8-7b65-416c-8390-f3e9ffc6670a" >
+<father id="33878" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33872" />
+<TGConnectingPoint num="1" id="33873" />
+<TGConnectingPoint num="2" id="33874" />
+<TGConnectingPoint num="3" id="33875" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="33885" index="5" uid="b29956aa-e046-4baf-a1f7-039d5ec60ae9" >
+<cdparam x="450" y="166" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="33884" />
+<P1 x="407" y="161" id="33887" />
+<P2 x="407" y="224" id="33897" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="33883" index="14" uid="de5e0c10-75c3-4919-9bdb-f2978c58e726" >
+<father id="33885" num="0" />
+<cdparam x="428" y="195" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33879" />
+<TGConnectingPoint num="1" id="33880" />
+<TGConnectingPoint num="2" id="33881" />
+<TGConnectingPoint num="3" id="33882" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="33896" index="6" uid="ad4e83d7-62b2-4204-aeac-b37e9f434364" >
+<cdparam x="357" y="131" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33886" />
+<TGConnectingPoint num="1" id="33887" />
+<TGConnectingPoint num="2" id="33888" />
+<TGConnectingPoint num="3" id="33889" />
+<TGConnectingPoint num="4" id="33890" />
+<TGConnectingPoint num="5" id="33891" />
+<TGConnectingPoint num="6" id="33892" />
+<TGConnectingPoint num="7" id="33893" />
+<TGConnectingPoint num="8" id="33894" />
+<TGConnectingPoint num="9" id="33895" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="33898" index="7" uid="16a1dd46-6001-46fb-8586-e6d173c9f0dc" >
+<cdparam x="397" y="229" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33897" />
+</COMPONENT>
+
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+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="33899" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="33915" index="0" uid="126e754b-f33e-4460-af58-1da96618c6ef" >
+<cdparam x="407" y="295" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<new d="false" />
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+<TGConnectingPoint num="1" id="34215" />
+<TGConnectingPoint num="2" id="34216" />
+<TGConnectingPoint num="3" id="34217" />
+<TGConnectingPoint num="4" id="34218" />
+<TGConnectingPoint num="5" id="34219" />
+<TGConnectingPoint num="6" id="34220" />
+<TGConnectingPoint num="7" id="34221" />
+<TGConnectingPoint num="8" id="34222" />
+<TGConnectingPoint num="9" id="34223" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="34297" index="6" uid="42d36278-3570-422a-b91a-3ee94dc0769a" >
+<cdparam x="357" y="110" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="state0" value="loop" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34225" />
+<TGConnectingPoint num="1" id="34226" />
+<TGConnectingPoint num="2" id="34227" />
+<TGConnectingPoint num="3" id="34228" />
+<TGConnectingPoint num="4" id="34229" />
+<TGConnectingPoint num="5" id="34230" />
+<TGConnectingPoint num="6" id="34231" />
+<TGConnectingPoint num="7" id="34232" />
+<TGConnectingPoint num="8" id="34233" />
+<TGConnectingPoint num="9" id="34234" />
+<TGConnectingPoint num="10" id="34235" />
+<TGConnectingPoint num="11" id="34236" />
+<TGConnectingPoint num="12" id="34237" />
+<TGConnectingPoint num="13" id="34238" />
+<TGConnectingPoint num="14" id="34239" />
+<TGConnectingPoint num="15" id="34240" />
+<TGConnectingPoint num="16" id="34241" />
+<TGConnectingPoint num="17" id="34242" />
+<TGConnectingPoint num="18" id="34243" />
+<TGConnectingPoint num="19" id="34244" />
+<TGConnectingPoint num="20" id="34245" />
+<TGConnectingPoint num="21" id="34246" />
+<TGConnectingPoint num="22" id="34247" />
+<TGConnectingPoint num="23" id="34248" />
+<TGConnectingPoint num="24" id="34249" />
+<TGConnectingPoint num="25" id="34250" />
+<TGConnectingPoint num="26" id="34251" />
+<TGConnectingPoint num="27" id="34252" />
+<TGConnectingPoint num="28" id="34253" />
+<TGConnectingPoint num="29" id="34254" />
+<TGConnectingPoint num="30" id="34255" />
+<TGConnectingPoint num="31" id="34256" />
+<TGConnectingPoint num="32" id="34257" />
+<TGConnectingPoint num="33" id="34258" />
+<TGConnectingPoint num="34" id="34259" />
+<TGConnectingPoint num="35" id="34260" />
+<TGConnectingPoint num="36" id="34261" />
+<TGConnectingPoint num="37" id="34262" />
+<TGConnectingPoint num="38" id="34263" />
+<TGConnectingPoint num="39" id="34264" />
+<TGConnectingPoint num="40" id="34265" />
+<TGConnectingPoint num="41" id="34266" />
+<TGConnectingPoint num="42" id="34267" />
+<TGConnectingPoint num="43" id="34268" />
+<TGConnectingPoint num="44" id="34269" />
+<TGConnectingPoint num="45" id="34270" />
+<TGConnectingPoint num="46" id="34271" />
+<TGConnectingPoint num="47" id="34272" />
+<TGConnectingPoint num="48" id="34273" />
+<TGConnectingPoint num="49" id="34274" />
+<TGConnectingPoint num="50" id="34275" />
+<TGConnectingPoint num="51" id="34276" />
+<TGConnectingPoint num="52" id="34277" />
+<TGConnectingPoint num="53" id="34278" />
+<TGConnectingPoint num="54" id="34279" />
+<TGConnectingPoint num="55" id="34280" />
+<TGConnectingPoint num="56" id="34281" />
+<TGConnectingPoint num="57" id="34282" />
+<TGConnectingPoint num="58" id="34283" />
+<TGConnectingPoint num="59" id="34284" />
+<TGConnectingPoint num="60" id="34285" />
+<TGConnectingPoint num="61" id="34286" />
+<TGConnectingPoint num="62" id="34287" />
+<TGConnectingPoint num="63" id="34288" />
+<TGConnectingPoint num="64" id="34289" />
+<TGConnectingPoint num="65" id="34290" />
+<TGConnectingPoint num="66" id="34291" />
+<TGConnectingPoint num="67" id="34292" />
+<TGConnectingPoint num="68" id="34293" />
+<TGConnectingPoint num="69" id="34294" />
+<TGConnectingPoint num="70" id="34295" />
+<TGConnectingPoint num="71" id="34296" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="34299" index="7" uid="7dba5ce7-7519-4bbc-bc02-ee0575b9508f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34298" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="MAC_Attack1_Deceleration" tabs="Block Diagram$Network$Rover$EnvironmentLibrary$Rover1$Rover2$Rover3$EnvironmentFusion$Environment1$Environment2$Environment3$ComputeVar1$ComputeVar2$ComputeVar3" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1499" zoom="1.0000000000000009" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<considerTimingOperators value="true" />
+<Validated value="" />
+<Ignored value="" />
+
+<COMPONENT type="301" id="39479" index="0" uid="0258a6b7-4627-4d26-8c8e-0a3be64bdbf0" >
+<cdparam x="60" y="131" />
+<sizeparam width="600" height="63" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UML Note" value="This models feature the platoon with a
+message authentication code countermeasure
+added to the communications between the leader
+and the followers, where the leader decelerates, and where the attacker injects false speed
+values to the followers." />
+<new d="false" />
+<TGConnectingPoint num="0" id="39480" />
+<TGConnectingPoint num="1" id="39481" />
+<TGConnectingPoint num="2" id="39482" />
+<TGConnectingPoint num="3" id="39483" />
+<TGConnectingPoint num="4" id="39484" />
+<TGConnectingPoint num="5" id="39485" />
+<TGConnectingPoint num="6" id="39486" />
+<TGConnectingPoint num="7" id="39487" />
+<TGConnectingPoint num="8" id="39488" />
+<TGConnectingPoint num="9" id="39489" />
+<TGConnectingPoint num="10" id="39490" />
+<TGConnectingPoint num="11" id="39491" />
+<TGConnectingPoint num="12" id="39492" />
+<TGConnectingPoint num="13" id="39493" />
+<TGConnectingPoint num="14" id="39494" />
+<TGConnectingPoint num="15" id="39495" />
+<extraparam>
+<Line value="This models feature the platoon with a" />
+<Line value="message authentication code countermeasure" />
+<Line value="added to the communications between the leader" />
+<Line value="and the followers, where the leader decelerates, and where the attacker injects false speed" />
+<Line value="values to the followers." />
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5002" id="34301" index="1" uid="ce3915b3-e6c0-45c0-ad2a-26e39e40e049" >
+<cdparam x="1003" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34300" />
+<P1 x="1003" y="771" id="34609" />
+<P2 x="1029" y="772" id="34731" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34303" index="2" uid="49b256eb-38dc-4869-9f67-bf2947f813b5" >
+<cdparam x="467" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34302" />
+<P1 x="465" y="591" id="34412" />
+<P2 x="465" y="653" id="34565" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R3toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34305" index="3" uid="fe640592-a229-49a1-bad1-c106428d39a5" >
+<cdparam x="878" y="581" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34304" />
+<P1 x="879" y="589" id="34371" />
+<P2 x="878" y="653" id="34606" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R2toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34307" index="4" uid="09bac69a-6098-4186-9dd9-df8b225f3295" >
+<cdparam x="1297" y="583" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34306" />
+<P1 x="1297" y="589" id="34330" />
+<P2 x="1298" y="653" id="34524" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<osd value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<isd value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<isd value="in fromRover(int speed, int heading)" />
+<oso value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<oso value="out R1toEnvironment(int speed, int heading)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34309" index="5" uid="9336999b-5b9f-4ac7-8cb7-d53092882df1" >
+<cdparam x="878" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34308" />
+<P1 x="878" y="890" id="34611" />
+<P2 x="876" y="926" id="34465" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE2(int xP2, int yP2)" />
+<isd value="in fromE2(int x2, int y2)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34311" index="6" uid="f6a6c9db-0aec-4736-b410-80cfeffb96b6" >
+<cdparam x="1102" y="839" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34310" />
+<P1 x="1298" y="891" id="34529" />
+<P2 x="1001" y="1040" id="34468" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE1(int xP1, int yP1)" />
+<isd value="in fromE1(int x1, int y1)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34313" index="7" uid="0494dc83-07f4-44e4-9f0c-e89f7cc7162f" >
+<cdparam x="1422" y="772" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34312" />
+<P1 x="1423" y="772" id="34527" />
+<P2 x="1448" y="773" id="34649" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34315" index="8" uid="390715c1-975a-4a85-ae5c-ace561a06b47" >
+<cdparam x="591" y="773" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34314" />
+<P1 x="590" y="772" id="34568" />
+<P2 x="619" y="773" id="34690" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in variation(int xvar, int yvar)" />
+<osd value="out variation(int xvar, int yvar)" />
+<isd value="in computeVariation(int cosH, int sinH, int speed)" />
+<oso value="out computeVariation(int cosH, int sinH, int speed)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34317" index="9" uid="4781ac17-36c8-4e52-ae05-3f1b0221a1e4" >
+<cdparam x="465" y="893" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34316" />
+<P1 x="465" y="891" id="34570" />
+<P2 x="751" y="1040" id="34467" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in fromPredecessor(int xPrev, int yPrev)" />
+<osd value="out toE3(int xP3, int yP3)" />
+<isd value="in fromE3(int x3, int y3)" />
+<oso value="out toFollower(int x, int y)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34319" index="10" uid="45ae039f-611d-4287-a1af-398b881d9b58" >
+<cdparam x="632" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34318" />
+<P1 x="795" y="243" id="34783" />
+<P2 x="465" y="331" id="34407" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn3(int messageType, int messageContent)" />
+<osd value="out R3outputMessage(int messageType, int messageContent)" />
+<isd value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut3(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34321" index="11" uid="53b8d66b-cda5-4358-ba2b-31be693139f0" >
+<cdparam x="949" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34320" />
+<P1 x="877" y="243" id="34775" />
+<P2 x="879" y="332" id="34366" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn2(int messageType, int messageContent)" />
+<osd value="out R2outputMessage(int messageType, int messageContent)" />
+<isd value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut2(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="34323" index="12" uid="b4ab48a9-336f-4ac7-87ba-4d15134b2299" >
+<cdparam x="1266" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1999" maxHeight="1999" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="34322" />
+<P1 x="959" y="243" id="34784" />
+<P2 x="1297" y="329" id="34325" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<iso value="in NetworkIn1(int messageType, int messageContent)" />
+<osd value="out R1outputMessage(int messageType, int messageContent)" />
+<isd value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<oso value="out NetworkOut1(int messageType, int messageContent, int messageCheck)" />
+<FIFOType asynchronous="false" synchronousCH="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" ams="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="34364" index="13" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="1172" y="329" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34324" />
+<TGConnectingPoint num="1" id="34325" />
+<TGConnectingPoint num="2" id="34326" />
+<TGConnectingPoint num="3" id="34327" />
+<TGConnectingPoint num="4" id="34328" />
+<TGConnectingPoint num="5" id="34329" />
+<TGConnectingPoint num="6" id="34330" />
+<TGConnectingPoint num="7" id="34331" />
+<TGConnectingPoint num="8" id="34332" />
+<TGConnectingPoint num="9" id="34333" />
+<TGConnectingPoint num="10" id="34334" />
+<TGConnectingPoint num="11" id="34335" />
+<TGConnectingPoint num="12" id="34336" />
+<TGConnectingPoint num="13" id="34337" />
+<TGConnectingPoint num="14" id="34338" />
+<TGConnectingPoint num="15" id="34339" />
+<TGConnectingPoint num="16" id="34340" />
+<TGConnectingPoint num="17" id="34341" />
+<TGConnectingPoint num="18" id="34342" />
+<TGConnectingPoint num="19" id="34343" />
+<TGConnectingPoint num="20" id="34344" />
+<TGConnectingPoint num="21" id="34345" />
+<TGConnectingPoint num="22" id="34346" />
+<TGConnectingPoint num="23" id="34347" />
+<TGConnectingPoint num="24" id="34348" />
+<TGConnectingPoint num="25" id="34349" />
+<TGConnectingPoint num="26" id="34350" />
+<TGConnectingPoint num="27" id="34351" />
+<TGConnectingPoint num="28" id="34352" />
+<TGConnectingPoint num="29" id="34353" />
+<TGConnectingPoint num="30" id="34354" />
+<TGConnectingPoint num="31" id="34355" />
+<TGConnectingPoint num="32" id="34356" />
+<TGConnectingPoint num="33" id="34357" />
+<TGConnectingPoint num="34" id="34358" />
+<TGConnectingPoint num="35" id="34359" />
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+<TGConnectingPoint num="37" id="34361" />
+<TGConnectingPoint num="38" id="34362" />
+<TGConnectingPoint num="39" id="34363" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R1toEnvironment(int speed, int heading)" attached="true" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="34405" index="14" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="754" y="332" />
+<sizeparam width="250" height="257" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover2" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34365" />
+<TGConnectingPoint num="1" id="34366" />
+<TGConnectingPoint num="2" id="34367" />
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+<TGConnectingPoint num="5" id="34370" />
+<TGConnectingPoint num="6" id="34371" />
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+<TGConnectingPoint num="14" id="34379" />
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+<TGConnectingPoint num="20" id="34385" />
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+<TGConnectingPoint num="28" id="34393" />
+<TGConnectingPoint num="29" id="34394" />
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+<TGConnectingPoint num="32" id="34397" />
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+<TGConnectingPoint num="34" id="34399" />
+<TGConnectingPoint num="35" id="34400" />
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+<TGConnectingPoint num="37" id="34402" />
+<TGConnectingPoint num="38" id="34403" />
+<TGConnectingPoint num="39" id="34404" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="2" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R2toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="34446" index="15" uid="43fcc6bb-7137-40e6-ab4b-abdd902c44f8" >
+<cdparam x="340" y="331" />
+<sizeparam width="250" height="260" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Rover3" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34406" />
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+<TGConnectingPoint num="37" id="34443" />
+<TGConnectingPoint num="38" id="34444" />
+<TGConnectingPoint num="39" id="34445" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="roverID" value="3" type="8" typeOther="" />
+<Attribute access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="targetOrdinate" value="80" type="8" typeOther="" />
+<Attribute access="0" var="0" id="nbCycles" value="21" type="8" typeOther="" />
+<Signal value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" attached="true" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" attached="true" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" attached="true" />
+<Signal value="out R3toEnvironment(int speed, int heading)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="303" id="34463" index="16" uid="ab96062f-ee84-487e-9187-40d20a7b63cb" >
+<cdparam x="44" y="46" />
+<sizeparam width="241" height="58" minWidth="80" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="UPPAAL Pragma" value="A[] Environment2.gap > 0
+A[] Environment3.gap > 0
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34447" />
+<TGConnectingPoint num="1" id="34448" />
+<TGConnectingPoint num="2" id="34449" />
+<TGConnectingPoint num="3" id="34450" />
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+<TGConnectingPoint num="13" id="34460" />
+<TGConnectingPoint num="14" id="34461" />
+<TGConnectingPoint num="15" id="34462" />
+<extraparam>
+<Line value="A[] Environment2.gap > 0" />
+<Line value="A[] Environment3.gap > 0" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="34504" index="17" uid="e8dc1c1c-55c3-4f60-aed6-cccaae51ecbb" >
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+<sizeparam width="250" height="228" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="EnvironmentFusion" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34464" />
+<TGConnectingPoint num="1" id="34465" />
+<TGConnectingPoint num="2" id="34466" />
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+<TGConnectingPoint num="21" id="34485" />
+<TGConnectingPoint num="22" id="34486" />
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+<TGConnectingPoint num="25" id="34489" />
+<TGConnectingPoint num="26" id="34490" />
+<TGConnectingPoint num="27" id="34491" />
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+<TGConnectingPoint num="29" id="34493" />
+<TGConnectingPoint num="30" id="34494" />
+<TGConnectingPoint num="31" id="34495" />
+<TGConnectingPoint num="32" id="34496" />
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+<TGConnectingPoint num="35" id="34499" />
+<TGConnectingPoint num="36" id="34500" />
+<TGConnectingPoint num="37" id="34501" />
+<TGConnectingPoint num="38" id="34502" />
+<TGConnectingPoint num="39" id="34503" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" var="0" id="x1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y1" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y2" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="x3" value="" type="8" typeOther="" />
+<Attribute access="0" var="0" id="y3" value="" type="8" typeOther="" />
+<Signal value="in fromE1(int x1, int y1)" attached="true" />
+<Signal value="in fromE2(int x2, int y2)" attached="true" />
+<Signal value="in fromE3(int x3, int y3)" attached="true" />
+<Signal value="out toE1(int xP1, int yP1)" attached="true" />
+<Signal value="out toE2(int xP2, int yP2)" attached="true" />
+<Signal value="out toE3(int xP3, int yP3)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5005" id="34513" index="18" uid="800dfbeb-d2e9-4003-9a79-2e715a474ec2" >
+<cdparam x="30" y="649" />
+<sizeparam width="250" height="239" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="EnvironmentLibrary" value="EnvironmentLibrary" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34505" />
+<TGConnectingPoint num="1" id="34506" />
+<TGConnectingPoint num="2" id="34507" />
+<TGConnectingPoint num="3" id="34508" />
+<TGConnectingPoint num="4" id="34509" />
+<TGConnectingPoint num="5" id="34510" />
+<TGConnectingPoint num="6" id="34511" />
+<TGConnectingPoint num="7" id="34512" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="x" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="y" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="targetOrdinate" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Signal value="in sense(int t, bool f, bool p)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int g, bool l, bool p)" />
+<Signal value="in fromPredecessor(int x, int y)" />
+<Signal value="in fromRover(int s, int h)" />
+<Signal value="out computeVariation(int c, int s, int s)" />
+<Signal value="in variation(int x, int y)" />
+<ReturnAttribute access="0" id="gap" value="60" type="8" typeOther="" />
+<Attribute access="0" var="0" id="heading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="speed" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="joiningGreaterOrdinate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="joiningSmallerOrdinate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="isInLane" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="cosH" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinH" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="xPrev" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yPrev" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="fromPredecessor" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="fromRover" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="firstLoop" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="xvar" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yvar" value="0" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5005" id="34522" index="19" uid="afdf6048-2ded-4533-9279-bcf42dece393" >
+<cdparam x="31" y="339" />
+<sizeparam width="250" height="248" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Rover" value="Rover" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34514" />
+<TGConnectingPoint num="1" id="34515" />
+<TGConnectingPoint num="2" id="34516" />
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+<TGConnectingPoint num="5" id="34519" />
+<TGConnectingPoint num="6" id="34520" />
+<TGConnectingPoint num="7" id="34521" />
+<extraparam>
+<CryptoLibraryFunction value="false" />
+<Parameter access="0" var="0" id="roverID" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="followerID" value="0" type="8" typeOther="" />
+<Parameter access="0" var="0" id="isLeader" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="isFollower" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="leave" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasFollower" value="false" type="4" typeOther="" />
+<Parameter access="0" var="0" id="hasPredecessor" value="true" type="4" typeOther="" />
+<Parameter access="0" var="0" id="targetOrdinate" value="120" type="8" typeOther="" />
+<Parameter access="0" var="0" id="nbCycles" value="0" type="8" typeOther="" />
+<Signal value="in inputMessage(int t, int c, int k)" />
+<Signal value="out outputMessage(int t, int c)" />
+<Signal value="in sensedData(int g, bool l, bool p)" />
+<Signal value="out sense(int t, bool f, bool p)" />
+<Signal value="out toEnvironment(int v, int h)" />
+<ReturnAttribute access="0" id="speed" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageType" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageContent" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="messageCheck" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="lastLegitimateMessageType" value="1" type="8" typeOther="" />
+<Attribute access="0" var="0" id="lastLegitimateMessageContent" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="steeringAngle" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="targetSpeed" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="gap" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="yawError" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="lateralError" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="motorsCommand" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="steeringCommand" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="emergencyBrake" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="cosHeading" value="10" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sinHeading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="sensorUpdate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="networkUpdate" value="false" type="4" typeOther="" />
+<Attribute access="0" var="0" id="heading" value="0" type="8" typeOther="" />
+<Attribute access="0" var="0" id="isInLane" value="true" type="4" typeOther="" />
+<Attribute access="0" var="0" id="n" value="0" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="34563" index="20" uid="53950085-dae1-40d4-9d5d-655f3fd05f63" >
+<cdparam x="1173" y="653" />
+<sizeparam width="250" height="238" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1498" />
+<infoparam name="Block0" value="Environment1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="34523" />
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+<TGConnectingPoint num="2" id="34525" />
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+<TGConnectingPoint num="8" id="34531" />
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+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
+</extraparam>
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+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" attached="true" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" attached="true" />
+<Signal value="in variation(int xvar, int yvar)" attached="true" />
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+<Signal value="out NetworkOut3(int messageType, int messageContent, int messageCheck)" attached="true" />
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+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Network" minX="10" maxX="4000" minY="10" maxY="1500" zoom="1.0" >
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+<hidden value="false" />
+<enabled value="true" />
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+<TGConnectingPoint num="2" id="34816" />
+<TGConnectingPoint num="3" id="34817" />
+<extraparam>
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+<afterMax value="" enabled="true"/>
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+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="3000" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="toEnvironment(speed, heading)" />
+<new d="false" />
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+
+</AVATARStateMachineDiagramPanel>
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+<AVATARStateMachineDiagramPanel name="EnvironmentLibrary" minX="10" maxX="2500" minY="10" maxY="2500" zoom="1.0" >
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
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+<extraparam>
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+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
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+<infoparam name="point " value="null" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
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+<TGConnectingPoint num="1" id="37167" />
+<TGConnectingPoint num="2" id="37168" />
+<TGConnectingPoint num="3" id="37169" />
+<extraparam>
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+<afterMin value="" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="firstLoop = false" enabled="true"/>
+<actions value="fromPredecessor = false" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<P2 x="420" y="412" id="38461" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="1" id="37175" />
+<TGConnectingPoint num="2" id="37176" />
+<TGConnectingPoint num="3" id="37177" />
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+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
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+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
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+<hidden value="false" />
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+<TGConnectingPoint num="2" id="37183" />
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+<extraDelay1 value="" enabled="true"/>
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+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
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+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="2" id="37197" />
+<TGConnectingPoint num="3" id="37198" />
+<extraparam>
+<guard value="[hasFollower]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="37203" />
+<TGConnectingPoint num="2" id="37204" />
+<TGConnectingPoint num="3" id="37205" />
+<extraparam>
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+<afterMin value="" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
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+<infoparam name="connector" value="null" />
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+<P2 x="769" y="412" id="38450" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="37209" />
+<TGConnectingPoint num="1" id="37210" />
+<TGConnectingPoint num="2" id="37211" />
+<TGConnectingPoint num="3" id="37212" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<P2 x="644" y="484" id="38394" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="37216" />
+<TGConnectingPoint num="1" id="37217" />
+<TGConnectingPoint num="2" id="37218" />
+<TGConnectingPoint num="3" id="37219" />
+<extraparam>
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+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<P2 x="869" y="268" id="37626" />
+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="2" id="37225" />
+<TGConnectingPoint num="3" id="37226" />
+<extraparam>
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+<afterMin value="" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2478" minY="10" maxY="1477" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="1" id="37231" />
+<TGConnectingPoint num="2" id="37232" />
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+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
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+<infoparam name="connector" value="null" />
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+<actions value="sinH = 0" enabled="true"/>
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+<actions value="cosH = 7" enabled="true"/>
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+<actions value="x = x + xvar" enabled="true"/>
+<actions value="y = y + yvar" enabled="true"/>
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+<hidden value="false" />
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+<TGConnectingPoint num="1" id="37378" />
+<TGConnectingPoint num="2" id="37379" />
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+<actions value="gap = 0" enabled="true"/>
+<actions value="x = xPrev" enabled="true"/>
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+<probability value="" enabled="true"/>
+<actions value="gap = 60" enabled="true"/>
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+<hidden value="false" />
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+<actions value="hasPredecessor = false" enabled="true"/>
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+<hidden value="false" />
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
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+<probability value="" enabled="true"/>
+<actions value="gap = xPrev - x" enabled="true"/>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38511" />
+<P1 x="407" y="144" id="38514" />
+<P2 x="407" y="190" id="38524" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="38512" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38506" />
+<TGConnectingPoint num="1" id="38507" />
+<TGConnectingPoint num="2" id="38508" />
+<TGConnectingPoint num="3" id="38509" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="38523" index="2" uid="a726928d-9124-410f-bb02-ac11cd14aa95" >
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38513" />
+<TGConnectingPoint num="1" id="38514" />
+<TGConnectingPoint num="2" id="38515" />
+<TGConnectingPoint num="3" id="38516" />
+<TGConnectingPoint num="4" id="38517" />
+<TGConnectingPoint num="5" id="38518" />
+<TGConnectingPoint num="6" id="38519" />
+<TGConnectingPoint num="7" id="38520" />
+<TGConnectingPoint num="8" id="38521" />
+<TGConnectingPoint num="9" id="38522" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R1inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R1outputMessage(int messageType, int messageContent)" />
+<Signal value="in R1SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R1Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R1toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="38525" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="195" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38524" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="38527" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38526" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="38534" index="0" uid="097553a3-71a3-493b-9d90-17015d99eff1" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38533" />
+<P1 x="407" y="70" id="38555" />
+<P2 x="407" y="110" id="38542" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38532" index="5" uid="96f88ab9-bee6-4f9b-ac13-eecb7fc2b124" >
+<father id="38534" num="0" />
+<cdparam x="427" y="99" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38528" />
+<TGConnectingPoint num="1" id="38529" />
+<TGConnectingPoint num="2" id="38530" />
+<TGConnectingPoint num="3" id="38531" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38541" index="1" uid="43d46f5b-11aa-4ebe-8760-5a74e0221c9c" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38540" />
+<P1 x="407" y="145" id="38543" />
+<P2 x="407" y="188" id="38553" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38539" index="6" uid="f3e8cc1c-50b7-460f-a536-d40306696928" >
+<father id="38541" num="0" />
+<cdparam x="427" y="175" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38535" />
+<TGConnectingPoint num="1" id="38536" />
+<TGConnectingPoint num="2" id="38537" />
+<TGConnectingPoint num="3" id="38538" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5112" id="38552" index="2" uid="63df8d93-c187-4688-a782-773d8fb5d2b6" >
+<cdparam x="357" y="115" />
+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38542" />
+<TGConnectingPoint num="1" id="38543" />
+<TGConnectingPoint num="2" id="38544" />
+<TGConnectingPoint num="3" id="38545" />
+<TGConnectingPoint num="4" id="38546" />
+<TGConnectingPoint num="5" id="38547" />
+<TGConnectingPoint num="6" id="38548" />
+<TGConnectingPoint num="7" id="38549" />
+<TGConnectingPoint num="8" id="38550" />
+<TGConnectingPoint num="9" id="38551" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R2inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R2outputMessage(int messageType, int messageContent)" />
+<Signal value="in R2SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R2Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R2toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="38554" index="3" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38553" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="38556" index="4" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38555" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Rover3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38562" />
+<P1 x="0" y="0" id="4103" />
+<P2 x="0" y="0" id="4105" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="38563" num="0" />
+<cdparam x="425" y="83" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38557" />
+<TGConnectingPoint num="1" id="38558" />
+<TGConnectingPoint num="2" id="38559" />
+<TGConnectingPoint num="3" id="38560" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38570" index="1" uid="95ba7f47-0d40-4294-879d-695c08066a86" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38569" />
+<P1 x="0" y="0" id="4106" />
+<P2 x="0" y="0" id="4123" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38568" index="8" uid="6b143580-1801-4724-bdf4-e82df032f3d0" >
+<father id="38570" num="0" />
+<cdparam x="408" y="166" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38564" />
+<TGConnectingPoint num="1" id="38565" />
+<TGConnectingPoint num="2" id="38566" />
+<TGConnectingPoint num="3" id="38567" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38577" index="2" uid="247d0238-63ac-4e7b-9515-69130b4d62c4" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38576" />
+<P1 x="407" y="70" id="38598" />
+<P2 x="407" y="108" id="38585" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="38575" index="9" uid="ca7ccbb8-095e-4374-be6f-6ba9c564f1c6" >
+<father id="38577" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38571" />
+<TGConnectingPoint num="1" id="38572" />
+<TGConnectingPoint num="2" id="38573" />
+<TGConnectingPoint num="3" id="38574" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38584" index="3" uid="4283c745-f832-483b-a05c-133aa56eb3bd" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38583" />
+<P1 x="407" y="143" id="38586" />
+<P2 x="407" y="188" id="38596" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="38584" num="0" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38578" />
+<TGConnectingPoint num="1" id="38579" />
+<TGConnectingPoint num="2" id="38580" />
+<TGConnectingPoint num="3" id="38581" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="speed = Rover (roverID, followerID, isLeader, isFollower, leave, hasFollower, hasPredecessor, targetOrdinate, nbCycles)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38585" />
+<TGConnectingPoint num="1" id="38586" />
+<TGConnectingPoint num="2" id="38587" />
+<TGConnectingPoint num="3" id="38588" />
+<TGConnectingPoint num="4" id="38589" />
+<TGConnectingPoint num="5" id="38590" />
+<TGConnectingPoint num="6" id="38591" />
+<TGConnectingPoint num="7" id="38592" />
+<TGConnectingPoint num="8" id="38593" />
+<TGConnectingPoint num="9" id="38594" />
+<extraparam>
+<LibraryFunction name="Rover" />
+<Parameter id="roverID" />
+<Parameter id="followerID" />
+<Parameter id="isLeader" />
+<Parameter id="isFollower" />
+<Parameter id="leave" />
+<Parameter id="hasFollower" />
+<Parameter id="hasPredecessor" />
+<Parameter id="targetOrdinate" />
+<Parameter id="nbCycles" />
+<Signal value="in R3inputMessage(int messageType, int messageContent, int messageCheck)" />
+<Signal value="out R3outputMessage(int messageType, int messageContent)" />
+<Signal value="in R3SensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="out R3Sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out R3toEnvironment(int speed, int heading)" />
+<ReturnAttribute id="speed" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5101" id="38597" index="5" uid="15cd17c1-a9af-4e19-a97b-60cc499fb53f" >
+<cdparam x="397" y="193" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38596" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="38599" index="6" uid="b36d95b1-a477-4685-95a7-d15dfd37fb1f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38598" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="EnvironmentFusion" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<CONNECTOR type="5102" id="38614" index="0" uid="c673fe86-3bb2-4771-9c3e-a9314bb076d0" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+</COMPONENT>
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+<new d="false" />
+<TGConnectingPoint num="0" id="38818" />
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+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<probability value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<extraparam>
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+<afterMin value="" enabled="true"/>
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+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="38836" />
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+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
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+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<extraparam>
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+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="38849" />
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+<TGConnectingPoint num="8" id="38856" />
+<TGConnectingPoint num="9" id="38857" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
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+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38859" />
+</COMPONENT>
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+<hidden value="false" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="38861" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<P1 x="0" y="0" id="9998" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<extraparam>
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+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
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+<P2 x="0" y="0" id="10018" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<extraDelay2 value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<extraparam>
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+<afterMin value="" enabled="true"/>
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+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38884" />
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+<TGConnectingPoint num="2" id="38886" />
+<TGConnectingPoint num="3" id="38887" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="38897" index="4" uid="a8df2b69-b24c-48ad-9e14-0e34289bb18f" >
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38896" />
+<P1 x="407" y="70" id="38918" />
+<P2 x="407" y="125" id="38905" />
+<AutomaticDrawing data="true" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="38892" />
+<TGConnectingPoint num="2" id="38893" />
+<TGConnectingPoint num="3" id="38894" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38903" />
+<P1 x="407" y="160" id="38906" />
+<P2 x="407" y="224" id="38916" />
+<AutomaticDrawing data="true" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38898" />
+<TGConnectingPoint num="1" id="38899" />
+<TGConnectingPoint num="2" id="38900" />
+<TGConnectingPoint num="3" id="38901" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38905" />
+<TGConnectingPoint num="1" id="38906" />
+<TGConnectingPoint num="2" id="38907" />
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+<TGConnectingPoint num="8" id="38913" />
+<TGConnectingPoint num="9" id="38914" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38916" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38918" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Environment3" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="2" id="38922" />
+<TGConnectingPoint num="3" id="38923" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
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+<P1 x="0" y="0" id="10001" />
+<P2 x="0" y="0" id="10018" />
+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="38928" />
+<TGConnectingPoint num="2" id="38929" />
+<TGConnectingPoint num="3" id="38930" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38939" />
+<P1 x="0" y="0" id="3739" />
+<P2 x="0" y="0" id="3726" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38934" />
+<TGConnectingPoint num="1" id="38935" />
+<TGConnectingPoint num="2" id="38936" />
+<TGConnectingPoint num="3" id="38937" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38946" />
+<P1 x="0" y="0" id="3727" />
+<P2 x="0" y="0" id="3737" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38941" />
+<TGConnectingPoint num="1" id="38942" />
+<TGConnectingPoint num="2" id="38943" />
+<TGConnectingPoint num="3" id="38944" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38953" />
+<P1 x="407" y="70" id="38975" />
+<P2 x="407" y="126" id="38962" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="38954" num="0" />
+<cdparam x="428" y="100" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38948" />
+<TGConnectingPoint num="1" id="38949" />
+<TGConnectingPoint num="2" id="38950" />
+<TGConnectingPoint num="3" id="38951" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38960" />
+<P1 x="407" y="161" id="38963" />
+<P2 x="407" y="224" id="38973" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="38961" num="0" />
+<cdparam x="428" y="195" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38955" />
+<TGConnectingPoint num="1" id="38956" />
+<TGConnectingPoint num="2" id="38957" />
+<TGConnectingPoint num="3" id="38958" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="100" height="25" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Library function call" value="gap = EnvironmentLibrary (x, y, targetOrdinate, hasPredecessor, hasFollower)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38962" />
+<TGConnectingPoint num="1" id="38963" />
+<TGConnectingPoint num="2" id="38964" />
+<TGConnectingPoint num="3" id="38965" />
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+<TGConnectingPoint num="8" id="38970" />
+<TGConnectingPoint num="9" id="38971" />
+<extraparam>
+<LibraryFunction name="EnvironmentLibrary" />
+<Parameter id="x" />
+<Parameter id="y" />
+<Parameter id="targetOrdinate" />
+<Parameter id="hasPredecessor" />
+<Parameter id="hasFollower" />
+<Signal value="in sense(int targetOrdinate, bool hasFollower, bool hasPredecessor)" />
+<Signal value="out toFollower(int x, int y)" />
+<Signal value="out sensedData(int gap, bool isInLane, bool hasPredecessor)" />
+<Signal value="in fromPredecessor(int xPrev, int yPrev)" />
+<Signal value="in fromRover(int speed, int heading)" />
+<Signal value="out computeVariation(int cosH, int sinH, int speed)" />
+<Signal value="in variation(int xvar, int yvar)" />
+<ReturnAttribute id="gap" />
+</extraparam>
+</COMPONENT>
+
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38973" />
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38975" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar1" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="connector" value="null" />
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+<Point x="181" y="315" />
+<Point x="181" y="90" />
+<Point x="337" y="90" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="38979" index="10" uid="3c1d7f3e-403c-474c-8336-85bba42b5331" >
+<father id="38991" num="2" />
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+<new d="false" />
+</SUBCOMPONENT>
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+<sizeparam width="8" height="8" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
+</SUBCOMPONENT>
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+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38981" />
+<TGConnectingPoint num="1" id="38982" />
+<TGConnectingPoint num="2" id="38983" />
+<TGConnectingPoint num="3" id="38984" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="38997" />
+<P1 x="407" y="70" id="39108" />
+<P2 x="407" y="110" id="39036" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="38992" />
+<TGConnectingPoint num="1" id="38993" />
+<TGConnectingPoint num="2" id="38994" />
+<TGConnectingPoint num="3" id="38995" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="39004" />
+<P1 x="407" y="160" id="39073" />
+<P2 x="407" y="193" id="39024" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="1" id="39000" />
+<TGConnectingPoint num="2" id="39001" />
+<TGConnectingPoint num="3" id="39002" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="39011" />
+<P1 x="407" y="223" id="39025" />
+<P2 x="407" y="265" id="39013" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<father id="39012" num="0" />
+<cdparam x="415" y="240" />
+<sizeparam width="165" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="39006" />
+<TGConnectingPoint num="1" id="39007" />
+<TGConnectingPoint num="2" id="39008" />
+<TGConnectingPoint num="3" id="39009" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="39023" index="4" uid="98c7cd84-a0e5-4359-beeb-9a66dd2cfb7f" >
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+<sizeparam width="132" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="39013" />
+<TGConnectingPoint num="1" id="39014" />
+<TGConnectingPoint num="2" id="39015" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="39024" />
+<TGConnectingPoint num="1" id="39025" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="state0" value="loop" />
+<new d="false" />
+<TGConnectingPoint num="0" id="39035" />
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+<extraparam>
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+</COMPONENT>
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+<hidden value="false" />
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+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="39108" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ComputeVar2" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="39277" />
+<P1 x="407" y="223" id="39291" />
+<P2 x="407" y="265" id="39279" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="39276" index="15" uid="a898eb76-1114-478b-b66b-0db1bb456f1d" >
+<father id="39278" num="0" />
+<cdparam x="415" y="240" />
+<sizeparam width="165" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<new d="false" />
+<TGConnectingPoint num="0" id="39272" />
+<TGConnectingPoint num="1" id="39273" />
+<TGConnectingPoint num="2" id="39274" />
+<TGConnectingPoint num="3" id="39275" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<extraDelay1 value="" enabled="true"/>
+<extraDelay2 value="" enabled="true"/>
+<delayDistributionLaw value="0" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+<actions value="xvar = (cosH * speed) / 10" enabled="true"/>
+<actions value="yvar = (sinH * speed) / 10" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="39289" index="4" uid="98c7cd84-a0e5-4359-beeb-9a66dd2cfb7f" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="variation(xvar, yvar)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="39279" />
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+</COMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="computeVariation(cosH, sinH, speed)" />
+<new d="false" />
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+</COMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="state0" value="loop" />
+<new d="false" />
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+<TGConnectingPoint num="33" id="39334" />
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+<TGConnectingPoint num="40" id="39341" />
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+<TGConnectingPoint num="44" id="39345" />
+<TGConnectingPoint num="45" id="39346" />
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+<TGConnectingPoint num="48" id="39349" />
+<TGConnectingPoint num="49" id="39350" />
+<TGConnectingPoint num="50" id="39351" />
+<TGConnectingPoint num="51" id="39352" />
+<TGConnectingPoint num="52" id="39353" />
+<TGConnectingPoint num="53" id="39354" />
+<TGConnectingPoint num="54" id="39355" />
+<TGConnectingPoint num="55" id="39356" />
+<TGConnectingPoint num="56" id="39357" />
+<TGConnectingPoint num="57" id="39358" />
+<TGConnectingPoint num="58" id="39359" />
+<TGConnectingPoint num="59" id="39360" />
+<TGConnectingPoint num="60" id="39361" />
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+<TGConnectingPoint num="65" id="39366" />
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+<TGConnectingPoint num="68" id="39369" />
+<TGConnectingPoint num="69" id="39370" />
+<TGConnectingPoint num="70" id="39371" />
+<TGConnectingPoint num="71" id="39372" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="39375" index="7" uid="7dba5ce7-7519-4bbc-bc02-ee0575b9508f" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="39374" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+</TURTLEGMODELING>
\ No newline at end of file
diff --git a/modeling/WSec/wsec_diplodocus.xml b/modeling/WSec/wsec_diplodocus.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2a6ae252fefee6cf09b42efa1dd40f81192838e5
--- /dev/null
+++ b/modeling/WSec/wsec_diplodocus.xml
@@ -0,0 +1,52869 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<TURTLEGMODELING version="3.0 beta" ANIMATE_INTERACTIVE_SIMULATION="true" ACTIVATE_PENALTIES="true" UPDATE_INFORMATION_DIPLO_SIM="false" ANIMATE_WITH_INFO_DIPLO_SIM="true" OPEN_DIAG_DIPLO_SIM="false" LAST_SELECTED_MAIN_TAB="1" LAST_SELECTED_SUB_TAB="0">
+
+<Modeling type="Diplodocus Methodology" nameTab="DIPLODOCUS_Methodology" >
+<DiplodocusMethodologyDiagramPanel name="DIPLODOCUS_Methodology" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="301" id="17" index="0" uid="4a94a821-5dae-4e82-b371-5c10d256f951" >
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+<sizeparam width="387" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="This diagram summarizes the content of this set of models
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="1" />
+<TGConnectingPoint num="1" id="2" />
+<TGConnectingPoint num="2" id="3" />
+<TGConnectingPoint num="3" id="4" />
+<TGConnectingPoint num="4" id="5" />
+<TGConnectingPoint num="5" id="6" />
+<TGConnectingPoint num="6" id="7" />
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+<TGConnectingPoint num="14" id="15" />
+<TGConnectingPoint num="15" id="16" />
+<extraparam>
+<Line value="This diagram summarizes the content of this set of models" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="6003" id="22" index="1" uid="06a3a576-801f-4f6b-9021-08d10e4c0a6c" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="TGComponent" value="Requirements" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18" />
+<TGConnectingPoint num="1" id="19" />
+<TGConnectingPoint num="2" id="20" />
+<TGConnectingPoint num="3" id="21" />
+</COMPONENT>
+
+<COMPONENT type="6006" id="29" index="2" uid="e7b3f845-f793-4fc4-8a32-58176d8e6554" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="TGComponent" value="Com. Patterns" />
+<new d="false" />
+<TGConnectingPoint num="0" id="25" />
+<TGConnectingPoint num="1" id="26" />
+<TGConnectingPoint num="2" id="27" />
+<TGConnectingPoint num="3" id="28" />
+</COMPONENT>
+<SUBCOMPONENT type="6005" id="23" index="9" uid="02b8fde9-d811-4c02-b754-82cfa53eccb6" >
+<father id="29" num="0" />
+<cdparam x="524" y="149" />
+<sizeparam width="10" height="10" minWidth="10" minHeight="5" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="605" maxX="605" minY="155" maxY="155" />
+<infoparam name="value " value="External_DMA_transfer" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="6005" id="24" index="10" uid="d604e445-19cc-4eaf-b27f-514ae899be11" >
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+<hidden value="false" />
+<cdrectangleparam minX="605" maxX="605" minY="140" maxY="140" />
+<infoparam name="value " value="DMA_transfer" />
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+</SUBCOMPONENT>
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="TGComponent" value="Mapping" />
+<new d="false" />
+<TGConnectingPoint num="0" id="37" />
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+</COMPONENT>
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+<new d="false" />
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+<new d="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+</COMPONENT>
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+<infoparam name="TGComponent" value="Application" />
+<new d="false" />
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+<hidden value="false" />
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+<infoparam name="UML Note" value="This model represents the application of a rover acting as a follower, without countermeasure deployed.
+
+It is based:
+1. on Fortiss paper "Controlling a virtual rover using AutoFOCUS3" and the related AF3 model and source code
+(available at https://download.fortiss.org/public/MDETools2018/model-and-instructions_AF3.zip)
+2. on FTS rovers videos produced for SPARTA
+3. on Technical University of Munich/Fortiss "Platooning Team" report available on the Sparta SVN in directory 03-WPs/WP5-Program-2-CAPE/T52_Convergence_Security_Safety/Documents/platooning/fortiss-rover/
+4. on discussions with Fortiss researchers
+" />
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+<Line value="(available at https://download.fortiss.org/public/MDETools2018/model-and-instructions_AF3.zip)" />
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+<Line value="3. on Technical University of Munich/Fortiss "Platooning Team" report available on the Sparta SVN in directory 03-WPs/WP5-Program-2-CAPE/T52_Convergence_Security_Safety/Documents/platooning/fortiss-rover/" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Attacker mode
+-----------------------
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+(Attack 1, see deliverable D5.2)
+2: the attacker injects a false speed value
+with a small increase w.r.t. the real value
+(Attack 2, see deliverable D5.2)
+4 : the attacker injects a false emergency
+brake message
+(Attack 4, see deliverable D5.2)
+5 : the attacker blocks emergency brake
+messages (Attack 5, see deliverable D5.2)
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+<new d="false" />
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+<Line value="with a small increase w.r.t. the real value" />
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+<Line value="brake message" />
+<Line value="(Attack 4, see deliverable D5.2)" />
+<Line value="5 : the attacker blocks emergency brake" />
+<Line value="messages (Attack 5, see deliverable D5.2)" />
+<Line value="and injects a platoon information update" />
+<Line value="message" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1010" id="735" index="14" uid="ef43fdcb-1551-4a2a-9096-fff3ce21da37" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="wait event" value="interception(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="733" />
+<TGConnectingPoint num="1" id="734" />
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+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="911" index="16" uid="57aff726-2ffa-460c-ad7b-45f05021d701" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="912" index="17" uid="58853783-17e9-482c-885b-43c542708e42" >
+<cdparam x="477" y="104" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="477" y="104" id="903" />
+<P2 x="564" y="180" id="876" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="913" index="18" uid="d573638a-1744-4b6a-9962-e11d8fc4327e" >
+<cdparam x="564" y="370" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="914" index="19" uid="90e89cde-f091-42d1-9722-b3ad317d3a3e" >
+<cdparam x="564" y="426" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="426" id="868" />
+<P2 x="564" y="460" id="865" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="915" index="20" uid="74550472-de62-41b0-a76d-a1d53008fb87" >
+<cdparam x="220" y="364" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="214" y="358" id="858" />
+<P2 x="214" y="383" id="873" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="916" index="21" uid="056870c5-f567-4a25-ab12-629fe54c4bbe" >
+<cdparam x="428" y="60" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="428" y="60" id="906" />
+<P2 x="428" y="85" id="902" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="917" index="22" uid="619e3fff-0af1-4f81-92f8-fdbdec4af767" >
+<cdparam x="428" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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+<P1 x="428" y="115" id="904" />
+<P2 x="428" y="150" id="900" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="EBController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="301" id="934" index="0" uid="b2fed985-65d7-47b5-bcad-4d9f442a932b" >
+<cdparam x="772" y="356" />
+<sizeparam width="266" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending updated rover speed value (0)
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+<new d="false" />
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+<TGConnectingPoint num="2" id="920" />
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+<TGConnectingPoint num="13" id="931" />
+<TGConnectingPoint num="14" id="932" />
+<TGConnectingPoint num="15" id="933" />
+<extraparam>
+<Line value="Sending updated rover speed value (0)" />
+<Line value="to SpeedFeedback component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="951" index="1" uid="77f15006-5980-499a-8a18-ce1a5e5794e5" >
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+<sizeparam width="307" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending EB command to DC motors actuators
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+<new d="false" />
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+<TGConnectingPoint num="3" id="938" />
+<TGConnectingPoint num="4" id="939" />
+<TGConnectingPoint num="5" id="940" />
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+<TGConnectingPoint num="7" id="942" />
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+<TGConnectingPoint num="10" id="945" />
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+<TGConnectingPoint num="12" id="947" />
+<TGConnectingPoint num="13" id="948" />
+<TGConnectingPoint num="14" id="949" />
+<TGConnectingPoint num="15" id="950" />
+<extraparam>
+<Line value="Sending EB command to DC motors actuators" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="968" index="2" uid="16968ae2-0875-4576-a8cb-1292c3b97e86" >
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+<sizeparam width="216" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Receiving EB order from
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+<new d="false" />
+<TGConnectingPoint num="0" id="952" />
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+<TGConnectingPoint num="3" id="955" />
+<TGConnectingPoint num="4" id="956" />
+<TGConnectingPoint num="5" id="957" />
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+<TGConnectingPoint num="10" id="962" />
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+<TGConnectingPoint num="14" id="966" />
+<TGConnectingPoint num="15" id="967" />
+<extraparam>
+<Line value="Receiving EB order from" />
+<Line value="AutonomousDriving component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="971" index="3" uid="797a320b-59bb-4f3b-92fe-b2aaa9836533" >
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+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newFeedbackEB()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="969" />
+<TGConnectingPoint num="1" id="970" />
+<extraparam>
+<Data eventName="newFeedbackEB" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="973" index="4" uid="59bcb8f9-3117-4398-9e63-7353ffd6661f" >
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<TGConnectingPoint num="0" id="972" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoSF(1)" />
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+<TGConnectingPoint num="0" id="974" />
+<TGConnectingPoint num="1" id="975" />
+<extraparam>
+<Data channelName="fromEBCtoSF" nbOfSamples="1" secPattern="" isAttacker="No" />
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+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newEBCommand()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="979" />
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+<extraparam>
+<Data eventName="newEBCommand" nbOfParams="5" />
+</extraparam>
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="987" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="1000" />
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+- rover speed
+- gap
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+<TGConnectingPoint num="1" id="1018" />
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+<breakpoint />
+<extraparam>
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+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending a zero speed
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+" />
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+<TGConnectingPoint num="1" id="1313" />
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+<TGConnectingPoint num="14" id="1326" />
+<TGConnectingPoint num="15" id="1327" />
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+<Line value="value on first iteration" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="action state" value="first_loop = false" />
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+<TGConnectingPoint num="1" id="1332" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromSFtoDT(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="1334" />
+<TGConnectingPoint num="1" id="1335" />
+<extraparam>
+<Data channelName="fromSFtoDT" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="choice" value="null" />
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+<TGConnectingPoint num="1" id="1341" />
+<TGConnectingPoint num="2" id="1342" />
+<TGConnectingPoint num="3" id="1343" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
+<infoparam name="guard 1" value="[first_loop]" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
+<infoparam name="guard 2" value="[not(first_loop)]" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="20" maxX="40" minY="45" maxY="70" />
+<infoparam name="guard 3" value="[ ]" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="1346" />
+<TGConnectingPoint num="1" id="1347" />
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
+<infoparam name="value of the delay" value="1" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1013" id="1352" index="6" uid="9a9a5bd1-f0cd-4fff-808b-573f9d51d452" >
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+<sizeparam width="10" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="1350" />
+<TGConnectingPoint num="1" id="1351" />
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
+<infoparam name="value of the delay" value="1" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Rover speed computation
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+
+rover_speed = power*K
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="1353" />
+<TGConnectingPoint num="1" id="1354" />
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+<TGConnectingPoint num="12" id="1365" />
+<TGConnectingPoint num="13" id="1366" />
+<TGConnectingPoint num="14" id="1367" />
+<TGConnectingPoint num="15" id="1368" />
+<extraparam>
+<Line value="Rover speed computation" />
+<Line value="based on motor power" />
+<Line value="" />
+<Line value="rover_speed = power*K" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Variable update
+(setting rover
+speed to zero)
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="1370" />
+<TGConnectingPoint num="1" id="1371" />
+<TGConnectingPoint num="2" id="1372" />
+<TGConnectingPoint num="3" id="1373" />
+<TGConnectingPoint num="4" id="1374" />
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+<TGConnectingPoint num="7" id="1377" />
+<TGConnectingPoint num="8" id="1378" />
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+<TGConnectingPoint num="10" id="1380" />
+<TGConnectingPoint num="11" id="1381" />
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+<TGConnectingPoint num="13" id="1383" />
+<TGConnectingPoint num="14" id="1384" />
+<TGConnectingPoint num="15" id="1385" />
+<extraparam>
+<Line value="Variable update" />
+<Line value="(setting rover" />
+<Line value="speed to zero)" />
+</extraparam>
+</COMPONENT>
+
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+<cdparam x="648" y="490" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="1387" />
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromSFtoDT(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="1389" />
+<TGConnectingPoint num="1" id="1390" />
+<extraparam>
+<Data channelName="fromSFtoDT" nbOfSamples="1" secPattern="" isAttacker="No" />
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+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="265" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Channel fromSAtoDT" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2784" />
+<extraparam>
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+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
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+</SUBCOMPONENT>
+
+
+</TMLComponentTaskDiagramPanel>
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+<TMLActivityDiagramPanel name="AutonomousDriving" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000007" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2797" />
+<TGConnectingPoint num="1" id="2798" />
+<TGConnectingPoint num="2" id="2799" />
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In case of platoon information update message:
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+2. sending lane keeping control data to activate trajectory controller
+" />
+<new d="false" />
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+<TGConnectingPoint num="14" id="2815" />
+<TGConnectingPoint num="15" id="2816" />
+<extraparam>
+<Line value="In case of platoon information update message:" />
+<Line value="1. sending speed control data to activate speed controller" />
+<Line value="2. sending lane keeping control data to activate trajectory controller" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="2834" index="3" uid="e2c136d0-5359-43dc-bec6-fe8d50ca71d3" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Sending update message to leader
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2818" />
+<TGConnectingPoint num="1" id="2819" />
+<TGConnectingPoint num="2" id="2820" />
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+<TGConnectingPoint num="13" id="2831" />
+<TGConnectingPoint num="14" id="2832" />
+<TGConnectingPoint num="15" id="2833" />
+<extraparam>
+<Line value="Sending update message to leader" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="2851" index="4" uid="129cebdf-cbca-46f6-93e0-4fca93c67991" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In case of emergency break (EB) message,
+sending EB order to activate EB controller
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2835" />
+<TGConnectingPoint num="1" id="2836" />
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+<TGConnectingPoint num="14" id="2849" />
+<TGConnectingPoint num="15" id="2850" />
+<extraparam>
+<Line value="In case of emergency break (EB) message," />
+<Line value="sending EB order to activate EB controller" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="2868" index="5" uid="4dd07157-7cbe-4513-ad07-206958dfe630" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Receiving leader message
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+<new d="false" />
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+<TGConnectingPoint num="14" id="2866" />
+<TGConnectingPoint num="15" id="2867" />
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+<Line value="Receiving leader message" />
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+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Receiving sensor data
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+<new d="false" />
+<TGConnectingPoint num="0" id="2869" />
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+<TGConnectingPoint num="14" id="2883" />
+<TGConnectingPoint num="15" id="2884" />
+<extraparam>
+<Line value="Receiving sensor data" />
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+</COMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2887" />
+<TGConnectingPoint num="1" id="2888" />
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+<SUBCOMPONENT type="-1" id="2886" index="42" uid="df9faa1c-027d-4e24-8a4a-d19f2453bec7" >
+<father id="2889" num="0" />
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+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="26" minY="10" maxY="26" />
+<infoparam name="value of the delay" value="1" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1006" id="2892" index="8" uid="3ffd803a-478a-465e-9752-21312b88da19" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoEBC(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2890" />
+<TGConnectingPoint num="1" id="2891" />
+<extraparam>
+<Data channelName="fromADtoEBC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1016" id="2900" index="9" uid="46d55c6a-7e32-400e-afc2-c0e3f9baffb4" >
+<cdparam x="686" y="613" />
+<sizeparam width="150" height="5" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2894" />
+<TGConnectingPoint num="1" id="2895" />
+<TGConnectingPoint num="2" id="2896" />
+<TGConnectingPoint num="3" id="2897" />
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+<father id="2900" num="0" />
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+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="150" minY="7" maxY="0" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1012" id="2908" index="10" uid="32823728-02c2-4169-8509-dfa6fce25200" >
+<cdparam x="558" y="502" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2904" />
+<TGConnectingPoint num="1" id="2905" />
+<TGConnectingPoint num="2" id="2906" />
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+</COMPONENT>
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+<father id="2908" num="0" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="-75" maxX="-12" minY="10" maxY="28" />
+<infoparam name="guard 1" value="[leader_message_type == 0]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="2902" index="45" uid="849d838c-edde-44cc-9c50-b448eb753dab" >
+<father id="2908" num="1" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="35" maxX="50" minY="10" maxY="28" />
+<infoparam name="guard 2" value="[(leader_message_type == 1) or (leader_message_type == 11) or (leader_message_type == 12)]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="2903" index="46" uid="57e42e8e-30ea-4da9-a919-2cee0c80a4ae" >
+<father id="2908" num="2" />
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+<hidden value="false" />
+<cdrectangleparam minX="20" maxX="35" minY="45" maxY="62" />
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+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1001" id="2910" index="11" uid="5de74724-e1b6-475a-ae78-eac1fb5ee97e" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2909" />
+</COMPONENT>
+
+<COMPONENT type="1006" id="2913" index="12" uid="38d5d2eb-0ea0-40ff-9ab3-5efd28c9760c" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoSoc(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2911" />
+<TGConnectingPoint num="1" id="2912" />
+<extraparam>
+<Data channelName="fromADtoSoc" nbOfSamples="1" secPattern="" isAttacker="No" />
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+</COMPONENT>
+
+<COMPONENT type="1001" id="2915" index="13" uid="c22687f4-cc3c-4cf5-974c-9a95a4d567eb" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2914" />
+</COMPONENT>
+
+<COMPONENT type="1006" id="2918" index="14" uid="cbcf0ae0-265f-4a77-9f29-7eff398bc363" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoTC(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2916" />
+<TGConnectingPoint num="1" id="2917" />
+<extraparam>
+<Data channelName="fromADtoTC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="2920" index="15" uid="9fea4189-031e-4f6e-b9ca-ed95435ec04e" >
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+<hidden value="false" />
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+<hidden value="false" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoSC(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2921" />
+<TGConnectingPoint num="1" id="2922" />
+<extraparam>
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="read channel" value="fromSocToAD(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="2926" />
+<TGConnectingPoint num="1" id="2927" />
+<extraparam>
+<Data channelName="fromSocToAD" nbOfSamples="1" secPattern="" isAttacker="No" />
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+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="wait event" value="newLeaderMessage(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="2929" />
+<TGConnectingPoint num="1" id="2930" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
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+</COMPONENT>
+
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+<new d="false" />
+<TGConnectingPoint num="0" id="2996" />
+<TGConnectingPoint num="1" id="2997" />
+</COMPONENT>
+
+<COMPONENT type="1011" id="3001" index="7" uid="82196b14-2c50-4535-8e29-c4c164beebf9" >
+<cdparam x="354" y="503" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="action state" value="leader_message_type = 0" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2999" />
+<TGConnectingPoint num="1" id="3000" />
+</COMPONENT>
+
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+<cdparam x="229" y="398" />
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+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="action state" value="leader_message_type = 12" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3002" />
+<TGConnectingPoint num="1" id="3003" />
+</COMPONENT>
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+<cdparam x="7" y="398" />
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+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="action state" value="leader_message_type = 11" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3005" />
+<TGConnectingPoint num="1" id="3006" />
+</COMPONENT>
+
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+<cdparam x="309" y="462" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="3008" />
+</COMPONENT>
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+<cdparam x="87" y="459" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="3010" />
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+
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+<cdparam x="560" y="609" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="3012" />
+</COMPONENT>
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+<cdparam x="10" y="40" />
+<sizeparam width="286" height="183" minWidth="7" minHeight="3" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Attacker mode
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+with a strong increase w.r.t. the real value
+(Attack 1, see deliverable D5.2)
+2: the attacker injects a false speed value
+with a small increase w.r.t. the real value
+(Attack 2, see deliverable D5.2)
+4 : the attacker injects a false emergency
+brake message
+(Attack 4, see deliverable D5.2)
+5 : the attacker blocks emergency brake
+messages (Attack 5, see deliverable D5.2)
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+message
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+<TGConnectingPoint num="14" id="3028" />
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+<Line value="Attacker mode" />
+<Line value="-----------------------" />
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+<Line value="with a small increase w.r.t. the real value" />
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+<Line value="brake message" />
+<Line value="(Attack 4, see deliverable D5.2)" />
+<Line value="5 : the attacker blocks emergency brake" />
+<Line value="messages (Attack 5, see deliverable D5.2)" />
+<Line value="and injects a platoon information update" />
+<Line value="message" />
+</extraparam>
+</COMPONENT>
+
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+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="wait event" value="interception(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="3031" />
+<TGConnectingPoint num="1" id="3032" />
+<extraparam>
+<Data eventName="interception" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<cdparam x="488" y="100" />
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+<breakpoint />
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+<TGConnectingPoint num="5" id="3155" />
+<TGConnectingPoint num="6" id="3156" />
+<TGConnectingPoint num="7" id="3157" />
+<TGConnectingPoint num="8" id="3158" />
+<TGConnectingPoint num="9" id="3159" />
+<TGConnectingPoint num="10" id="3160" />
+<TGConnectingPoint num="11" id="3161" />
+<TGConnectingPoint num="12" id="3162" />
+<TGConnectingPoint num="13" id="3163" />
+<TGConnectingPoint num="14" id="3164" />
+<TGConnectingPoint num="15" id="3165" />
+<extraparam>
+<Line value="Message types :" />
+<Line value="0 = emergency break" />
+<Line value="1 = platoon information update message" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1011" id="3169" index="2" uid="6b4d77d3-0a74-4182-be58-6aeb0a9da929" >
+<cdparam x="128" y="333" />
+<sizeparam width="172" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="action state" value="leader_message_type = 1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3167" />
+<TGConnectingPoint num="1" id="3168" />
+</COMPONENT>
+
+<COMPONENT type="1001" id="3171" index="3" uid="4708de3a-a476-4fb8-9dac-c2e07815d007" >
+<cdparam x="812" y="387" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3170" />
+</COMPONENT>
+
+<COMPONENT type="1009" id="3174" index="4" uid="1ebd3286-ad1b-4353-ad40-c0ecf8b7514a" >
+<cdparam x="749" y="314" />
+<sizeparam width="147" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="read channel" value="fromSocToLSoc(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="3172" />
+<TGConnectingPoint num="1" id="3173" />
+<extraparam>
+<Data channelName="fromSocToLSoc" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="3176" index="5" uid="bd738c13-60e6-4b09-a383-a636ff922255" >
+<cdparam x="554" y="465" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3175" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="3179" index="6" uid="e2952342-b1d5-4efd-88ac-0fb56b0496c3" >
+<cdparam x="406" y="401" />
+<sizeparam width="317" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newLeaderSocketData(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3177" />
+<TGConnectingPoint num="1" id="3178" />
+<extraparam>
+<Data eventName="newLeaderSocketData" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="3182" index="7" uid="e0aa8b21-de18-4054-8a10-8d549f957b28" >
+<cdparam x="493" y="345" />
+<sizeparam width="143" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromLSocToSoc(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3180" />
+<TGConnectingPoint num="1" id="3181" />
+<extraparam>
+<Data channelName="fromLSocToSoc" nbOfSamples="1" secPattern="PlatoonMAC" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="3184" index="8" uid="53c59f6a-5fb6-42d5-8ace-934bdfcfe1c9" >
+<cdparam x="204" y="388" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3183" />
+</COMPONENT>
+
+<COMPONENT type="1016" id="3192" index="9" uid="d0ae78f4-f3e1-4ab7-ba9c-3074a208baad" >
+<cdparam x="489" y="180" />
+<sizeparam width="150" height="5" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3186" />
+<TGConnectingPoint num="1" id="3187" />
+<TGConnectingPoint num="2" id="3188" />
+<TGConnectingPoint num="3" id="3189" />
+<TGConnectingPoint num="4" id="3190" />
+<TGConnectingPoint num="5" id="3191" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="3185" index="25" uid="10a91373-1cd9-4c23-b645-3a505cd2a84a" >
+<father id="3192" num="0" />
+<cdparam x="643" y="187" />
+<sizeparam width="20" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="154" minY="7" maxY="7" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="301" id="3209" index="10" uid="99b808be-43c2-4e98-bae3-8ae364f38251" >
+<cdparam x="62" y="61" />
+<sizeparam width="325" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="This simplistic socket activity diagram is to refine
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3193" />
+<TGConnectingPoint num="1" id="3194" />
+<TGConnectingPoint num="2" id="3195" />
+<TGConnectingPoint num="3" id="3196" />
+<TGConnectingPoint num="4" id="3197" />
+<TGConnectingPoint num="5" id="3198" />
+<TGConnectingPoint num="6" id="3199" />
+<TGConnectingPoint num="7" id="3200" />
+<TGConnectingPoint num="8" id="3201" />
+<TGConnectingPoint num="9" id="3202" />
+<TGConnectingPoint num="10" id="3203" />
+<TGConnectingPoint num="11" id="3204" />
+<TGConnectingPoint num="12" id="3205" />
+<TGConnectingPoint num="13" id="3206" />
+<TGConnectingPoint num="14" id="3207" />
+<TGConnectingPoint num="15" id="3208" />
+<extraparam>
+<Line value="This simplistic socket activity diagram is to refine" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="3211" index="11" uid="5f4a6c31-adec-4a3f-a5fe-923b0211ed3c" >
+<cdparam x="418" y="155" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3210" />
+</COMPONENT>
+
+<COMPONENT type="1020" id="3215" index="12" uid="18f2bb4c-a015-4a3d-bfdb-dec4b63de206" >
+<cdparam x="379" y="90" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3212" />
+<TGConnectingPoint num="1" id="3213" />
+<TGConnectingPoint num="2" id="3214" />
+</COMPONENT>
+
+<COMPONENT type="1000" id="3217" index="13" uid="993308b2-adcf-4943-b546-8d870828d1e0" >
+<cdparam x="421" y="40" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3216" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="3218" index="14" uid="2c113af3-1c00-4c23-bf44-8928db4d9d1e" >
+<cdparam x="822" y="339" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="822" y="339" id="3173" />
+<P2 x="822" y="382" id="3170" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="3219" index="15" uid="edac812b-4324-46fe-8d73-5a13cd81304e" >
+<cdparam x="613" y="185" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="613" y="185" id="3191" />
+<P2 x="822" y="309" id="3172" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="3220" index="16" uid="cea5a9da-3952-40dd-93ca-3b1c86fe3272" >
+<cdparam x="514" y="185" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="514" y="185" id="3187" />
+<P2 x="214" y="328" id="3167" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="3221" index="17" uid="58853783-17e9-482c-885b-43c542708e42" >
+<cdparam x="477" y="104" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="477" y="104" id="3213" />
+<P2 x="564" y="180" id="3186" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="3222" index="18" uid="d573638a-1744-4b6a-9962-e11d8fc4327e" >
+<cdparam x="564" y="370" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="370" id="3181" />
+<P2 x="564" y="396" id="3177" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="3223" index="19" uid="90e89cde-f091-42d1-9722-b3ad317d3a3e" >
+<cdparam x="564" y="426" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="426" id="3178" />
+<P2 x="564" y="460" id="3175" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="3224" index="20" uid="74550472-de62-41b0-a76d-a1d53008fb87" >
+<cdparam x="220" y="364" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="214" y="358" id="3168" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="3225" index="21" uid="056870c5-f567-4a25-ab12-629fe54c4bbe" >
+<cdparam x="428" y="60" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="428" y="60" id="3216" />
+<P2 x="428" y="85" id="3212" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="3226" index="22" uid="619e3fff-0af1-4f81-92f8-fdbdec4af767" >
+<cdparam x="428" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="428" y="115" id="3214" />
+<P2 x="428" y="150" id="3210" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="3227" index="23" uid="d9e668aa-9f1d-495b-a81f-322ae041456b" >
+<cdparam x="564" y="185" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="185" id="3189" />
+<P2 x="564" y="261" id="3147" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="3228" index="24" uid="0a113c00-4074-4a37-9d9e-eec6cc312e73" >
+<cdparam x="564" y="311" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="311" id="3148" />
+<P2 x="564" y="340" id="3180" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="EBController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="301" id="3245" index="0" uid="b2fed985-65d7-47b5-bcad-4d9f442a932b" >
+<cdparam x="778" y="372" />
+<sizeparam width="266" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending updated rover speed value (0)
+to SpeedFeedback component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3229" />
+<TGConnectingPoint num="1" id="3230" />
+<TGConnectingPoint num="2" id="3231" />
+<TGConnectingPoint num="3" id="3232" />
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+<TGConnectingPoint num="5" id="3234" />
+<TGConnectingPoint num="6" id="3235" />
+<TGConnectingPoint num="7" id="3236" />
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+<TGConnectingPoint num="10" id="3239" />
+<TGConnectingPoint num="11" id="3240" />
+<TGConnectingPoint num="12" id="3241" />
+<TGConnectingPoint num="13" id="3242" />
+<TGConnectingPoint num="14" id="3243" />
+<TGConnectingPoint num="15" id="3244" />
+<extraparam>
+<Line value="Sending updated rover speed value (0)" />
+<Line value="to SpeedFeedback component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="3262" index="1" uid="77f15006-5980-499a-8a18-ce1a5e5794e5" >
+<cdparam x="426" y="454" />
+<sizeparam width="307" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending EB command to DC motors actuators
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+<new d="false" />
+<TGConnectingPoint num="0" id="3246" />
+<TGConnectingPoint num="1" id="3247" />
+<TGConnectingPoint num="2" id="3248" />
+<TGConnectingPoint num="3" id="3249" />
+<TGConnectingPoint num="4" id="3250" />
+<TGConnectingPoint num="5" id="3251" />
+<TGConnectingPoint num="6" id="3252" />
+<TGConnectingPoint num="7" id="3253" />
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+<TGConnectingPoint num="12" id="3258" />
+<TGConnectingPoint num="13" id="3259" />
+<TGConnectingPoint num="14" id="3260" />
+<TGConnectingPoint num="15" id="3261" />
+<extraparam>
+<Line value="Sending EB command to DC motors actuators" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="3279" index="2" uid="16968ae2-0875-4576-a8cb-1292c3b97e86" >
+<cdparam x="165" y="277" />
+<sizeparam width="216" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Receiving EB order from
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+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3263" />
+<TGConnectingPoint num="1" id="3264" />
+<TGConnectingPoint num="2" id="3265" />
+<TGConnectingPoint num="3" id="3266" />
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+<TGConnectingPoint num="13" id="3276" />
+<TGConnectingPoint num="14" id="3277" />
+<TGConnectingPoint num="15" id="3278" />
+<extraparam>
+<Line value="Receiving EB order from" />
+<Line value="AutonomousDriving component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="3282" index="3" uid="797a320b-59bb-4f3b-92fe-b2aaa9836533" >
+<cdparam x="668" y="314" />
+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newFeedbackEB()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3280" />
+<TGConnectingPoint num="1" id="3281" />
+<extraparam>
+<Data eventName="newFeedbackEB" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="3284" index="4" uid="59bcb8f9-3117-4398-9e63-7353ffd6661f" >
+<cdparam x="729" y="374" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3283" />
+</COMPONENT>
+
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+- rover speed
+- gap
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+3. speed_error_d = speed_error - speed_error_backup
+4. speed_error_backup = speed_error
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+1. 3 multiplications
+2. 2 additions
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+the aim of this demo is to evaluate the overhead costs of
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+So we make each algorithm cycle start at the *reception*
+of the last needed measurement.
+
+In order to make the model more exhaustive (i.e., by allowing
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+here through an EXECI, and the minimal sensor acquisition cycle
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+<Line value="of lane detection algorithms should be studied and implemented" />
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+
+</TMLActivityDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="TML Architecture" nameTab="MACMapping" >
+<TMLArchiDiagramPanel name="DIPLODOCUS architecture and mapping Diagram" minX="13" maxX="4025" minY="13" maxY="2000" attributes="0" considerExecOperators="true" considerTimingOperators="true" masterClockFrequency="1200" zoom="1.000000000000001" >
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+<Line value="This model represents the hardware architecture of a rover and the mapping on its elements of the tasks" />
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+</extraparam>
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+<extraparam>
+<info stereotype="CP" nodeName="CP0" cpMEC="Memory Copy" transferType1="0" transferType2="0" />
+<attributes reference="External_DMA_transfer" />
+<mappingInfo CPname="External_DMA_transfer" instanceName="CPUController1" architectureUnit="BCM2837_CPU" />
+<mappingInfo CPname="External_DMA_transfer" instanceName="DMAController1" architectureUnit="BCM2837_DMA" />
+<mappingInfo CPname="External_DMA_transfer" instanceName="TransferInstance3" architectureUnit="BCM2837_Bus" />
+<mappingInfo CPname="External_DMA_transfer" instanceName="TransferInstance2" architectureUnit="LeaderBus, LeaderBridge, WiFi_Bridge, WiFi_Bus, Raspberry_Bus, BCM2837_Bridge, BCM2837_Bus" />
+<mappingInfo CPname="External_DMA_transfer" instanceName="TransferInstance1" architectureUnit="LeaderBus, LeaderBridge, WiFi_Bridge, WiFi_Bus, Raspberry_Bus, BCM2837_Bridge, BCM2837_Bus" />
+<mappingInfo CPname="External_DMA_transfer" instanceName="TransferInstance6" architectureUnit="LeaderBus, LeaderBridge, WiFi_Bridge, WiFi_Bus, Raspberry_Bus, BCM2837_Bridge, BCM2837_Bus" />
+<mappingInfo CPname="External_DMA_transfer" instanceName="TransferInstance4" architectureUnit="LeaderBus, LeaderBridge, WiFi_Bridge, WiFi_Bus, Raspberry_Bus, BCM2837_Bridge, BCM2837_Bus" />
+<mappingInfo CPname="External_DMA_transfer" instanceName="TransferInstance5" architectureUnit="LeaderBus, LeaderBridge, WiFi_Bridge, WiFi_Bus, Raspberry_Bus, BCM2837_Bridge, BCM2837_Bus" />
+<mappingInfo CPname="External_DMA_transfer" instanceName="DstStorageInstance1" architectureUnit="Leader_RAM" />
+<mappingInfo CPname="External_DMA_transfer" instanceName="SrcStorageInstance1" architectureUnit="BCM2837_RAM" />
+</extraparam>
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+<extraparam>
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+<attributes bufferByteDataSize="4" clockRatio="1" />
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+<info stereotype="CP" nodeName="LeaderToRover" cpMEC="Memory Copy" transferType1="0" transferType2="0" />
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+<mappingInfo CPname="DMA_transfer" instanceName="CPUController1" architectureUnit="Leader_CPU" />
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+<cdrectangleparam minX="-13" maxX="388" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Event newLeaderSocketData" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5173" />
+<extraparam>
+<Prop commName="newLeaderSocketData" commType="1" origin="false" finite="true" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
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+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="388" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Event newSocketData" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5175" />
+<extraparam>
+<Prop commName="newSocketData" commType="1" origin="true" finite="true" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
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+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="388" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Channel fromSocToCPC" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5177" />
+<extraparam>
+<Prop commName="fromSocToCPC" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
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+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="388" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Channel fromADtoSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5179" />
+<extraparam>
+<Prop commName="fromADtoSoc" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
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+<Type type="0" typeOther="" />
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+<hidden value="false" />
+<cdrectangleparam minX="15" maxX="4504" minY="15" maxY="1999" />
+<infoparam name="Primitive component" value="SensorsAcquisition" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5192" />
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+<TGConnectingPoint num="2" id="5194" />
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+<TGConnectingPoint num="5" id="5197" />
+<TGConnectingPoint num="6" id="5198" />
+<TGConnectingPoint num="7" id="5199" />
+<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
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+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="265" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Channel fromSAtoDT" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5190" />
+<extraparam>
+<Prop commName="fromSAtoDT" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
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+</SUBCOMPONENT>
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+
+</TMLComponentTaskDiagramPanel>
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+<TMLActivityDiagramPanel name="AutonomousDriving" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000007" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In case of platoon information update message:
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+2. sending lane keeping control data to activate trajectory controller
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+<TGConnectingPoint num="15" id="5216" />
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+<Line value="1. sending speed control data to activate speed controller" />
+<Line value="2. sending lane keeping control data to activate trajectory controller" />
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+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Sending update message to leader
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+<new d="false" />
+<TGConnectingPoint num="0" id="5218" />
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+<TGConnectingPoint num="14" id="5232" />
+<TGConnectingPoint num="15" id="5233" />
+<extraparam>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In case of emergency break (EB) message,
+sending EB order to activate EB controller
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5235" />
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+<TGConnectingPoint num="15" id="5250" />
+<extraparam>
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+<Line value="sending EB order to activate EB controller" />
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+</COMPONENT>
+
+<COMPONENT type="301" id="5268" index="3" uid="4dd07157-7cbe-4513-ad07-206958dfe630" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Receiving leader message
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+<new d="false" />
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+<TGConnectingPoint num="14" id="5266" />
+<TGConnectingPoint num="15" id="5267" />
+<extraparam>
+<Line value="Receiving leader message" />
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+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Receiving sensor data
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+<new d="false" />
+<TGConnectingPoint num="0" id="5269" />
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+<TGConnectingPoint num="14" id="5283" />
+<TGConnectingPoint num="15" id="5284" />
+<extraparam>
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+</COMPONENT>
+
+<COMPONENT type="1013" id="5289" index="5" uid="061be48e-9472-4aab-9c27-a19960829170" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5287" />
+<TGConnectingPoint num="1" id="5288" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="5286" index="42" uid="df9faa1c-027d-4e24-8a4a-d19f2453bec7" >
+<father id="5289" num="0" />
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+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="26" minY="10" maxY="26" />
+<infoparam name="value of the delay" value="1" />
+<new d="false" />
+</SUBCOMPONENT>
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+<COMPONENT type="1006" id="5292" index="6" uid="3ffd803a-478a-465e-9752-21312b88da19" >
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+<sizeparam width="137" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoEBC(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5290" />
+<TGConnectingPoint num="1" id="5291" />
+<extraparam>
+<Data channelName="fromADtoEBC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1016" id="5300" index="7" uid="46d55c6a-7e32-400e-afc2-c0e3f9baffb4" >
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+<sizeparam width="150" height="5" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5294" />
+<TGConnectingPoint num="1" id="5295" />
+<TGConnectingPoint num="2" id="5296" />
+<TGConnectingPoint num="3" id="5297" />
+<TGConnectingPoint num="4" id="5298" />
+<TGConnectingPoint num="5" id="5299" />
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="150" minY="7" maxY="0" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1012" id="5308" index="8" uid="32823728-02c2-4169-8509-dfa6fce25200" >
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+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5304" />
+<TGConnectingPoint num="1" id="5305" />
+<TGConnectingPoint num="2" id="5306" />
+<TGConnectingPoint num="3" id="5307" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="-75" maxX="-12" minY="10" maxY="28" />
+<infoparam name="guard 1" value="[leader_message_type == 0]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5302" index="45" uid="849d838c-edde-44cc-9c50-b448eb753dab" >
+<father id="5308" num="1" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="35" maxX="50" minY="10" maxY="28" />
+<infoparam name="guard 2" value="[(leader_message_type == 1) or (leader_message_type == 11) or (leader_message_type == 12)]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5303" index="46" uid="57e42e8e-30ea-4da9-a919-2cee0c80a4ae" >
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+<hidden value="false" />
+<cdrectangleparam minX="20" maxX="35" minY="45" maxY="62" />
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+<new d="false" />
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+<COMPONENT type="1001" id="5310" index="9" uid="5de74724-e1b6-475a-ae78-eac1fb5ee97e" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
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+<TGConnectingPoint num="0" id="5309" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoSoc(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5311" />
+<TGConnectingPoint num="1" id="5312" />
+<extraparam>
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+<COMPONENT type="1001" id="5315" index="11" uid="c22687f4-cc3c-4cf5-974c-9a95a4d567eb" >
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+<TGConnectingPoint num="1" id="5412" />
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+(Attack 1, see deliverable D5.2)
+2: the attacker injects a false speed value
+with a small increase w.r.t. the real value
+(Attack 2, see deliverable D5.2)
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+(Attack 4, see deliverable D5.2)
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+<Param index="0" value="leader_message_type" />
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+<SUBCOMPONENT type="-1" id="5637" index="43" uid="15c51339-0059-4590-ad8d-810e87d7ef2e" >
+<father id="5644" num="0" />
+<cdparam x="798" y="714" />
+<sizeparam width="194" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="-75" maxX="-12" minY="10" maxY="31" />
+<infoparam name="guard 1" value="[leader_message_type == 11]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5638" index="44" uid="12c1c1e9-293c-42c4-9c3d-1c73bdd97eef" >
+<father id="5644" num="1" />
+<cdparam x="923" y="703" />
+<sizeparam width="36" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="35" maxX="50" minY="10" maxY="31" />
+<infoparam name="guard 2" value="[else]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5639" index="45" uid="22a1a908-c588-496f-a075-9f90a5bb5327" >
+<father id="5644" num="2" />
+<cdparam x="908" y="745" />
+<sizeparam width="14" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="20" maxX="35" minY="45" maxY="62" />
+<infoparam name="guard 3" value="[ ]" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1012" id="5652" index="4" uid="f820b284-bd61-4e7b-87a2-c5a7df9af871" >
+<cdparam x="357" y="251" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5648" />
+<TGConnectingPoint num="1" id="5649" />
+<TGConnectingPoint num="2" id="5650" />
+<TGConnectingPoint num="3" id="5651" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="5645" index="46" uid="c28912bb-e91b-4892-98e1-72c2caee6b46" >
+<father id="5652" num="0" />
+<cdparam x="282" y="283" />
+<sizeparam width="476" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="-75" maxX="-16" minY="10" maxY="32" />
+<infoparam name="guard 1" value="[(not(leader_message_type == 1)) and (not(leader_message_type == 11))]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5646" index="47" uid="db4da7f4-464c-4bea-aecb-563a92447ef0" >
+<father id="5652" num="1" />
+<cdparam x="410" y="271" />
+<sizeparam width="36" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="35" maxX="53" minY="10" maxY="32" />
+<infoparam name="guard 2" value="[else]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5647" index="48" uid="8ae66e42-58a8-4d58-a8c8-7865a9c65f79" >
+<father id="5652" num="2" />
+<cdparam x="395" y="317" />
+<sizeparam width="14" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="20" maxX="38" minY="45" maxY="66" />
+<infoparam name="guard 3" value="[ ]" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="301" id="5669" index="5" uid="9276715c-d4e9-4f99-ab4a-af9aed8ef269" >
+<cdparam x="328" y="761" />
+<sizeparam width="323" height="39" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="If attack 1 is carried out, the countermeasure
+is triggered and sends the last legitimate speed
+value to AutonomousDriving component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5653" />
+<TGConnectingPoint num="1" id="5654" />
+<TGConnectingPoint num="2" id="5655" />
+<TGConnectingPoint num="3" id="5656" />
+<TGConnectingPoint num="4" id="5657" />
+<TGConnectingPoint num="5" id="5658" />
+<TGConnectingPoint num="6" id="5659" />
+<TGConnectingPoint num="7" id="5660" />
+<TGConnectingPoint num="8" id="5661" />
+<TGConnectingPoint num="9" id="5662" />
+<TGConnectingPoint num="10" id="5663" />
+<TGConnectingPoint num="11" id="5664" />
+<TGConnectingPoint num="12" id="5665" />
+<TGConnectingPoint num="13" id="5666" />
+<TGConnectingPoint num="14" id="5667" />
+<TGConnectingPoint num="15" id="5668" />
+<extraparam>
+<Line value="If attack 1 is carried out, the countermeasure" />
+<Line value="is triggered and sends the last legitimate speed" />
+<Line value="value to AutonomousDriving component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="5686" index="6" uid="1197a7d2-65d9-47e2-9ee3-4d0f6dc0b1f8" >
+<cdparam x="576" y="410" />
+<sizeparam width="202" height="75" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Plausibility check (EXECI 17) :
+
+3 additions (3*1 cycles)
+1 division (12 cycles)
+
+2 multiplications (2 cycles)
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5670" />
+<TGConnectingPoint num="1" id="5671" />
+<TGConnectingPoint num="2" id="5672" />
+<TGConnectingPoint num="3" id="5673" />
+<TGConnectingPoint num="4" id="5674" />
+<TGConnectingPoint num="5" id="5675" />
+<TGConnectingPoint num="6" id="5676" />
+<TGConnectingPoint num="7" id="5677" />
+<TGConnectingPoint num="8" id="5678" />
+<TGConnectingPoint num="9" id="5679" />
+<TGConnectingPoint num="10" id="5680" />
+<TGConnectingPoint num="11" id="5681" />
+<TGConnectingPoint num="12" id="5682" />
+<TGConnectingPoint num="13" id="5683" />
+<TGConnectingPoint num="14" id="5684" />
+<TGConnectingPoint num="15" id="5685" />
+<extraparam>
+<Line value="Plausibility check (EXECI 17) :" />
+<Line value="" />
+<Line value="3 additions (3*1 cycles)" />
+<Line value="1 division (12 cycles)" />
+<Line value="" />
+<Line value="2 multiplications (2 cycles)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="5688" index="7" uid="96ad662a-5490-45ea-be20-fd4168be4d3f" >
+<cdparam x="747" y="956" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5687" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="5691" index="8" uid="85378265-d5db-49a4-8c71-aaed3fd4cb2a" >
+<cdparam x="607" y="887" />
+<sizeparam width="300" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newLeaderMessage(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5689" />
+<TGConnectingPoint num="1" id="5690" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="5694" index="9" uid="3a318f25-c398-4f9c-b0b7-2968f5b82360" >
+<cdparam x="689" y="815" />
+<sizeparam width="138" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromCPCtoAD(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5692" />
+<TGConnectingPoint num="1" id="5693" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="5696" index="10" uid="dcfb088e-8d87-40cb-834a-3279e5fa1777" >
+<cdparam x="515" y="535" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5695" />
+</COMPONENT>
+
+<COMPONENT type="1001" id="5698" index="11" uid="2931671c-ae14-449e-80cf-eb7c6e2990fa" >
+<cdparam x="1042" y="902" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5697" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="5701" index="12" uid="495a8838-44f4-452d-a9f9-c7ed366db66f" >
+<cdparam x="888" y="835" />
+<sizeparam width="326" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newLeaderMessage(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5699" />
+<TGConnectingPoint num="1" id="5700" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="5704" index="13" uid="23ab6b2a-08c8-475c-a13d-e6e49762edfe" >
+<cdparam x="982" y="773" />
+<sizeparam width="139" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromCPCtoAD(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5702" />
+<TGConnectingPoint num="1" id="5703" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1009" id="5707" index="14" uid="c8f0ad98-ca75-413d-9171-40c1f542014d" >
+<cdparam x="298" y="191" />
+<sizeparam width="147" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="read channel" value="fromSocToCPC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="5705" />
+<TGConnectingPoint num="1" id="5706" />
+<extraparam>
+<Data channelName="fromSocToCPC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1010" id="5710" index="15" uid="282d5031-afca-450c-949b-24460be9dc45" >
+<cdparam x="232" y="128" />
+<sizeparam width="278" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="wait event" value="newSocketData(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="5708" />
+<TGConnectingPoint num="1" id="5709" />
+<extraparam>
+<Data eventName="newSocketData" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="5712" index="16" uid="2931671c-ae14-449e-80cf-eb7c6e2990fa" >
+<cdparam x="238" y="481" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5711" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="5715" index="17" uid="495a8838-44f4-452d-a9f9-c7ed366db66f" >
+<cdparam x="85" y="419" />
+<sizeparam width="326" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newLeaderMessage(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5713" />
+<TGConnectingPoint num="1" id="5714" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="5718" index="18" uid="23ab6b2a-08c8-475c-a13d-e6e49762edfe" >
+<cdparam x="179" y="365" />
+<sizeparam width="139" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromCPCtoAD(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5716" />
+<TGConnectingPoint num="1" id="5717" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="5720" index="19" uid="5f4a6c31-adec-4a3f-a5fe-923b0211ed3c" >
+<cdparam x="196" y="125" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5719" />
+</COMPONENT>
+
+<COMPONENT type="1020" id="5724" index="20" uid="18f2bb4c-a015-4a3d-bfdb-dec4b63de206" >
+<cdparam x="157" y="60" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5721" />
+<TGConnectingPoint num="1" id="5722" />
+<TGConnectingPoint num="2" id="5723" />
+</COMPONENT>
+
+<COMPONENT type="1000" id="5726" index="21" uid="993308b2-adcf-4943-b546-8d870828d1e0" >
+<cdparam x="199" y="10" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5725" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="5727" index="22" uid="0e3195ae-ab39-4d3f-9eb7-0de584f8d434" >
+<cdparam x="757" y="793" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="757" y="793" id="5623" />
+<P2 x="758" y="810" id="5692" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5728" index="23" uid="a2594daa-5501-4ed2-bf43-fc09e7dd8930" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="526" y="464" id="5635" />
+<P2 x="525" y="530" id="5695" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="255" y="74" id="5722" />
+<P2 x="371" y="123" id="5708" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5730" index="25" uid="88c7b950-f96c-4071-be74-87b4ae3b758a" >
+<cdparam x="332" y="267" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="332" y="266" id="5649" />
+<P2 x="248" y="360" id="5716" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5731" index="26" uid="ef062131-b893-495a-ada7-6c44550ef99e" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="412" y="266" id="5650" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5732" index="27" uid="fb6966ee-0c21-4bad-94fd-3dc5079efb08" >
+<cdparam x="574" y="351" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="575" y="352" id="5631" />
+<P2 x="888" y="678" id="5640" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5733" index="28" uid="fde103c0-3d32-4fbd-a8ed-2dc163b70aac" >
+<cdparam x="847" y="699" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="848" y="698" id="5641" />
+<P2 x="757" y="763" id="5622" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5734" index="29" uid="02121c12-28ce-41f0-9f4d-4afffb76c1ec" >
+<cdparam x="574" y="351" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="526" y="352" id="5629" />
+<P2 x="526" y="424" id="5634" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5735" index="30" uid="55922792-b637-4dc9-9ca9-dba62cb1a00f" >
+<cdparam x="373" y="152" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="371" y="153" id="5709" />
+<P2 x="371" y="186" id="5705" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5736" index="31" uid="cacfbcd2-e3c8-494a-b49f-feeb8cb18d3a" >
+<cdparam x="1050" y="798" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="1051" y="798" id="5703" />
+<P2 x="1051" y="830" id="5699" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5737" index="32" uid="abe70da7-f9d8-4514-8270-93cecd27e167" >
+<cdparam x="1050" y="861" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="1051" y="860" id="5700" />
+<P2 x="1052" y="897" id="5697" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5738" index="33" uid="8ab65da8-28cc-488e-824e-59e0ffb3e19b" >
+<cdparam x="792" y="697" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="928" y="698" id="5642" />
+<P2 x="1051" y="768" id="5702" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5739" index="34" uid="3a973279-9027-4b18-b38c-34706d2ba1bd" >
+<cdparam x="757" y="841" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="758" y="840" id="5693" />
+<P2 x="757" y="882" id="5689" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5740" index="35" uid="bbaabbd2-ba27-44e2-86d3-08b1d102feb5" >
+<cdparam x="757" y="911" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="757" y="912" id="5690" />
+<P2 x="757" y="951" id="5687" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5741" index="36" uid="b11f6bd5-10ae-43d5-84bb-b69e4beca7fa" >
+<cdparam x="373" y="216" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="371" y="216" id="5706" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5742" index="37" uid="cacfbcd2-e3c8-494a-b49f-feeb8cb18d3a" >
+<cdparam x="439" y="414" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="248" y="390" id="5717" />
+<P2 x="248" y="414" id="5713" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5743" index="38" uid="abe70da7-f9d8-4514-8270-93cecd27e167" >
+<cdparam x="439" y="476" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="248" y="444" id="5714" />
+<P2 x="248" y="476" id="5711" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5744" index="39" uid="056870c5-f567-4a25-ab12-629fe54c4bbe" >
+<cdparam x="206" y="30" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="206" y="30" id="5725" />
+<P2 x="206" y="55" id="5721" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5745" index="40" uid="619e3fff-0af1-4f81-92f8-fdbdec4af767" >
+<cdparam x="206" y="85" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="206" y="85" id="5723" />
+<P2 x="206" y="120" id="5719" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="EBController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="301" id="5762" index="0" uid="b2fed985-65d7-47b5-bcad-4d9f442a932b" >
+<cdparam x="778" y="372" />
+<sizeparam width="266" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending updated rover speed value (0)
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+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5746" />
+<TGConnectingPoint num="1" id="5747" />
+<TGConnectingPoint num="2" id="5748" />
+<TGConnectingPoint num="3" id="5749" />
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+<TGConnectingPoint num="5" id="5751" />
+<TGConnectingPoint num="6" id="5752" />
+<TGConnectingPoint num="7" id="5753" />
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+<TGConnectingPoint num="10" id="5756" />
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+<TGConnectingPoint num="13" id="5759" />
+<TGConnectingPoint num="14" id="5760" />
+<TGConnectingPoint num="15" id="5761" />
+<extraparam>
+<Line value="Sending updated rover speed value (0)" />
+<Line value="to SpeedFeedback component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="5779" index="1" uid="77f15006-5980-499a-8a18-ce1a5e5794e5" >
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+<sizeparam width="307" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending EB command to DC motors actuators
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+<new d="false" />
+<TGConnectingPoint num="0" id="5763" />
+<TGConnectingPoint num="1" id="5764" />
+<TGConnectingPoint num="2" id="5765" />
+<TGConnectingPoint num="3" id="5766" />
+<TGConnectingPoint num="4" id="5767" />
+<TGConnectingPoint num="5" id="5768" />
+<TGConnectingPoint num="6" id="5769" />
+<TGConnectingPoint num="7" id="5770" />
+<TGConnectingPoint num="8" id="5771" />
+<TGConnectingPoint num="9" id="5772" />
+<TGConnectingPoint num="10" id="5773" />
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+<TGConnectingPoint num="12" id="5775" />
+<TGConnectingPoint num="13" id="5776" />
+<TGConnectingPoint num="14" id="5777" />
+<TGConnectingPoint num="15" id="5778" />
+<extraparam>
+<Line value="Sending EB command to DC motors actuators" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="5796" index="2" uid="16968ae2-0875-4576-a8cb-1292c3b97e86" >
+<cdparam x="165" y="277" />
+<sizeparam width="216" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Receiving EB order from
+AutonomousDriving component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5780" />
+<TGConnectingPoint num="1" id="5781" />
+<TGConnectingPoint num="2" id="5782" />
+<TGConnectingPoint num="3" id="5783" />
+<TGConnectingPoint num="4" id="5784" />
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+<TGConnectingPoint num="12" id="5792" />
+<TGConnectingPoint num="13" id="5793" />
+<TGConnectingPoint num="14" id="5794" />
+<TGConnectingPoint num="15" id="5795" />
+<extraparam>
+<Line value="Receiving EB order from" />
+<Line value="AutonomousDriving component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="5799" index="3" uid="797a320b-59bb-4f3b-92fe-b2aaa9836533" >
+<cdparam x="668" y="314" />
+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newFeedbackEB()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5797" />
+<TGConnectingPoint num="1" id="5798" />
+<extraparam>
+<Data eventName="newFeedbackEB" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="5801" index="4" uid="59bcb8f9-3117-4398-9e63-7353ffd6661f" >
+<cdparam x="729" y="374" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5800" />
+</COMPONENT>
+
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+<cdparam x="675" y="250" />
+<sizeparam width="128" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoSF(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5802" />
+<TGConnectingPoint num="1" id="5803" />
+<extraparam>
+<Data channelName="fromEBCtoSF" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newEBCommand()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5807" />
+<TGConnectingPoint num="1" id="5808" />
+<extraparam>
+<Data eventName="newEBCommand" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="5812" index="8" uid="075715c2-1a68-424c-8456-3fb77ce8c62a" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoMO(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5810" />
+<TGConnectingPoint num="1" id="5811" />
+<extraparam>
+<Data channelName="fromEBCtoMO" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="5814" index="9" uid="a6c1c7d5-d2fc-488a-a2eb-ffcbf132fab7" >
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="5813" />
+</COMPONENT>
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+<sizeparam width="134" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="read channel" value="fromADtoEBC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="5815" />
+<TGConnectingPoint num="1" id="5816" />
+<extraparam>
+<Data channelName="fromADtoEBC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5819" />
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+<TGConnectingPoint num="2" id="5821" />
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+<TGConnectingPoint num="4" id="5823" />
+<TGConnectingPoint num="5" id="5824" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="5818" index="26" uid="f4947795-4a81-4177-943b-80cf092a3d38" >
+<father id="5825" num="0" />
+<cdparam x="647" y="189" />
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+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="154" minY="7" maxY="7" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5826" />
+</COMPONENT>
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+<COMPONENT type="1020" id="5831" index="13" uid="18f2bb4c-a015-4a3d-bfdb-dec4b63de206" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5828" />
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+<TGConnectingPoint num="2" id="5830" />
+</COMPONENT>
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+<COMPONENT type="1000" id="5833" index="14" uid="993308b2-adcf-4943-b546-8d870828d1e0" >
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+<new d="false" />
+<TGConnectingPoint num="0" id="5832" />
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+<new d="false" />
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+<new d="false" />
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+<new d="false" />
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+<new d="false" />
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+</TMLActivityDiagramPanel>
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+<TMLActivityDiagramPanel name="SpeedController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000002" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Reception of speed control data :
+- previous rover speed
+- rover speed
+- gap
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5845" />
+<TGConnectingPoint num="1" id="5846" />
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+<Line value="- rover speed" />
+<Line value="- gap" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newFeedbackSC()" />
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+<TGConnectingPoint num="0" id="5862" />
+<TGConnectingPoint num="1" id="5863" />
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+3. speed_error_d = speed_error - speed_error_backup
+4. speed_error_backup = speed_error
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+1. 3 multiplications
+2. 2 additions
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+<TGConnectingPoint num="2" id="7683" />
+<TGConnectingPoint num="3" id="7684" />
+<TGConnectingPoint num="4" id="7685" />
+<TGConnectingPoint num="5" id="7686" />
+<TGConnectingPoint num="6" id="7687" />
+<TGConnectingPoint num="7" id="7688" />
+<TGConnectingPoint num="8" id="7689" />
+<TGConnectingPoint num="9" id="7690" />
+<TGConnectingPoint num="10" id="7691" />
+<TGConnectingPoint num="11" id="7692" />
+<TGConnectingPoint num="12" id="7693" />
+<TGConnectingPoint num="13" id="7694" />
+<TGConnectingPoint num="14" id="7695" />
+<TGConnectingPoint num="15" id="7696" />
+<extraparam>
+<Line value="In case of platoon information update message:" />
+<Line value="1. sending speed control data to activate speed controller" />
+<Line value="2. sending lane keeping control data to activate trajectory controller" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="7714" index="5" uid="e2c136d0-5359-43dc-bec6-fe8d50ca71d3" >
+<cdparam x="991" y="410" />
+<sizeparam width="242" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Sending update message to leader
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7698" />
+<TGConnectingPoint num="1" id="7699" />
+<TGConnectingPoint num="2" id="7700" />
+<TGConnectingPoint num="3" id="7701" />
+<TGConnectingPoint num="4" id="7702" />
+<TGConnectingPoint num="5" id="7703" />
+<TGConnectingPoint num="6" id="7704" />
+<TGConnectingPoint num="7" id="7705" />
+<TGConnectingPoint num="8" id="7706" />
+<TGConnectingPoint num="9" id="7707" />
+<TGConnectingPoint num="10" id="7708" />
+<TGConnectingPoint num="11" id="7709" />
+<TGConnectingPoint num="12" id="7710" />
+<TGConnectingPoint num="13" id="7711" />
+<TGConnectingPoint num="14" id="7712" />
+<TGConnectingPoint num="15" id="7713" />
+<extraparam>
+<Line value="Sending update message to leader" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="7731" index="6" uid="129cebdf-cbca-46f6-93e0-4fca93c67991" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In case of emergency break (EB) message,
+sending EB order to activate EB controller
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7715" />
+<TGConnectingPoint num="1" id="7716" />
+<TGConnectingPoint num="2" id="7717" />
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+<TGConnectingPoint num="5" id="7720" />
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+<TGConnectingPoint num="13" id="7728" />
+<TGConnectingPoint num="14" id="7729" />
+<TGConnectingPoint num="15" id="7730" />
+<extraparam>
+<Line value="In case of emergency break (EB) message," />
+<Line value="sending EB order to activate EB controller" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="7748" index="7" uid="4dd07157-7cbe-4513-ad07-206958dfe630" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Receiving leader message
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7732" />
+<TGConnectingPoint num="1" id="7733" />
+<TGConnectingPoint num="2" id="7734" />
+<TGConnectingPoint num="3" id="7735" />
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+<TGConnectingPoint num="5" id="7737" />
+<TGConnectingPoint num="6" id="7738" />
+<TGConnectingPoint num="7" id="7739" />
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+<TGConnectingPoint num="12" id="7744" />
+<TGConnectingPoint num="13" id="7745" />
+<TGConnectingPoint num="14" id="7746" />
+<TGConnectingPoint num="15" id="7747" />
+<extraparam>
+<Line value="Receiving leader message" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Receiving sensor data
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+<new d="false" />
+<TGConnectingPoint num="0" id="7749" />
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+<TGConnectingPoint num="2" id="7751" />
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+<TGConnectingPoint num="4" id="7753" />
+<TGConnectingPoint num="5" id="7754" />
+<TGConnectingPoint num="6" id="7755" />
+<TGConnectingPoint num="7" id="7756" />
+<TGConnectingPoint num="8" id="7757" />
+<TGConnectingPoint num="9" id="7758" />
+<TGConnectingPoint num="10" id="7759" />
+<TGConnectingPoint num="11" id="7760" />
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+<TGConnectingPoint num="13" id="7762" />
+<TGConnectingPoint num="14" id="7763" />
+<TGConnectingPoint num="15" id="7764" />
+<extraparam>
+<Line value="Receiving sensor data" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="7767" />
+<TGConnectingPoint num="1" id="7768" />
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="26" minY="10" maxY="26" />
+<infoparam name="value of the delay" value="1" />
+<new d="false" />
+</SUBCOMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoEBC(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7770" />
+<TGConnectingPoint num="1" id="7771" />
+<extraparam>
+<Data channelName="fromADtoEBC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1016" id="7780" index="11" uid="46d55c6a-7e32-400e-afc2-c0e3f9baffb4" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
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+<TGConnectingPoint num="4" id="7778" />
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+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="choice" value="null" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="7786" />
+<TGConnectingPoint num="3" id="7787" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="-75" maxX="-12" minY="10" maxY="28" />
+<infoparam name="guard 1" value="[leader_message_type == 0]" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="35" maxX="50" minY="10" maxY="28" />
+<infoparam name="guard 2" value="[(leader_message_type == 1) or (leader_message_type == 11) or (leader_message_type == 12)]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="7783" index="50" uid="57e42e8e-30ea-4da9-a919-2cee0c80a4ae" >
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+<hidden value="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="7789" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="7791" />
+<TGConnectingPoint num="1" id="7792" />
+<extraparam>
+<Data channelName="fromADtoSoc" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoTC(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7796" />
+<TGConnectingPoint num="1" id="7797" />
+<extraparam>
+<Data channelName="fromADtoTC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
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+<new d="false" />
+<TGConnectingPoint num="0" id="7801" />
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+<Data channelName="fromADtoSC" nbOfSamples="1" secPattern="" isAttacker="No" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="7806" />
+<TGConnectingPoint num="1" id="7807" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="wait event" value="newLeaderMessage(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="7809" />
+<TGConnectingPoint num="1" id="7810" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
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+
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+<cdrectangleparam minX="154" maxX="150" minY="7" maxY="0" />
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+<TGConnectingPoint num="1" id="7889" />
+</COMPONENT>
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="7891" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="7895" />
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Attacker mode
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+with a strong increase w.r.t. the real value
+(Attack 1, see deliverable D5.2)
+2: the attacker injects a false speed value
+with a small increase w.r.t. the real value
+(Attack 2, see deliverable D5.2)
+4 : the attacker injects a false emergency
+brake message
+(Attack 4, see deliverable D5.2)
+5 : the attacker blocks emergency brake
+messages (Attack 5, see deliverable D5.2)
+and injects a platoon information update
+message
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+<Line value="-----------------------" />
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+<Line value="brake message" />
+<Line value="(Attack 4, see deliverable D5.2)" />
+<Line value="5 : the attacker blocks emergency brake" />
+<Line value="messages (Attack 5, see deliverable D5.2)" />
+<Line value="and injects a platoon information update" />
+<Line value="message" />
+</extraparam>
+</COMPONENT>
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+<infoparam name="wait event" value="interception(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="7914" />
+<TGConnectingPoint num="1" id="7915" />
+<extraparam>
+<Data eventName="interception" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
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+<breakpoint />
+<extraparam>
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+<extraparam>
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+<Param index="0" value="leader_message_type" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8057" />
+<TGConnectingPoint num="1" id="8058" />
+<TGConnectingPoint num="2" id="8059" />
+<TGConnectingPoint num="3" id="8060" />
+<TGConnectingPoint num="4" id="8061" />
+<TGConnectingPoint num="5" id="8062" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="8056" index="23" uid="10a91373-1cd9-4c23-b645-3a505cd2a84a" >
+<father id="8063" num="0" />
+<cdparam x="643" y="187" />
+<sizeparam width="20" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="154" minY="7" maxY="7" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="301" id="8080" index="9" uid="99b808be-43c2-4e98-bae3-8ae364f38251" >
+<cdparam x="62" y="61" />
+<sizeparam width="325" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="This simplistic socket activity diagram is to refine
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8064" />
+<TGConnectingPoint num="1" id="8065" />
+<TGConnectingPoint num="2" id="8066" />
+<TGConnectingPoint num="3" id="8067" />
+<TGConnectingPoint num="4" id="8068" />
+<TGConnectingPoint num="5" id="8069" />
+<TGConnectingPoint num="6" id="8070" />
+<TGConnectingPoint num="7" id="8071" />
+<TGConnectingPoint num="8" id="8072" />
+<TGConnectingPoint num="9" id="8073" />
+<TGConnectingPoint num="10" id="8074" />
+<TGConnectingPoint num="11" id="8075" />
+<TGConnectingPoint num="12" id="8076" />
+<TGConnectingPoint num="13" id="8077" />
+<TGConnectingPoint num="14" id="8078" />
+<TGConnectingPoint num="15" id="8079" />
+<extraparam>
+<Line value="This simplistic socket activity diagram is to refine" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="8082" index="10" uid="5f4a6c31-adec-4a3f-a5fe-923b0211ed3c" >
+<cdparam x="464" y="149" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8081" />
+</COMPONENT>
+
+<COMPONENT type="1020" id="8086" index="11" uid="18f2bb4c-a015-4a3d-bfdb-dec4b63de206" >
+<cdparam x="425" y="84" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8083" />
+<TGConnectingPoint num="1" id="8084" />
+<TGConnectingPoint num="2" id="8085" />
+</COMPONENT>
+
+<COMPONENT type="1000" id="8088" index="12" uid="993308b2-adcf-4943-b546-8d870828d1e0" >
+<cdparam x="467" y="34" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8087" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="8089" index="13" uid="2ca4eb4f-3d39-49a4-9903-8cd491414983" >
+<cdparam x="523" y="98" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="523" y="98" id="8084" />
+<P2 x="564" y="180" id="8057" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8090" index="14" uid="8860d030-d6ac-4be7-9c21-e53c0daac204" >
+<cdparam x="514" y="185" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="514" y="185" id="8058" />
+<P2 x="214" y="328" id="8038" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8091" index="15" uid="583e37c6-08f6-46e4-804c-77fa7e851305" >
+<cdparam x="825" y="347" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="825" y="347" id="8044" />
+<P2 x="825" y="389" id="8041" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8092" index="16" uid="37d8e65f-cf3d-46be-bd84-a5b212e8d725" >
+<cdparam x="613" y="185" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="613" y="185" id="8062" />
+<P2 x="825" y="317" id="8043" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8093" index="17" uid="22b23f03-86b3-478c-bc5e-7a4cf54f554c" >
+<cdparam x="564" y="185" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="185" id="8060" />
+<P2 x="564" y="393" id="8051" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8094" index="18" uid="d573638a-1744-4b6a-9962-e11d8fc4327e" >
+<cdparam x="564" y="423" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="423" id="8052" />
+<P2 x="564" y="449" id="8048" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8095" index="19" uid="90e89cde-f091-42d1-9722-b3ad317d3a3e" >
+<cdparam x="564" y="479" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="479" id="8049" />
+<P2 x="564" y="513" id="8046" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8096" index="20" uid="74550472-de62-41b0-a76d-a1d53008fb87" >
+<cdparam x="220" y="364" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="214" y="358" id="8039" />
+<P2 x="214" y="383" id="8054" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8097" index="21" uid="056870c5-f567-4a25-ab12-629fe54c4bbe" >
+<cdparam x="474" y="54" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="474" y="54" id="8087" />
+<P2 x="474" y="79" id="8083" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8098" index="22" uid="619e3fff-0af1-4f81-92f8-fdbdec4af767" >
+<cdparam x="474" y="109" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="474" y="109" id="8085" />
+<P2 x="474" y="144" id="8081" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="Countermeasure_PlausibilityCheck" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000007" >
+<COMPONENT type="1011" id="8101" index="0" uid="c6e6dc0f-e348-4527-9dc6-68e7157c0a62" >
+<cdparam x="678" y="769" />
+<sizeparam width="172" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="action state" value="leader_message_type = 1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8099" />
+<TGConnectingPoint num="1" id="8100" />
+</COMPONENT>
+
+<COMPONENT type="1009" id="8104" index="1" uid="8420e19d-9151-4b84-b06e-2f0b79fdfc31" >
+<cdparam x="304" y="240" />
+<sizeparam width="134" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="read channel" value="fromADtoCPC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="8102" />
+<TGConnectingPoint num="1" id="8103" />
+<extraparam>
+<Data channelName="fromADtoCPC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1016" id="8112" index="2" uid="c0cc4020-6c70-486f-b753-849f36513458" >
+<cdparam x="451" y="406" />
+<sizeparam width="150" height="5" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8106" />
+<TGConnectingPoint num="1" id="8107" />
+<TGConnectingPoint num="2" id="8108" />
+<TGConnectingPoint num="3" id="8109" />
+<TGConnectingPoint num="4" id="8110" />
+<TGConnectingPoint num="5" id="8111" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="8105" index="43" uid="e84298ba-fd81-4cc3-a1c7-8ec5b712f17c" >
+<father id="8112" num="0" />
+<cdparam x="598" y="406" />
+<sizeparam width="20" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="147" minY="7" maxY="0" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1013" id="8116" index="3" uid="263d9600-a267-4906-8dd7-32c9f269252b" >
+<cdparam x="521" y="488" />
+<sizeparam width="10" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8114" />
+<TGConnectingPoint num="1" id="8115" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="8113" index="44" uid="e622ecda-6747-4f3b-88dc-c5aebe12a4cd" >
+<father id="8116" num="0" />
+<cdparam x="537" y="508" />
+<sizeparam width="9" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="22" minY="10" maxY="22" />
+<infoparam name="value of the delay" value="1" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1012" id="8124" index="4" uid="4ffb45e8-6b36-48f3-aa7e-502c018260b7" >
+<cdparam x="873" y="683" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8120" />
+<TGConnectingPoint num="1" id="8121" />
+<TGConnectingPoint num="2" id="8122" />
+<TGConnectingPoint num="3" id="8123" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="8117" index="45" uid="15c51339-0059-4590-ad8d-810e87d7ef2e" >
+<father id="8124" num="0" />
+<cdparam x="798" y="714" />
+<sizeparam width="419" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="-75" maxX="-12" minY="10" maxY="31" />
+<infoparam name="guard 1" value="[(leader_message_type == 11) or (leader_message_type == 12)]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="8118" index="46" uid="12c1c1e9-293c-42c4-9c3d-1c73bdd97eef" >
+<father id="8124" num="1" />
+<cdparam x="923" y="703" />
+<sizeparam width="36" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="35" maxX="50" minY="10" maxY="31" />
+<infoparam name="guard 2" value="[else]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="8119" index="47" uid="22a1a908-c588-496f-a075-9f90a5bb5327" >
+<father id="8124" num="2" />
+<cdparam x="908" y="745" />
+<sizeparam width="14" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="20" maxX="35" minY="45" maxY="62" />
+<infoparam name="guard 3" value="[ ]" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1012" id="8132" index="5" uid="f820b284-bd61-4e7b-87a2-c5a7df9af871" >
+<cdparam x="357" y="310" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8128" />
+<TGConnectingPoint num="1" id="8129" />
+<TGConnectingPoint num="2" id="8130" />
+<TGConnectingPoint num="3" id="8131" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="8125" index="48" uid="c28912bb-e91b-4892-98e1-72c2caee6b46" >
+<father id="8132" num="0" />
+<cdparam x="282" y="342" />
+<sizeparam width="729" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="-75" maxX="-16" minY="10" maxY="32" />
+<infoparam name="guard 1" value="[(not(leader_message_type == 1)) and (not(leader_message_type == 11)) and (not(leader_message_type == 12))]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="8126" index="49" uid="db4da7f4-464c-4bea-aecb-563a92447ef0" >
+<father id="8132" num="1" />
+<cdparam x="410" y="330" />
+<sizeparam width="36" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="35" maxX="53" minY="10" maxY="32" />
+<infoparam name="guard 2" value="[else]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="8127" index="50" uid="8ae66e42-58a8-4d58-a8c8-7865a9c65f79" >
+<father id="8132" num="2" />
+<cdparam x="395" y="376" />
+<sizeparam width="14" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="20" maxX="38" minY="45" maxY="66" />
+<infoparam name="guard 3" value="[ ]" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="301" id="8149" index="6" uid="9276715c-d4e9-4f99-ab4a-af9aed8ef269" >
+<cdparam x="281" y="733" />
+<sizeparam width="380" height="111" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="If attack 2 is carried out, the countermeasure
+is triggered and sends the an emergency brake
+message to AutonomousDriving component if the
+gap measurement is smaller than a given threshold.
+
+Then, depending on the gap value, leader_message_type
+can be equal to 0 or 1. In this model, we keep it
+equal to 1 since our aim is to evaluate the performance
+of the countermeasure rather than its exact behavior.
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8133" />
+<TGConnectingPoint num="1" id="8134" />
+<TGConnectingPoint num="2" id="8135" />
+<TGConnectingPoint num="3" id="8136" />
+<TGConnectingPoint num="4" id="8137" />
+<TGConnectingPoint num="5" id="8138" />
+<TGConnectingPoint num="6" id="8139" />
+<TGConnectingPoint num="7" id="8140" />
+<TGConnectingPoint num="8" id="8141" />
+<TGConnectingPoint num="9" id="8142" />
+<TGConnectingPoint num="10" id="8143" />
+<TGConnectingPoint num="11" id="8144" />
+<TGConnectingPoint num="12" id="8145" />
+<TGConnectingPoint num="13" id="8146" />
+<TGConnectingPoint num="14" id="8147" />
+<TGConnectingPoint num="15" id="8148" />
+<extraparam>
+<Line value="If attack 2 is carried out, the countermeasure" />
+<Line value="is triggered and sends the an emergency brake" />
+<Line value="message to AutonomousDriving component if the" />
+<Line value="gap measurement is smaller than a given threshold." />
+<Line value="" />
+<Line value="Then, depending on the gap value, leader_message_type" />
+<Line value="can be equal to 0 or 1. In this model, we keep it" />
+<Line value="equal to 1 since our aim is to evaluate the performance" />
+<Line value="of the countermeasure rather than its exact behavior." />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="8166" index="7" uid="1197a7d2-65d9-47e2-9ee3-4d0f6dc0b1f8" >
+<cdparam x="556" y="463" />
+<sizeparam width="194" height="63" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Plausibility check (EXECI 1) :
+
+1 comparison
+
+gap < 20
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8150" />
+<TGConnectingPoint num="1" id="8151" />
+<TGConnectingPoint num="2" id="8152" />
+<TGConnectingPoint num="3" id="8153" />
+<TGConnectingPoint num="4" id="8154" />
+<TGConnectingPoint num="5" id="8155" />
+<TGConnectingPoint num="6" id="8156" />
+<TGConnectingPoint num="7" id="8157" />
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+</TMLActivityDiagramPanel>
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+<TMLActivityDiagramPanel name="EBController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="301" id="8243" index="0" uid="b2fed985-65d7-47b5-bcad-4d9f442a932b" >
+<cdparam x="778" y="372" />
+<sizeparam width="266" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending updated rover speed value (0)
+to SpeedFeedback component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8227" />
+<TGConnectingPoint num="1" id="8228" />
+<TGConnectingPoint num="2" id="8229" />
+<TGConnectingPoint num="3" id="8230" />
+<TGConnectingPoint num="4" id="8231" />
+<TGConnectingPoint num="5" id="8232" />
+<TGConnectingPoint num="6" id="8233" />
+<TGConnectingPoint num="7" id="8234" />
+<TGConnectingPoint num="8" id="8235" />
+<TGConnectingPoint num="9" id="8236" />
+<TGConnectingPoint num="10" id="8237" />
+<TGConnectingPoint num="11" id="8238" />
+<TGConnectingPoint num="12" id="8239" />
+<TGConnectingPoint num="13" id="8240" />
+<TGConnectingPoint num="14" id="8241" />
+<TGConnectingPoint num="15" id="8242" />
+<extraparam>
+<Line value="Sending updated rover speed value (0)" />
+<Line value="to SpeedFeedback component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="8260" index="1" uid="77f15006-5980-499a-8a18-ce1a5e5794e5" >
+<cdparam x="426" y="454" />
+<sizeparam width="307" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending EB command to DC motors actuators
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8244" />
+<TGConnectingPoint num="1" id="8245" />
+<TGConnectingPoint num="2" id="8246" />
+<TGConnectingPoint num="3" id="8247" />
+<TGConnectingPoint num="4" id="8248" />
+<TGConnectingPoint num="5" id="8249" />
+<TGConnectingPoint num="6" id="8250" />
+<TGConnectingPoint num="7" id="8251" />
+<TGConnectingPoint num="8" id="8252" />
+<TGConnectingPoint num="9" id="8253" />
+<TGConnectingPoint num="10" id="8254" />
+<TGConnectingPoint num="11" id="8255" />
+<TGConnectingPoint num="12" id="8256" />
+<TGConnectingPoint num="13" id="8257" />
+<TGConnectingPoint num="14" id="8258" />
+<TGConnectingPoint num="15" id="8259" />
+<extraparam>
+<Line value="Sending EB command to DC motors actuators" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="8277" index="2" uid="16968ae2-0875-4576-a8cb-1292c3b97e86" >
+<cdparam x="165" y="277" />
+<sizeparam width="216" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Receiving EB order from
+AutonomousDriving component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8261" />
+<TGConnectingPoint num="1" id="8262" />
+<TGConnectingPoint num="2" id="8263" />
+<TGConnectingPoint num="3" id="8264" />
+<TGConnectingPoint num="4" id="8265" />
+<TGConnectingPoint num="5" id="8266" />
+<TGConnectingPoint num="6" id="8267" />
+<TGConnectingPoint num="7" id="8268" />
+<TGConnectingPoint num="8" id="8269" />
+<TGConnectingPoint num="9" id="8270" />
+<TGConnectingPoint num="10" id="8271" />
+<TGConnectingPoint num="11" id="8272" />
+<TGConnectingPoint num="12" id="8273" />
+<TGConnectingPoint num="13" id="8274" />
+<TGConnectingPoint num="14" id="8275" />
+<TGConnectingPoint num="15" id="8276" />
+<extraparam>
+<Line value="Receiving EB order from" />
+<Line value="AutonomousDriving component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="8280" index="3" uid="797a320b-59bb-4f3b-92fe-b2aaa9836533" >
+<cdparam x="668" y="314" />
+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newFeedbackEB()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8278" />
+<TGConnectingPoint num="1" id="8279" />
+<extraparam>
+<Data eventName="newFeedbackEB" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="8282" index="4" uid="59bcb8f9-3117-4398-9e63-7353ffd6661f" >
+<cdparam x="729" y="374" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8281" />
+</COMPONENT>
+
+<COMPONENT type="1006" id="8285" index="5" uid="e3660966-aea9-465f-8668-528801198554" >
+<cdparam x="675" y="250" />
+<sizeparam width="128" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoSF(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8283" />
+<TGConnectingPoint num="1" id="8284" />
+<extraparam>
+<Data channelName="fromEBCtoSF" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="8287" index="6" uid="79c3cfea-5ddc-419a-afe8-e30b2df6daf7" >
+<cdparam x="558" y="421" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8286" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="8290" index="7" uid="27b61c5c-cb72-4a70-ac00-ab5f77bb25b0" >
+<cdparam x="497" y="354" />
+<sizeparam width="143" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newEBCommand()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8288" />
+<TGConnectingPoint num="1" id="8289" />
+<extraparam>
+<Data eventName="newEBCommand" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="8293" index="8" uid="075715c2-1a68-424c-8456-3fb77ce8c62a" >
+<cdparam x="502" y="275" />
+<sizeparam width="132" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoMO(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8291" />
+<TGConnectingPoint num="1" id="8292" />
+<extraparam>
+<Data channelName="fromEBCtoMO" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="8295" index="9" uid="a6c1c7d5-d2fc-488a-a2eb-ffcbf132fab7" >
+<cdparam x="418" y="330" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8294" />
+</COMPONENT>
+
+<COMPONENT type="1009" id="8298" index="10" uid="f429fc38-622f-4701-8f40-e25730f393c8" >
+<cdparam x="361" y="248" />
+<sizeparam width="134" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="read channel" value="fromADtoEBC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="8296" />
+<TGConnectingPoint num="1" id="8297" />
+<extraparam>
+<Data channelName="fromADtoEBC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1016" id="8306" index="11" uid="efe47682-c3db-41d0-bfd4-8684847296c4" >
+<cdparam x="493" y="182" />
+<sizeparam width="150" height="5" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8300" />
+<TGConnectingPoint num="1" id="8301" />
+<TGConnectingPoint num="2" id="8302" />
+<TGConnectingPoint num="3" id="8303" />
+<TGConnectingPoint num="4" id="8304" />
+<TGConnectingPoint num="5" id="8305" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="8299" index="26" uid="f4947795-4a81-4177-943b-80cf092a3d38" >
+<father id="8306" num="0" />
+<cdparam x="647" y="189" />
+<sizeparam width="20" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="154" minY="7" maxY="7" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1001" id="8308" index="12" uid="5f4a6c31-adec-4a3f-a5fe-923b0211ed3c" >
+<cdparam x="442" y="154" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8307" />
+</COMPONENT>
+
+<COMPONENT type="1020" id="8312" index="13" uid="18f2bb4c-a015-4a3d-bfdb-dec4b63de206" >
+<cdparam x="403" y="89" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8309" />
+<TGConnectingPoint num="1" id="8310" />
+<TGConnectingPoint num="2" id="8311" />
+</COMPONENT>
+
+<COMPONENT type="1000" id="8314" index="14" uid="993308b2-adcf-4943-b546-8d870828d1e0" >
+<cdparam x="445" y="39" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8313" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="8315" index="15" uid="f5f9398c-a755-482d-9545-285348f6f8e5" >
+<cdparam x="501" y="103" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="501" y="103" id="8310" />
+<P2 x="568" y="182" id="8300" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8316" index="16" uid="435c286e-4228-485c-8f29-1c8c22b0297c" >
+<cdparam x="518" y="187" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="518" y="187" id="8301" />
+<P2 x="428" y="243" id="8296" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8317" index="17" uid="1338503e-4fbe-4cf1-a9c4-e94d089a009b" >
+<cdparam x="427" y="273" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="428" y="273" id="8297" />
+<P2 x="428" y="325" id="8294" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8318" index="18" uid="0b42a342-c524-495f-959c-e43dcad5e077" >
+<cdparam x="617" y="187" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="568" y="187" id="8303" />
+<P2 x="568" y="270" id="8291" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8319" index="19" uid="5ce94bd1-2a59-4679-98e0-749c2cce6aac" >
+<cdparam x="568" y="300" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="568" y="300" id="8292" />
+<P2 x="568" y="349" id="8288" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8320" index="20" uid="bb7a7310-b8c0-476f-b570-309093133b3e" >
+<cdparam x="568" y="379" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="568" y="379" id="8289" />
+<P2 x="568" y="416" id="8286" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8321" index="21" uid="ce331b4b-509e-4655-8aa8-0afdbc9e3bca" >
+<cdparam x="617" y="187" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="617" y="187" id="8305" />
+<P2 x="739" y="245" id="8283" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8322" index="22" uid="82b7a6e1-1a36-4740-a86e-cd31f78aaa89" >
+<cdparam x="739" y="275" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="739" y="275" id="8284" />
+<P2 x="739" y="309" id="8278" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8323" index="23" uid="86704bb5-1f04-439c-a7df-11de35aa1fce" >
+<cdparam x="737" y="345" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="739" y="339" id="8279" />
+<P2 x="739" y="369" id="8281" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8324" index="24" uid="056870c5-f567-4a25-ab12-629fe54c4bbe" >
+<cdparam x="452" y="59" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="452" y="59" id="8313" />
+<P2 x="452" y="84" id="8309" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8325" index="25" uid="619e3fff-0af1-4f81-92f8-fdbdec4af767" >
+<cdparam x="452" y="114" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="452" y="114" id="8311" />
+<P2 x="452" y="149" id="8307" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="SpeedController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000002" >
+<COMPONENT type="301" id="8342" index="0" uid="0f60dc51-5b69-4c52-87bf-13bf12eb484e" >
+<cdparam x="348" y="243" />
+<sizeparam width="231" height="51" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Reception of speed control data :
+- previous rover speed
+- rover speed
+- gap
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8326" />
+<TGConnectingPoint num="1" id="8327" />
+<TGConnectingPoint num="2" id="8328" />
+<TGConnectingPoint num="3" id="8329" />
+<TGConnectingPoint num="4" id="8330" />
+<TGConnectingPoint num="5" id="8331" />
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+<TGConnectingPoint num="7" id="8333" />
+<TGConnectingPoint num="8" id="8334" />
+<TGConnectingPoint num="9" id="8335" />
+<TGConnectingPoint num="10" id="8336" />
+<TGConnectingPoint num="11" id="8337" />
+<TGConnectingPoint num="12" id="8338" />
+<TGConnectingPoint num="13" id="8339" />
+<TGConnectingPoint num="14" id="8340" />
+<TGConnectingPoint num="15" id="8341" />
+<extraparam>
+<Line value="Reception of speed control data :" />
+<Line value="- previous rover speed" />
+<Line value="- rover speed" />
+<Line value="- gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="8345" index="1" uid="b7892a47-9940-48f1-bb2c-d421293e92e8" >
+<cdparam x="902" y="301" />
+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newFeedbackSC()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8343" />
+<TGConnectingPoint num="1" id="8344" />
+<extraparam>
+<Data eventName="newFeedbackSC" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="8362" index="2" uid="69f85efc-53a9-4c19-80bf-91ad47c7c528" >
+<cdparam x="393" y="476" />
+<sizeparam width="653" height="207" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="This EXECI depicts the complexity of the
+following actions :
+
+I. Error calculation (EXECI 4) :
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+2. speed_error_i = speed_error_i + speed_error
+3. speed_error_d = speed_error - speed_error_backup
+4. speed_error_backup = speed_error
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+1. 3 multiplications
+2. 2 additions
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+and its complexity need to be studied in order to
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+3. trajectory_error_d = trajectory_error - trajectory_error_backup
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+1. 3 multiplications
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+<cdrectangleparam minX="-13" maxX="380" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Event newLeaderSocketData" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10101" />
+<extraparam>
+<Prop commName="newLeaderSocketData" commType="1" origin="true" finite="true" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="10104" index="106" uid="a0765022-9e64-451a-bb0b-14d631528de3" >
+<father id="10113" num="2" />
+<cdparam x="1585" y="268" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="380" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Channel fromSocToLSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10103" />
+<extraparam>
+<Prop commName="fromSocToLSoc" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="1202" id="10134" index="45" uid="f039bf1b-286f-4389-8104-0c7f8f4ef2b7" >
+<cdparam x="1252" y="443" />
+<sizeparam width="401" height="163" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="15" maxX="4504" minY="15" maxY="1999" />
+<infoparam name="Primitive component" value="Socket" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10126" />
+<TGConnectingPoint num="1" id="10127" />
+<TGConnectingPoint num="2" id="10128" />
+<TGConnectingPoint num="3" id="10129" />
+<TGConnectingPoint num="4" id="10130" />
+<TGConnectingPoint num="5" id="10131" />
+<TGConnectingPoint num="6" id="10132" />
+<TGConnectingPoint num="7" id="10133" />
+<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
+<Attribute access="2" id="leader_message_type" value="" type="0" typeOther="" />
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="1203" id="10115" index="107" uid="fce8d9ae-6134-4c23-a3d8-d5036565d691" >
+<father id="10134" num="0" />
+<cdparam x="1585" y="430" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="388" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Channel fromSocToLSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10114" />
+<extraparam>
+<Prop commName="fromSocToLSoc" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="10117" index="108" uid="6c414320-e956-4eee-a577-d2d2fd6294a7" >
+<father id="10134" num="1" />
+<cdparam x="1421" y="430" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="388" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Channel fromLSocToSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10116" />
+<extraparam>
+<Prop commName="fromLSocToSoc" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="true" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="10119" index="109" uid="26b61746-800d-4f7b-a17d-725ce5851087" >
+<father id="10134" num="2" />
+<cdparam x="1256" y="430" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="388" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Event newLeaderSocketData" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10118" />
+<extraparam>
+<Prop commName="newLeaderSocketData" commType="1" origin="false" finite="true" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="10121" index="110" uid="d81a37b9-46e4-4c6a-9428-504b318e21c5" >
+<father id="10134" num="3" />
+<cdparam x="1257" y="593" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="388" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Event newSocketData" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10120" />
+<extraparam>
+<Prop commName="newSocketData" commType="1" origin="true" finite="true" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="10123" index="111" uid="807d0d9d-e19d-4afd-8494-d673f2617a29" >
+<father id="10134" num="4" />
+<cdparam x="1373" y="593" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="388" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Channel fromSocToCPC" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10122" />
+<extraparam>
+<Prop commName="fromSocToCPC" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="10125" index="112" uid="a0765022-9e64-451a-bb0b-14d631528de3" >
+<father id="10134" num="5" />
+<cdparam x="1611" y="593" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="388" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Channel fromADtoSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10124" />
+<extraparam>
+<Prop commName="fromADtoSoc" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="1202" id="10145" index="46" uid="98971654-05e5-4355-90bb-b7728b165cf8" >
+<cdparam x="16" y="1016" />
+<sizeparam width="278" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="15" maxX="4504" minY="15" maxY="1999" />
+<infoparam name="Primitive component" value="SensorsAcquisition" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10137" />
+<TGConnectingPoint num="1" id="10138" />
+<TGConnectingPoint num="2" id="10139" />
+<TGConnectingPoint num="3" id="10140" />
+<TGConnectingPoint num="4" id="10141" />
+<TGConnectingPoint num="5" id="10142" />
+<TGConnectingPoint num="6" id="10143" />
+<TGConnectingPoint num="7" id="10144" />
+<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="1203" id="10136" index="113" uid="1a22bcd1-76c4-4c11-972f-874a547f8a57" >
+<father id="10145" num="0" />
+<cdparam x="281" y="1086" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="265" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Channel fromSAtoDT" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10135" />
+<extraparam>
+<Prop commName="fromSAtoDT" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+
+
+</TMLComponentTaskDiagramPanel>
+
+<TMLActivityDiagramPanel name="AutonomousDriving" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000007" >
+<COMPONENT type="301" id="10162" index="0" uid="fe8a311f-53b5-44d0-99df-34642f556559" >
+<cdparam x="799" y="517" />
+<sizeparam width="341" height="87" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Gap checking
+(gap < 20)
+See AVATAR model, EBPlausibilityCheck>Rover
+
+In this model, we consider that gap is always > 20
+since it is the worst case in terms of computational
+cost
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10146" />
+<TGConnectingPoint num="1" id="10147" />
+<TGConnectingPoint num="2" id="10148" />
+<TGConnectingPoint num="3" id="10149" />
+<TGConnectingPoint num="4" id="10150" />
+<TGConnectingPoint num="5" id="10151" />
+<TGConnectingPoint num="6" id="10152" />
+<TGConnectingPoint num="7" id="10153" />
+<TGConnectingPoint num="8" id="10154" />
+<TGConnectingPoint num="9" id="10155" />
+<TGConnectingPoint num="10" id="10156" />
+<TGConnectingPoint num="11" id="10157" />
+<TGConnectingPoint num="12" id="10158" />
+<TGConnectingPoint num="13" id="10159" />
+<TGConnectingPoint num="14" id="10160" />
+<TGConnectingPoint num="15" id="10161" />
+<extraparam>
+<Line value="Gap checking" />
+<Line value="(gap < 20)" />
+<Line value="See AVATAR model, EBPlausibilityCheck>Rover" />
+<Line value="" />
+<Line value="In this model, we consider that gap is always > 20" />
+<Line value="since it is the worst case in terms of computational" />
+<Line value="cost" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1013" id="10166" index="1" uid="5b01a257-aaa0-4c2c-ad58-752dc4b6e048" >
+<cdparam x="756" y="556" />
+<sizeparam width="10" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10164" />
+<TGConnectingPoint num="1" id="10165" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="10163" index="50" uid="f5d1378c-115d-4bd7-98d7-b79990a762d4" >
+<father id="10166" num="0" />
+<cdparam x="771" y="576" />
+<sizeparam width="10" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
+<infoparam name="value of the delay" value="1" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="301" id="10183" index="2" uid="8f13dbf0-ef32-4ed4-97b6-d441b5c1a79b" >
+<cdparam x="10" y="417" />
+<sizeparam width="207" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Sending gap measurement to
+PlausibilityCheck component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10167" />
+<TGConnectingPoint num="1" id="10168" />
+<TGConnectingPoint num="2" id="10169" />
+<TGConnectingPoint num="3" id="10170" />
+<TGConnectingPoint num="4" id="10171" />
+<TGConnectingPoint num="5" id="10172" />
+<TGConnectingPoint num="6" id="10173" />
+<TGConnectingPoint num="7" id="10174" />
+<TGConnectingPoint num="8" id="10175" />
+<TGConnectingPoint num="9" id="10176" />
+<TGConnectingPoint num="10" id="10177" />
+<TGConnectingPoint num="11" id="10178" />
+<TGConnectingPoint num="12" id="10179" />
+<TGConnectingPoint num="13" id="10180" />
+<TGConnectingPoint num="14" id="10181" />
+<TGConnectingPoint num="15" id="10182" />
+<extraparam>
+<Line value="Sending gap measurement to" />
+<Line value="PlausibilityCheck component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10185" index="3" uid="16e4b272-fa9c-4375-9060-13fa6583920b" >
+<cdparam x="279" y="493" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10184" />
+</COMPONENT>
+
+<COMPONENT type="1006" id="10188" index="4" uid="fe5f0cbc-2ebc-44d6-b792-dfdcaafe77ad" >
+<cdparam x="224" y="420" />
+<sizeparam width="130" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoCPC(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10186" />
+<TGConnectingPoint num="1" id="10187" />
+<extraparam>
+<Data channelName="fromADtoCPC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="10205" index="5" uid="03c5a1e9-896b-4389-85a3-90c83cd294f4" >
+<cdparam x="884" y="621" />
+<sizeparam width="451" height="39" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In case of platoon information update message:
+1. sending speed control data to activate speed controller
+2. sending lane keeping control data to activate trajectory controller
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10189" />
+<TGConnectingPoint num="1" id="10190" />
+<TGConnectingPoint num="2" id="10191" />
+<TGConnectingPoint num="3" id="10192" />
+<TGConnectingPoint num="4" id="10193" />
+<TGConnectingPoint num="5" id="10194" />
+<TGConnectingPoint num="6" id="10195" />
+<TGConnectingPoint num="7" id="10196" />
+<TGConnectingPoint num="8" id="10197" />
+<TGConnectingPoint num="9" id="10198" />
+<TGConnectingPoint num="10" id="10199" />
+<TGConnectingPoint num="11" id="10200" />
+<TGConnectingPoint num="12" id="10201" />
+<TGConnectingPoint num="13" id="10202" />
+<TGConnectingPoint num="14" id="10203" />
+<TGConnectingPoint num="15" id="10204" />
+<extraparam>
+<Line value="In case of platoon information update message:" />
+<Line value="1. sending speed control data to activate speed controller" />
+<Line value="2. sending lane keeping control data to activate trajectory controller" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="10222" index="6" uid="e2c136d0-5359-43dc-bec6-fe8d50ca71d3" >
+<cdparam x="991" y="410" />
+<sizeparam width="242" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Sending update message to leader
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10206" />
+<TGConnectingPoint num="1" id="10207" />
+<TGConnectingPoint num="2" id="10208" />
+<TGConnectingPoint num="3" id="10209" />
+<TGConnectingPoint num="4" id="10210" />
+<TGConnectingPoint num="5" id="10211" />
+<TGConnectingPoint num="6" id="10212" />
+<TGConnectingPoint num="7" id="10213" />
+<TGConnectingPoint num="8" id="10214" />
+<TGConnectingPoint num="9" id="10215" />
+<TGConnectingPoint num="10" id="10216" />
+<TGConnectingPoint num="11" id="10217" />
+<TGConnectingPoint num="12" id="10218" />
+<TGConnectingPoint num="13" id="10219" />
+<TGConnectingPoint num="14" id="10220" />
+<TGConnectingPoint num="15" id="10221" />
+<extraparam>
+<Line value="Sending update message to leader" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="10239" index="7" uid="129cebdf-cbca-46f6-93e0-4fca93c67991" >
+<cdparam x="86" y="631" />
+<sizeparam width="289" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In case of emergency break (EB) message,
+sending EB order to activate EB controller
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10223" />
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+<TGConnectingPoint num="0" id="10407" />
+</COMPONENT>
+
+<COMPONENT type="1001" id="10410" index="12" uid="3c3c9181-7325-4450-b43d-d1f99443830b" >
+<cdparam x="559" y="579" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10409" />
+</COMPONENT>
+
+<COMPONENT type="301" id="10427" index="13" uid="74c1e445-5ca9-4e7a-9f5d-0aee9404a9a1" >
+<cdparam x="9" y="10" />
+<sizeparam width="286" height="183" minWidth="7" minHeight="3" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Attacker mode
+-----------------------
+1: the attacker injects a false speed value
+with a strong increase w.r.t. the real value
+(Attack 1, see deliverable D5.2)
+2: the attacker injects a false speed value
+with a small increase w.r.t. the real value
+(Attack 2, see deliverable D5.2)
+4 : the attacker injects a false emergency
+brake message
+(Attack 4, see deliverable D5.2)
+5 : the attacker blocks emergency brake
+messages (Attack 5, see deliverable D5.2)
+and injects a platoon information update
+message
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10411" />
+<TGConnectingPoint num="1" id="10412" />
+<TGConnectingPoint num="2" id="10413" />
+<TGConnectingPoint num="3" id="10414" />
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+<TGConnectingPoint num="6" id="10417" />
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+<TGConnectingPoint num="13" id="10424" />
+<TGConnectingPoint num="14" id="10425" />
+<TGConnectingPoint num="15" id="10426" />
+<extraparam>
+<Line value="Attacker mode" />
+<Line value="-----------------------" />
+<Line value="1: the attacker injects a false speed value" />
+<Line value="with a strong increase w.r.t. the real value" />
+<Line value="(Attack 1, see deliverable D5.2)" />
+<Line value="2: the attacker injects a false speed value" />
+<Line value="with a small increase w.r.t. the real value" />
+<Line value="(Attack 2, see deliverable D5.2)" />
+<Line value="4 : the attacker injects a false emergency" />
+<Line value="brake message" />
+<Line value="(Attack 4, see deliverable D5.2)" />
+<Line value="5 : the attacker blocks emergency brake" />
+<Line value="messages (Attack 5, see deliverable D5.2)" />
+<Line value="and injects a platoon information update" />
+<Line value="message" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1010" id="10430" index="14" uid="ef43fdcb-1551-4a2a-9096-fff3ce21da37" >
+<cdparam x="464" y="154" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="wait event" value="interception(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="10428" />
+<TGConnectingPoint num="1" id="10429" />
+<extraparam>
+<Data eventName="interception" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
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+<cdparam x="429" y="539" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="10431" />
+</COMPONENT>
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+<cdparam x="478" y="117" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="10433" />
+</COMPONENT>
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+<cdparam x="439" y="66" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10435" />
+<TGConnectingPoint num="1" id="10436" />
+<TGConnectingPoint num="2" id="10437" />
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10439" />
+</COMPONENT>
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+<cdparam x="537" y="80" />
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+<infoparam name="connector" value="null" />
+<P1 x="537" y="80" id="10436" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10442" index="20" uid="f08072a8-2562-4abc-8280-1ab0dcb3b55f" >
+<cdparam x="570" y="432" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="569" y="433" id="10384" />
+<P2 x="570" y="505" id="10393" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
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+<cdparam x="609" y="392" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<cdparam x="529" y="384" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="529" y="393" id="10382" />
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+<AutomaticDrawing data="true" />
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+</CONNECTOR>
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+<cdparam x="356" y="290" />
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+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
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+<cdparam x="276" y="290" />
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+<infoparam name="connector" value="null" />
+<P1 x="278" y="290" id="10366" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<cdparam x="315" y="329" />
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+<infoparam name="connector" value="null" />
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+<infoparam name="connector" value="null" />
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+<infoparam name="connector" value="null" />
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+<infoparam name="connector" value="null" />
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+<infoparam name="connector" value="null" />
+<P1 x="439" y="498" id="10397" />
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+
+<TMLActivityDiagramPanel name="Socket" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="value of the delay" value="1" />
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+<hidden value="false" />
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+<TGConnectingPoint num="1" id="10465" />
+<extraparam>
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+<new d="false" />
+<TGConnectingPoint num="0" id="10467" />
+<TGConnectingPoint num="1" id="10468" />
+<breakpoint />
+<extraparam>
+<Data channelName="fromLSocToSoc" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="wait event" value="newLeaderSocketData(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="10470" />
+<TGConnectingPoint num="1" id="10471" />
+<extraparam>
+<Data eventName="newLeaderSocketData" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="read channel" value="fromADtoSoc(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="10475" />
+<TGConnectingPoint num="1" id="10476" />
+<extraparam>
+<Data channelName="fromADtoSoc" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
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+<hidden value="false" />
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+</SUBCOMPONENT>
+
+<COMPONENT type="301" id="10594" index="9" uid="99b808be-43c2-4e98-bae3-8ae364f38251" >
+<cdparam x="62" y="61" />
+<sizeparam width="325" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="This simplistic socket activity diagram is to refine
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10578" />
+<TGConnectingPoint num="1" id="10579" />
+<TGConnectingPoint num="2" id="10580" />
+<TGConnectingPoint num="3" id="10581" />
+<TGConnectingPoint num="4" id="10582" />
+<TGConnectingPoint num="5" id="10583" />
+<TGConnectingPoint num="6" id="10584" />
+<TGConnectingPoint num="7" id="10585" />
+<TGConnectingPoint num="8" id="10586" />
+<TGConnectingPoint num="9" id="10587" />
+<TGConnectingPoint num="10" id="10588" />
+<TGConnectingPoint num="11" id="10589" />
+<TGConnectingPoint num="12" id="10590" />
+<TGConnectingPoint num="13" id="10591" />
+<TGConnectingPoint num="14" id="10592" />
+<TGConnectingPoint num="15" id="10593" />
+<extraparam>
+<Line value="This simplistic socket activity diagram is to refine" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10596" index="10" uid="5f4a6c31-adec-4a3f-a5fe-923b0211ed3c" >
+<cdparam x="464" y="149" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10595" />
+</COMPONENT>
+
+<COMPONENT type="1020" id="10600" index="11" uid="18f2bb4c-a015-4a3d-bfdb-dec4b63de206" >
+<cdparam x="425" y="84" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10597" />
+<TGConnectingPoint num="1" id="10598" />
+<TGConnectingPoint num="2" id="10599" />
+</COMPONENT>
+
+<COMPONENT type="1000" id="10602" index="12" uid="993308b2-adcf-4943-b546-8d870828d1e0" >
+<cdparam x="467" y="34" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10601" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="10603" index="13" uid="2ca4eb4f-3d39-49a4-9903-8cd491414983" >
+<cdparam x="523" y="98" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="523" y="98" id="10598" />
+<P2 x="564" y="180" id="10571" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10604" index="14" uid="8860d030-d6ac-4be7-9c21-e53c0daac204" >
+<cdparam x="514" y="185" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="514" y="185" id="10572" />
+<P2 x="214" y="328" id="10552" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10605" index="15" uid="583e37c6-08f6-46e4-804c-77fa7e851305" >
+<cdparam x="825" y="347" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="825" y="347" id="10558" />
+<P2 x="825" y="389" id="10555" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10606" index="16" uid="37d8e65f-cf3d-46be-bd84-a5b212e8d725" >
+<cdparam x="613" y="185" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="613" y="185" id="10576" />
+<P2 x="825" y="317" id="10557" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10607" index="17" uid="22b23f03-86b3-478c-bc5e-7a4cf54f554c" >
+<cdparam x="564" y="185" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="185" id="10574" />
+<P2 x="564" y="393" id="10565" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10608" index="18" uid="d573638a-1744-4b6a-9962-e11d8fc4327e" >
+<cdparam x="564" y="423" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="423" id="10566" />
+<P2 x="564" y="449" id="10562" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10609" index="19" uid="90e89cde-f091-42d1-9722-b3ad317d3a3e" >
+<cdparam x="564" y="479" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="479" id="10563" />
+<P2 x="564" y="513" id="10560" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10610" index="20" uid="74550472-de62-41b0-a76d-a1d53008fb87" >
+<cdparam x="220" y="364" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="214" y="358" id="10553" />
+<P2 x="214" y="383" id="10568" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10611" index="21" uid="056870c5-f567-4a25-ab12-629fe54c4bbe" >
+<cdparam x="474" y="54" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="474" y="54" id="10601" />
+<P2 x="474" y="79" id="10597" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10612" index="22" uid="619e3fff-0af1-4f81-92f8-fdbdec4af767" >
+<cdparam x="474" y="109" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="474" y="109" id="10599" />
+<P2 x="474" y="144" id="10595" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="Countermeasure_PlausibilityCheck" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000007" >
+<COMPONENT type="301" id="10629" index="0" uid="0a3699dc-4b0c-477e-9925-aed20a1c8de4" >
+<cdparam x="1104" y="728" />
+<sizeparam width="370" height="99" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In this DIPLODOCUS model, we consider
+this plausibility check behavior only under
+an attack (thus, every emergency brake
+order is an illegitimate one and leader_message_type
+is changed to 1 and not kept to 0).
+Indeed, the worst case is terms of computational
+complexity is the SpeedController + TrajectoryController
+chain and not the EBController one.
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10613" />
+<TGConnectingPoint num="1" id="10614" />
+<TGConnectingPoint num="2" id="10615" />
+<TGConnectingPoint num="3" id="10616" />
+<TGConnectingPoint num="4" id="10617" />
+<TGConnectingPoint num="5" id="10618" />
+<TGConnectingPoint num="6" id="10619" />
+<TGConnectingPoint num="7" id="10620" />
+<TGConnectingPoint num="8" id="10621" />
+<TGConnectingPoint num="9" id="10622" />
+<TGConnectingPoint num="10" id="10623" />
+<TGConnectingPoint num="11" id="10624" />
+<TGConnectingPoint num="12" id="10625" />
+<TGConnectingPoint num="13" id="10626" />
+<TGConnectingPoint num="14" id="10627" />
+<TGConnectingPoint num="15" id="10628" />
+<extraparam>
+<Line value="In this DIPLODOCUS model, we consider" />
+<Line value="this plausibility check behavior only under" />
+<Line value="an attack (thus, every emergency brake" />
+<Line value="order is an illegitimate one and leader_message_type" />
+<Line value="is changed to 1 and not kept to 0)." />
+<Line value="Indeed, the worst case is terms of computational" />
+<Line value="complexity is the SpeedController + TrajectoryController" />
+<Line value="chain and not the EBController one." />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1011" id="10632" index="1" uid="c6e6dc0f-e348-4527-9dc6-68e7157c0a62" >
+<cdparam x="858" y="635" />
+<sizeparam width="172" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="action state" value="leader_message_type = 1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10630" />
+<TGConnectingPoint num="1" id="10631" />
+</COMPONENT>
+
+<COMPONENT type="1009" id="10635" index="2" uid="8420e19d-9151-4b84-b06e-2f0b79fdfc31" >
+<cdparam x="304" y="240" />
+<sizeparam width="134" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="read channel" value="fromADtoCPC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="10633" />
+<TGConnectingPoint num="1" id="10634" />
+<extraparam>
+<Data channelName="fromADtoCPC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1016" id="10643" index="3" uid="c0cc4020-6c70-486f-b753-849f36513458" >
+<cdparam x="451" y="406" />
+<sizeparam width="150" height="5" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10637" />
+<TGConnectingPoint num="1" id="10638" />
+<TGConnectingPoint num="2" id="10639" />
+<TGConnectingPoint num="3" id="10640" />
+<TGConnectingPoint num="4" id="10641" />
+<TGConnectingPoint num="5" id="10642" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="10636" index="36" uid="e84298ba-fd81-4cc3-a1c7-8ec5b712f17c" >
+<father id="10643" num="0" />
+<cdparam x="598" y="406" />
+<sizeparam width="20" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="147" minY="7" maxY="0" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1013" id="10647" index="4" uid="263d9600-a267-4906-8dd7-32c9f269252b" >
+<cdparam x="521" y="488" />
+<sizeparam width="10" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10645" />
+<TGConnectingPoint num="1" id="10646" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="10644" index="37" uid="e622ecda-6747-4f3b-88dc-c5aebe12a4cd" >
+<father id="10647" num="0" />
+<cdparam x="537" y="508" />
+<sizeparam width="9" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="22" minY="10" maxY="22" />
+<infoparam name="value of the delay" value="7" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1012" id="10655" index="5" uid="f820b284-bd61-4e7b-87a2-c5a7df9af871" >
+<cdparam x="357" y="310" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10651" />
+<TGConnectingPoint num="1" id="10652" />
+<TGConnectingPoint num="2" id="10653" />
+<TGConnectingPoint num="3" id="10654" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="10648" index="38" uid="c28912bb-e91b-4892-98e1-72c2caee6b46" >
+<father id="10655" num="0" />
+<cdparam x="282" y="342" />
+<sizeparam width="213" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="-75" maxX="-16" minY="10" maxY="32" />
+<infoparam name="guard 1" value="[not(leader_message_type == 0)]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="10649" index="39" uid="db4da7f4-464c-4bea-aecb-563a92447ef0" >
+<father id="10655" num="1" />
+<cdparam x="410" y="330" />
+<sizeparam width="36" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="35" maxX="53" minY="10" maxY="32" />
+<infoparam name="guard 2" value="[else]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="10650" index="40" uid="8ae66e42-58a8-4d58-a8c8-7865a9c65f79" >
+<father id="10655" num="2" />
+<cdparam x="395" y="376" />
+<sizeparam width="14" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="20" maxX="38" minY="45" maxY="66" />
+<infoparam name="guard 3" value="[ ]" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="301" id="10672" index="6" uid="9276715c-d4e9-4f99-ab4a-af9aed8ef269" >
+<cdparam x="1040" y="580" />
+<sizeparam width="370" height="135" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="If an EB message is received, the countemeasure
+checks if there is a decrease in the three following
+consecutive gap values.
+If it is the case, an EB message is sent to the AD
+component. Else, a regular speed update message
+is sent with the last legitimate speed value.
+
+Depending on the gap values, leader_message_type
+can be equal to 0 or 1. In this model, we keep it
+equal to 1 since our aim is to evaluate the performance
+of the countermeasure rather than its exact behavior.
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10656" />
+<TGConnectingPoint num="1" id="10657" />
+<TGConnectingPoint num="2" id="10658" />
+<TGConnectingPoint num="3" id="10659" />
+<TGConnectingPoint num="4" id="10660" />
+<TGConnectingPoint num="5" id="10661" />
+<TGConnectingPoint num="6" id="10662" />
+<TGConnectingPoint num="7" id="10663" />
+<TGConnectingPoint num="8" id="10664" />
+<TGConnectingPoint num="9" id="10665" />
+<TGConnectingPoint num="10" id="10666" />
+<TGConnectingPoint num="11" id="10667" />
+<TGConnectingPoint num="12" id="10668" />
+<TGConnectingPoint num="13" id="10669" />
+<TGConnectingPoint num="14" id="10670" />
+<TGConnectingPoint num="15" id="10671" />
+<extraparam>
+<Line value="If an EB message is received, the countemeasure" />
+<Line value="checks if there is a decrease in the three following" />
+<Line value="consecutive gap values." />
+<Line value="If it is the case, an EB message is sent to the AD" />
+<Line value="component. Else, a regular speed update message" />
+<Line value="is sent with the last legitimate speed value." />
+<Line value="" />
+<Line value="Depending on the gap values, leader_message_type" />
+<Line value="can be equal to 0 or 1. In this model, we keep it" />
+<Line value="equal to 1 since our aim is to evaluate the performance" />
+<Line value="of the countermeasure rather than its exact behavior." />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="10689" index="7" uid="1197a7d2-65d9-47e2-9ee3-4d0f6dc0b1f8" >
+<cdparam x="554" y="456" />
+<sizeparam width="194" height="111" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Plausibility check (EXECI 7) :
+Worst case : 7 evaluations
+(gap > gapBackup
+n != 0
+n != 1
+n >= 2
+gap2 < gap1
+and
+gap1 < gap0)
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10673" />
+<TGConnectingPoint num="1" id="10674" />
+<TGConnectingPoint num="2" id="10675" />
+<TGConnectingPoint num="3" id="10676" />
+<TGConnectingPoint num="4" id="10677" />
+<TGConnectingPoint num="5" id="10678" />
+<TGConnectingPoint num="6" id="10679" />
+<TGConnectingPoint num="7" id="10680" />
+<TGConnectingPoint num="8" id="10681" />
+<TGConnectingPoint num="9" id="10682" />
+<TGConnectingPoint num="10" id="10683" />
+<TGConnectingPoint num="11" id="10684" />
+<TGConnectingPoint num="12" id="10685" />
+<TGConnectingPoint num="13" id="10686" />
+<TGConnectingPoint num="14" id="10687" />
+<TGConnectingPoint num="15" id="10688" />
+<extraparam>
+<Line value="Plausibility check (EXECI 7) :" />
+<Line value="Worst case : 7 evaluations" />
+<Line value="(gap > gapBackup" />
+<Line value="n != 0" />
+<Line value="n != 1" />
+<Line value="n >= 2" />
+<Line value="gap2 < gap1" />
+<Line value="and" />
+<Line value="gap1 < gap0)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10691" index="8" uid="96ad662a-5490-45ea-be20-fd4168be4d3f" >
+<cdparam x="933" y="843" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10690" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="10694" index="9" uid="85378265-d5db-49a4-8c71-aaed3fd4cb2a" >
+<cdparam x="793" y="768" />
+<sizeparam width="300" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newLeaderMessage(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10692" />
+<TGConnectingPoint num="1" id="10693" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="10697" index="10" uid="3a318f25-c398-4f9c-b0b7-2968f5b82360" >
+<cdparam x="875" y="702" />
+<sizeparam width="138" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromCPCtoAD(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10695" />
+<TGConnectingPoint num="1" id="10696" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10699" index="11" uid="dcfb088e-8d87-40cb-834a-3279e5fa1777" >
+<cdparam x="515" y="594" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10698" />
+</COMPONENT>
+
+<COMPONENT type="1009" id="10702" index="12" uid="c8f0ad98-ca75-413d-9171-40c1f542014d" >
+<cdparam x="298" y="174" />
+<sizeparam width="147" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="read channel" value="fromSocToCPC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="10700" />
+<TGConnectingPoint num="1" id="10701" />
+<extraparam>
+<Data channelName="fromSocToCPC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1010" id="10705" index="13" uid="282d5031-afca-450c-949b-24460be9dc45" >
+<cdparam x="232" y="128" />
+<sizeparam width="278" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="wait event" value="newSocketData(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="10703" />
+<TGConnectingPoint num="1" id="10704" />
+<extraparam>
+<Data eventName="newSocketData" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10707" index="14" uid="2931671c-ae14-449e-80cf-eb7c6e2990fa" >
+<cdparam x="238" y="540" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10706" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="10710" index="15" uid="495a8838-44f4-452d-a9f9-c7ed366db66f" >
+<cdparam x="85" y="478" />
+<sizeparam width="326" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newLeaderMessage(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10708" />
+<TGConnectingPoint num="1" id="10709" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="10713" index="16" uid="23ab6b2a-08c8-475c-a13d-e6e49762edfe" >
+<cdparam x="179" y="424" />
+<sizeparam width="139" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromCPCtoAD(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10711" />
+<TGConnectingPoint num="1" id="10712" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10715" index="17" uid="5f4a6c31-adec-4a3f-a5fe-923b0211ed3c" >
+<cdparam x="196" y="125" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10714" />
+</COMPONENT>
+
+<COMPONENT type="1020" id="10719" index="18" uid="18f2bb4c-a015-4a3d-bfdb-dec4b63de206" >
+<cdparam x="157" y="60" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10716" />
+<TGConnectingPoint num="1" id="10717" />
+<TGConnectingPoint num="2" id="10718" />
+</COMPONENT>
+
+<COMPONENT type="1000" id="10721" index="19" uid="993308b2-adcf-4943-b546-8d870828d1e0" >
+<cdparam x="199" y="10" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10720" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="10722" index="20" uid="dd957f92-6fbb-47a6-a5bf-f4acfe2602f0" >
+<cdparam x="949" y="663" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="944" y="660" id="10631" />
+<P2 x="944" y="697" id="10695" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10723" index="21" uid="d38cba37-3793-43d0-997a-efb372f7d831" >
+<cdparam x="371" y="293" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="371" y="265" id="10634" />
+<P2 x="372" y="305" id="10651" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10724" index="22" uid="a2594daa-5501-4ed2-bf43-fc09e7dd8930" >
+<cdparam x="526" y="523" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="526" y="523" id="10646" />
+<P2 x="525" y="589" id="10698" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10725" index="23" uid="52f0e6a3-cc45-40e8-855a-7b919691d9e8" >
+<cdparam x="255" y="74" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="255" y="74" id="10717" />
+<P2 x="371" y="123" id="10703" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10726" index="24" uid="88c7b950-f96c-4071-be74-87b4ae3b758a" >
+<cdparam x="332" y="326" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="332" y="325" id="10652" />
+<P2 x="248" y="419" id="10711" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10727" index="25" uid="ef062131-b893-495a-ada7-6c44550ef99e" >
+<cdparam x="412" y="326" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="412" y="325" id="10653" />
+<P2 x="526" y="406" id="10637" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10728" index="26" uid="fb6966ee-0c21-4bad-94fd-3dc5079efb08" >
+<cdparam x="574" y="351" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="575" y="411" id="10642" />
+<P2 x="944" y="630" id="10630" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10729" index="27" uid="02121c12-28ce-41f0-9f4d-4afffb76c1ec" >
+<cdparam x="574" y="410" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="526" y="411" id="10640" />
+<P2 x="526" y="483" id="10645" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10730" index="28" uid="55922792-b637-4dc9-9ca9-dba62cb1a00f" >
+<cdparam x="373" y="152" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="371" y="153" id="10704" />
+<P2 x="371" y="169" id="10700" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10731" index="29" uid="3a973279-9027-4b18-b38c-34706d2ba1bd" >
+<cdparam x="943" y="728" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="944" y="727" id="10696" />
+<P2 x="943" y="763" id="10692" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10732" index="30" uid="bbaabbd2-ba27-44e2-86d3-08b1d102feb5" >
+<cdparam x="943" y="798" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="943" y="793" id="10693" />
+<P2 x="943" y="838" id="10690" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10733" index="31" uid="b11f6bd5-10ae-43d5-84bb-b69e4beca7fa" >
+<cdparam x="373" y="216" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="371" y="199" id="10701" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10734" index="32" uid="cacfbcd2-e3c8-494a-b49f-feeb8cb18d3a" >
+<cdparam x="439" y="473" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="248" y="449" id="10712" />
+<P2 x="248" y="473" id="10708" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10735" index="33" uid="abe70da7-f9d8-4514-8270-93cecd27e167" >
+<cdparam x="439" y="535" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="248" y="503" id="10709" />
+<P2 x="248" y="535" id="10706" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10736" index="34" uid="056870c5-f567-4a25-ab12-629fe54c4bbe" >
+<cdparam x="206" y="30" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="206" y="30" id="10720" />
+<P2 x="206" y="55" id="10716" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10737" index="35" uid="619e3fff-0af1-4f81-92f8-fdbdec4af767" >
+<cdparam x="206" y="85" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="206" y="85" id="10718" />
+<P2 x="206" y="120" id="10714" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="EBController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="301" id="10754" index="0" uid="b2fed985-65d7-47b5-bcad-4d9f442a932b" >
+<cdparam x="778" y="372" />
+<sizeparam width="266" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending updated rover speed value (0)
+to SpeedFeedback component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10738" />
+<TGConnectingPoint num="1" id="10739" />
+<TGConnectingPoint num="2" id="10740" />
+<TGConnectingPoint num="3" id="10741" />
+<TGConnectingPoint num="4" id="10742" />
+<TGConnectingPoint num="5" id="10743" />
+<TGConnectingPoint num="6" id="10744" />
+<TGConnectingPoint num="7" id="10745" />
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+<TGConnectingPoint num="10" id="10748" />
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+<TGConnectingPoint num="12" id="10750" />
+<TGConnectingPoint num="13" id="10751" />
+<TGConnectingPoint num="14" id="10752" />
+<TGConnectingPoint num="15" id="10753" />
+<extraparam>
+<Line value="Sending updated rover speed value (0)" />
+<Line value="to SpeedFeedback component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="10771" index="1" uid="77f15006-5980-499a-8a18-ce1a5e5794e5" >
+<cdparam x="426" y="454" />
+<sizeparam width="307" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending EB command to DC motors actuators
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10755" />
+<TGConnectingPoint num="1" id="10756" />
+<TGConnectingPoint num="2" id="10757" />
+<TGConnectingPoint num="3" id="10758" />
+<TGConnectingPoint num="4" id="10759" />
+<TGConnectingPoint num="5" id="10760" />
+<TGConnectingPoint num="6" id="10761" />
+<TGConnectingPoint num="7" id="10762" />
+<TGConnectingPoint num="8" id="10763" />
+<TGConnectingPoint num="9" id="10764" />
+<TGConnectingPoint num="10" id="10765" />
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+<TGConnectingPoint num="12" id="10767" />
+<TGConnectingPoint num="13" id="10768" />
+<TGConnectingPoint num="14" id="10769" />
+<TGConnectingPoint num="15" id="10770" />
+<extraparam>
+<Line value="Sending EB command to DC motors actuators" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="10788" index="2" uid="16968ae2-0875-4576-a8cb-1292c3b97e86" >
+<cdparam x="165" y="277" />
+<sizeparam width="216" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Receiving EB order from
+AutonomousDriving component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10772" />
+<TGConnectingPoint num="1" id="10773" />
+<TGConnectingPoint num="2" id="10774" />
+<TGConnectingPoint num="3" id="10775" />
+<TGConnectingPoint num="4" id="10776" />
+<TGConnectingPoint num="5" id="10777" />
+<TGConnectingPoint num="6" id="10778" />
+<TGConnectingPoint num="7" id="10779" />
+<TGConnectingPoint num="8" id="10780" />
+<TGConnectingPoint num="9" id="10781" />
+<TGConnectingPoint num="10" id="10782" />
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+<TGConnectingPoint num="12" id="10784" />
+<TGConnectingPoint num="13" id="10785" />
+<TGConnectingPoint num="14" id="10786" />
+<TGConnectingPoint num="15" id="10787" />
+<extraparam>
+<Line value="Receiving EB order from" />
+<Line value="AutonomousDriving component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="10791" index="3" uid="797a320b-59bb-4f3b-92fe-b2aaa9836533" >
+<cdparam x="668" y="314" />
+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newFeedbackEB()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10789" />
+<TGConnectingPoint num="1" id="10790" />
+<extraparam>
+<Data eventName="newFeedbackEB" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10793" index="4" uid="59bcb8f9-3117-4398-9e63-7353ffd6661f" >
+<cdparam x="729" y="374" />
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+<hidden value="false" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+</TMLActivityDiagramPanel>
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+<TMLActivityDiagramPanel name="SpeedController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000002" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Reception of speed control data :
+- previous rover speed
+- rover speed
+- gap
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10837" />
+<TGConnectingPoint num="1" id="10838" />
+<TGConnectingPoint num="2" id="10839" />
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+<TGConnectingPoint num="14" id="10851" />
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+<extraparam>
+<Line value="Reception of speed control data :" />
+<Line value="- previous rover speed" />
+<Line value="- rover speed" />
+<Line value="- gap" />
+</extraparam>
+</COMPONENT>
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+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newFeedbackSC()" />
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+<TGConnectingPoint num="0" id="10854" />
+<TGConnectingPoint num="1" id="10855" />
+<extraparam>
+<Data eventName="newFeedbackSC" nbOfParams="5" />
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+I. Error calculation (EXECI 4) :
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+2. speed_error_i = speed_error_i + speed_error
+3. speed_error_d = speed_error - speed_error_backup
+4. speed_error_backup = speed_error
+
+II. PID calculation (EXECI 5)
+1. 3 multiplications
+2. 2 additions
+straight_power = max( 0, min( max_power, (Kp*speed_error + Ki*speed_error_i + Kd*speed_error_d) )
+
+
+II. At least, affectation of two variables (EXECI 2)
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+<Line value="2. speed_error_i = speed_error_i + speed_error" />
+<Line value="3. speed_error_d = speed_error - speed_error_backup" />
+<Line value="4. speed_error_backup = speed_error" />
+<Line value="" />
+<Line value="II. PID calculation (EXECI 5)" />
+<Line value="1. 3 multiplications" />
+<Line value="2. 2 additions" />
+<Line value="straight_power = max( 0, min( max_power, (Kp*speed_error + Ki*speed_error_i + Kd*speed_error_d) )" />
+<Line value="" />
+<Line value="" />
+<Line value="II. At least, affectation of two variables (EXECI 2)" />
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+<new d="false" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10877" />
+<TGConnectingPoint num="1" id="10878" />
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+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
+<infoparam name="value of the delay" value="11" />
+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newMotorPower()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10880" />
+<TGConnectingPoint num="1" id="10881" />
+<extraparam>
+<Data eventName="newMotorPower" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
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+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromSCtoSF(1)" />
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+4. trajectory_error_backup = trajectory_error
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+1. 3 multiplications
+2. 2 additions
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+<Line value="and lateral errors, and rover speed. The algorithm" />
+<Line value="and its complexity need to be studied in order to" />
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+<info stereotype="BUS-RR" nodeName="Raspberry_Bus" />
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+<info stereotype="BRIDGE" nodeName="BCM2837_Bridge" />
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+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="1" referenceAttack="null" />
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+<TGConnectingPoint num="14" id="12664" />
+<TGConnectingPoint num="15" id="12665" />
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+</COMPONENT>
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+<cdparam x="564" y="609" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12850" />
+</COMPONENT>
+
+<COMPONENT type="301" id="12868" index="13" uid="74c1e445-5ca9-4e7a-9f5d-0aee9404a9a1" >
+<cdparam x="14" y="40" />
+<sizeparam width="286" height="183" minWidth="7" minHeight="3" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Attacker mode
+-----------------------
+1: the attacker injects a false speed value
+with a strong increase w.r.t. the real value
+(Attack 1, see deliverable D5.2)
+2: the attacker injects a false speed value
+with a small increase w.r.t. the real value
+(Attack 2, see deliverable D5.2)
+4 : the attacker injects a false emergency
+brake message
+(Attack 4, see deliverable D5.2)
+5 : the attacker blocks emergency brake
+messages (Attack 5, see deliverable D5.2)
+and injects a platoon information update
+message
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12852" />
+<TGConnectingPoint num="1" id="12853" />
+<TGConnectingPoint num="2" id="12854" />
+<TGConnectingPoint num="3" id="12855" />
+<TGConnectingPoint num="4" id="12856" />
+<TGConnectingPoint num="5" id="12857" />
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+<TGConnectingPoint num="13" id="12865" />
+<TGConnectingPoint num="14" id="12866" />
+<TGConnectingPoint num="15" id="12867" />
+<extraparam>
+<Line value="Attacker mode" />
+<Line value="-----------------------" />
+<Line value="1: the attacker injects a false speed value" />
+<Line value="with a strong increase w.r.t. the real value" />
+<Line value="(Attack 1, see deliverable D5.2)" />
+<Line value="2: the attacker injects a false speed value" />
+<Line value="with a small increase w.r.t. the real value" />
+<Line value="(Attack 2, see deliverable D5.2)" />
+<Line value="4 : the attacker injects a false emergency" />
+<Line value="brake message" />
+<Line value="(Attack 4, see deliverable D5.2)" />
+<Line value="5 : the attacker blocks emergency brake" />
+<Line value="messages (Attack 5, see deliverable D5.2)" />
+<Line value="and injects a platoon information update" />
+<Line value="message" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1010" id="12871" index="14" uid="ef43fdcb-1551-4a2a-9096-fff3ce21da37" >
+<cdparam x="468" y="177" />
+<sizeparam width="256" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="wait event" value="interception(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="12869" />
+<TGConnectingPoint num="1" id="12870" />
+<extraparam>
+<Data eventName="interception" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="12873" index="15" uid="c9065a94-b4f9-4249-bf97-69125afa4b74" >
+<cdparam x="434" y="568" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12872" />
+</COMPONENT>
+
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+<cdparam x="435" y="159" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12874" />
+</COMPONENT>
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+<COMPONENT type="1020" id="12879" index="17" uid="d6afd95a-2d9c-4221-ad4e-572b65170886" >
+<cdparam x="396" y="101" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12876" />
+<TGConnectingPoint num="1" id="12877" />
+<TGConnectingPoint num="2" id="12878" />
+</COMPONENT>
+
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+<cdparam x="438" y="36" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12880" />
+</COMPONENT>
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+<cdparam x="494" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="494" y="115" id="12877" />
+<P2 x="596" y="172" id="12869" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="12883" index="20" uid="f08072a8-2562-4abc-8280-1ab0dcb3b55f" >
+<cdparam x="575" y="462" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="574" y="462" id="12825" />
+<P2 x="574" y="535" id="12834" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="12884" index="21" uid="acf1db21-0237-44f9-881d-24ecb61e8382" >
+<cdparam x="614" y="421" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="614" y="422" id="12824" />
+<P2 x="710" y="496" id="12827" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="12885" index="22" uid="a35432c1-940a-4d00-b0ec-af9ed7a209c3" >
+<cdparam x="534" y="414" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="534" y="422" id="12823" />
+<P2 x="444" y="497" id="12837" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="12886" index="23" uid="2f00d79a-ef32-4675-baab-e5602853ad16" >
+<cdparam x="360" y="320" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="362" y="319" id="12808" />
+<P2 x="574" y="402" id="12822" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="12887" index="24" uid="9bdcfecb-6188-49aa-b417-e635b93c1f86" >
+<cdparam x="281" y="320" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="282" y="319" id="12807" />
+<P2 x="100" y="393" id="12843" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="12888" index="25" uid="fbb3816b-5bee-4d5f-b9ef-93a002d74daf" >
+<cdparam x="320" y="359" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="322" y="359" id="12809" />
+<P2 x="322" y="393" id="12840" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="12889" index="26" uid="cc3a0005-42de-4aa1-9d32-1e6652e1325d" >
+<cdparam x="646" y="251" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="645" y="251" id="12817" />
+<P2 x="1053" y="343" id="12831" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="12890" index="27" uid="9037b01a-a4b0-49e2-8c4e-81ab614277dd" >
+<cdparam x="575" y="565" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="574" y="565" id="12835" />
+<P2 x="574" y="604" id="12850" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<CONNECTOR type="115" id="12891" index="28" uid="10c2f0aa-e999-4f42-b9e0-40a2f80aeedd" >
+<cdparam x="134" y="425" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="100" y="423" id="12844" />
+<P2 x="100" y="454" id="12848" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<CONNECTOR type="115" id="12892" index="29" uid="0f4c1029-1635-428b-867d-2ea24507640f" >
+<cdparam x="345" y="421" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<cdparam x="453" y="539" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="444" y="527" id="12838" />
+<P2 x="444" y="563" id="12872" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<CONNECTOR type="115" id="12894" index="31" uid="60dbc370-471c-43d2-9c2f-c0b16a612f2c" >
+<cdparam x="596" y="209" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="596" y="202" id="12870" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<cdparam x="517" y="250" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="546" y="251" id="12813" />
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+<new d="false" />
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+<cdparam x="1053" y="373" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<infoparam name="connector" value="null" />
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+<infoparam name="connector" value="null" />
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+<new d="false" />
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+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="Socket" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="encrypt" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12899" />
+<TGConnectingPoint num="1" id="12900" />
+<extraparam>
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+</extraparam>
+</COMPONENT>
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+<COMPONENT type="1009" id="12904" index="1" uid="bc6c2595-387e-4072-97da-2b2915ce9837" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="read channel" value="fromLSocToSoc(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="12902" />
+<TGConnectingPoint num="1" id="12903" />
+<extraparam>
+<Data channelName="fromLSocToSoc" nbOfSamples="1" secPattern="nonceL" isAttacker="No" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="1036" id="12907" index="2" uid="d303688a-967b-4cdf-8318-5bd043d2074d" >
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+<sizeparam width="15" height="35" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="decrypt" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12905" />
+<TGConnectingPoint num="1" id="12906" />
+<extraparam>
+<Data secPattern="encrL" />
+</extraparam>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromSocToLSoc(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12908" />
+<TGConnectingPoint num="1" id="12909" />
+<extraparam>
+<Data channelName="fromSocToLSoc" nbOfSamples="1" secPattern="nonceR" isAttacker="No" />
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+</COMPONENT>
+
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+<cdparam x="193" y="251" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="encrypt" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12911" />
+<TGConnectingPoint num="1" id="12912" />
+<breakpoint />
+<extraparam>
+<Data secContext="nonceR" type="Nonce" overhead="" size="" encTime="100" decTime="" nonce="" key="" algorithm="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1013" id="12917" index="5" uid="44882b6a-45bd-4af3-b383-04e13d9841ba" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12915" />
+<TGConnectingPoint num="1" id="12916" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="12914" index="40" uid="49b31093-61e9-47a0-acd2-8ae70d0ae42b" >
+<father id="12917" num="0" />
+<cdparam x="874" y="347" />
+<sizeparam width="10" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
+<infoparam name="value of the delay" value="1" />
+<new d="false" />
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
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+<TGConnectingPoint num="0" id="12918" />
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+<sizeparam width="143" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromSocToLSoc(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12920" />
+<TGConnectingPoint num="1" id="12921" />
+<extraparam>
+<Data channelName="fromSocToLSoc" nbOfSamples="1" secPattern="encrR" isAttacker="No" />
+</extraparam>
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+<infoparam name="UML Note" value="Sending updated rover speed value (0)
+to SpeedFeedback component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13094" />
+<TGConnectingPoint num="1" id="13095" />
+<TGConnectingPoint num="2" id="13096" />
+<TGConnectingPoint num="3" id="13097" />
+<TGConnectingPoint num="4" id="13098" />
+<TGConnectingPoint num="5" id="13099" />
+<TGConnectingPoint num="6" id="13100" />
+<TGConnectingPoint num="7" id="13101" />
+<TGConnectingPoint num="8" id="13102" />
+<TGConnectingPoint num="9" id="13103" />
+<TGConnectingPoint num="10" id="13104" />
+<TGConnectingPoint num="11" id="13105" />
+<TGConnectingPoint num="12" id="13106" />
+<TGConnectingPoint num="13" id="13107" />
+<TGConnectingPoint num="14" id="13108" />
+<TGConnectingPoint num="15" id="13109" />
+<extraparam>
+<Line value="Sending updated rover speed value (0)" />
+<Line value="to SpeedFeedback component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="13127" index="1" uid="77f15006-5980-499a-8a18-ce1a5e5794e5" >
+<cdparam x="426" y="454" />
+<sizeparam width="307" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending EB command to DC motors actuators
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13111" />
+<TGConnectingPoint num="1" id="13112" />
+<TGConnectingPoint num="2" id="13113" />
+<TGConnectingPoint num="3" id="13114" />
+<TGConnectingPoint num="4" id="13115" />
+<TGConnectingPoint num="5" id="13116" />
+<TGConnectingPoint num="6" id="13117" />
+<TGConnectingPoint num="7" id="13118" />
+<TGConnectingPoint num="8" id="13119" />
+<TGConnectingPoint num="9" id="13120" />
+<TGConnectingPoint num="10" id="13121" />
+<TGConnectingPoint num="11" id="13122" />
+<TGConnectingPoint num="12" id="13123" />
+<TGConnectingPoint num="13" id="13124" />
+<TGConnectingPoint num="14" id="13125" />
+<TGConnectingPoint num="15" id="13126" />
+<extraparam>
+<Line value="Sending EB command to DC motors actuators" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="13144" index="2" uid="16968ae2-0875-4576-a8cb-1292c3b97e86" >
+<cdparam x="165" y="277" />
+<sizeparam width="216" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Receiving EB order from
+AutonomousDriving component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13128" />
+<TGConnectingPoint num="1" id="13129" />
+<TGConnectingPoint num="2" id="13130" />
+<TGConnectingPoint num="3" id="13131" />
+<TGConnectingPoint num="4" id="13132" />
+<TGConnectingPoint num="5" id="13133" />
+<TGConnectingPoint num="6" id="13134" />
+<TGConnectingPoint num="7" id="13135" />
+<TGConnectingPoint num="8" id="13136" />
+<TGConnectingPoint num="9" id="13137" />
+<TGConnectingPoint num="10" id="13138" />
+<TGConnectingPoint num="11" id="13139" />
+<TGConnectingPoint num="12" id="13140" />
+<TGConnectingPoint num="13" id="13141" />
+<TGConnectingPoint num="14" id="13142" />
+<TGConnectingPoint num="15" id="13143" />
+<extraparam>
+<Line value="Receiving EB order from" />
+<Line value="AutonomousDriving component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="13147" index="3" uid="797a320b-59bb-4f3b-92fe-b2aaa9836533" >
+<cdparam x="668" y="314" />
+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newFeedbackEB()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13145" />
+<TGConnectingPoint num="1" id="13146" />
+<extraparam>
+<Data eventName="newFeedbackEB" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="13149" index="4" uid="59bcb8f9-3117-4398-9e63-7353ffd6661f" >
+<cdparam x="729" y="374" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13148" />
+</COMPONENT>
+
+<COMPONENT type="1006" id="13152" index="5" uid="e3660966-aea9-465f-8668-528801198554" >
+<cdparam x="675" y="250" />
+<sizeparam width="128" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoSF(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13150" />
+<TGConnectingPoint num="1" id="13151" />
+<extraparam>
+<Data channelName="fromEBCtoSF" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="13154" index="6" uid="79c3cfea-5ddc-419a-afe8-e30b2df6daf7" >
+<cdparam x="558" y="421" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13153" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="13157" index="7" uid="27b61c5c-cb72-4a70-ac00-ab5f77bb25b0" >
+<cdparam x="497" y="354" />
+<sizeparam width="143" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newEBCommand()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13155" />
+<TGConnectingPoint num="1" id="13156" />
+<extraparam>
+<Data eventName="newEBCommand" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="13160" index="8" uid="075715c2-1a68-424c-8456-3fb77ce8c62a" >
+<cdparam x="502" y="275" />
+<sizeparam width="132" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoMO(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13158" />
+<TGConnectingPoint num="1" id="13159" />
+<extraparam>
+<Data channelName="fromEBCtoMO" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="13162" index="9" uid="a6c1c7d5-d2fc-488a-a2eb-ffcbf132fab7" >
+<cdparam x="418" y="330" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13161" />
+</COMPONENT>
+
+<COMPONENT type="1009" id="13165" index="10" uid="f429fc38-622f-4701-8f40-e25730f393c8" >
+<cdparam x="361" y="248" />
+<sizeparam width="134" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="read channel" value="fromADtoEBC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="13163" />
+<TGConnectingPoint num="1" id="13164" />
+<extraparam>
+<Data channelName="fromADtoEBC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1016" id="13173" index="11" uid="efe47682-c3db-41d0-bfd4-8684847296c4" >
+<cdparam x="493" y="182" />
+<sizeparam width="150" height="5" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13167" />
+<TGConnectingPoint num="1" id="13168" />
+<TGConnectingPoint num="2" id="13169" />
+<TGConnectingPoint num="3" id="13170" />
+<TGConnectingPoint num="4" id="13171" />
+<TGConnectingPoint num="5" id="13172" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="13166" index="26" uid="f4947795-4a81-4177-943b-80cf092a3d38" >
+<father id="13173" num="0" />
+<cdparam x="647" y="189" />
+<sizeparam width="20" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="154" minY="7" maxY="7" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1001" id="13175" index="12" uid="14de0c30-b8a4-4520-a041-ec1f0f4cbd6d" >
+<cdparam x="437" y="152" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13174" />
+</COMPONENT>
+
+<COMPONENT type="1020" id="13179" index="13" uid="d6afd95a-2d9c-4221-ad4e-572b65170886" >
+<cdparam x="398" y="94" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13176" />
+<TGConnectingPoint num="1" id="13177" />
+<TGConnectingPoint num="2" id="13178" />
+</COMPONENT>
+
+<COMPONENT type="1000" id="13181" index="14" uid="57f78b07-0067-4fc2-8e15-7d2ca7aff5ff" >
+<cdparam x="440" y="29" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13180" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="13182" index="15" uid="694fb02f-5cb9-4a71-b7a1-2895cddca030" >
+<cdparam x="496" y="108" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="496" y="108" id="13177" />
+<P2 x="568" y="182" id="13167" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13183" index="16" uid="435c286e-4228-485c-8f29-1c8c22b0297c" >
+<cdparam x="518" y="187" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="518" y="187" id="13168" />
+<P2 x="428" y="243" id="13163" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13184" index="17" uid="1338503e-4fbe-4cf1-a9c4-e94d089a009b" >
+<cdparam x="427" y="273" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="428" y="273" id="13164" />
+<P2 x="428" y="325" id="13161" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13185" index="18" uid="0b42a342-c524-495f-959c-e43dcad5e077" >
+<cdparam x="617" y="187" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="568" y="187" id="13170" />
+<P2 x="568" y="270" id="13158" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13186" index="19" uid="5ce94bd1-2a59-4679-98e0-749c2cce6aac" >
+<cdparam x="568" y="300" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="568" y="300" id="13159" />
+<P2 x="568" y="349" id="13155" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13187" index="20" uid="bb7a7310-b8c0-476f-b570-309093133b3e" >
+<cdparam x="568" y="379" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="568" y="379" id="13156" />
+<P2 x="568" y="416" id="13153" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13188" index="21" uid="ce331b4b-509e-4655-8aa8-0afdbc9e3bca" >
+<cdparam x="617" y="187" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="617" y="187" id="13172" />
+<P2 x="739" y="245" id="13150" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13189" index="22" uid="82b7a6e1-1a36-4740-a86e-cd31f78aaa89" >
+<cdparam x="739" y="275" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="739" y="275" id="13151" />
+<P2 x="739" y="309" id="13145" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13190" index="23" uid="86704bb5-1f04-439c-a7df-11de35aa1fce" >
+<cdparam x="737" y="345" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="739" y="339" id="13146" />
+<P2 x="739" y="369" id="13148" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13191" index="24" uid="14406f98-7295-4e46-9441-b3e8e7597d6a" >
+<cdparam x="447" y="49" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="447" y="49" id="13180" />
+<P2 x="447" y="89" id="13176" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13192" index="25" uid="ba8939fb-8a62-4dcb-901d-06e0f3dbc865" >
+<cdparam x="447" y="119" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="447" y="119" id="13178" />
+<P2 x="447" y="147" id="13174" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="SpeedController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000002" >
+<COMPONENT type="301" id="13209" index="0" uid="0f60dc51-5b69-4c52-87bf-13bf12eb484e" >
+<cdparam x="348" y="243" />
+<sizeparam width="231" height="51" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Reception of speed control data :
+- previous rover speed
+- rover speed
+- gap
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13193" />
+<TGConnectingPoint num="1" id="13194" />
+<TGConnectingPoint num="2" id="13195" />
+<TGConnectingPoint num="3" id="13196" />
+<TGConnectingPoint num="4" id="13197" />
+<TGConnectingPoint num="5" id="13198" />
+<TGConnectingPoint num="6" id="13199" />
+<TGConnectingPoint num="7" id="13200" />
+<TGConnectingPoint num="8" id="13201" />
+<TGConnectingPoint num="9" id="13202" />
+<TGConnectingPoint num="10" id="13203" />
+<TGConnectingPoint num="11" id="13204" />
+<TGConnectingPoint num="12" id="13205" />
+<TGConnectingPoint num="13" id="13206" />
+<TGConnectingPoint num="14" id="13207" />
+<TGConnectingPoint num="15" id="13208" />
+<extraparam>
+<Line value="Reception of speed control data :" />
+<Line value="- previous rover speed" />
+<Line value="- rover speed" />
+<Line value="- gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="13212" index="1" uid="b7892a47-9940-48f1-bb2c-d421293e92e8" >
+<cdparam x="902" y="301" />
+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newFeedbackSC()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13210" />
+<TGConnectingPoint num="1" id="13211" />
+<extraparam>
+<Data eventName="newFeedbackSC" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="13229" index="2" uid="69f85efc-53a9-4c19-80bf-91ad47c7c528" >
+<cdparam x="393" y="476" />
+<sizeparam width="653" height="207" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="This EXECI depicts the complexity of the
+following actions :
+
+I. Error calculation (EXECI 4) :
+1. speed_error = previous_rover_speed - rover_speed
+2. speed_error_i = speed_error_i + speed_error
+3. speed_error_d = speed_error - speed_error_backup
+4. speed_error_backup = speed_error
+
+II. PID calculation (EXECI 5)
+1. 3 multiplications
+2. 2 additions
+straight_power = max( 0, min( max_power, (Kp*speed_error + Ki*speed_error_i + Kd*speed_error_d) )
+
+
+II. At least, affectation of two variables (EXECI 2)
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+1 division
+1 addition
+
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+
+</TMLArchiDiagramPanel>
+
+</Modeling>
+
+
+
+
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="for loop" value="for(i=counter;i>0;i = i-1)" />
+<new d="false" />
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+<TGConnectingPoint num="2" id="15290" />
+<extraparam>
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+</extraparam>
+</COMPONENT>
+
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="ConfigureDMA_SD" value="Reference to a SD" />
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+</TMLSDPanel>
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+</Modeling>
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+<TGConnectingPoint num="15" id="16407" />
+<TGConnectingPoint num="16" id="16408" />
+<TGConnectingPoint num="17" id="16409" />
+<TGConnectingPoint num="18" id="16410" />
+<TGConnectingPoint num="19" id="16411" />
+<TGConnectingPoint num="20" id="16412" />
+<TGConnectingPoint num="21" id="16413" />
+<TGConnectingPoint num="22" id="16414" />
+<TGConnectingPoint num="23" id="16415" />
+<TGConnectingPoint num="24" id="16416" />
+<TGConnectingPoint num="25" id="16417" />
+<TGConnectingPoint num="26" id="16418" />
+<TGConnectingPoint num="27" id="16419" />
+<TGConnectingPoint num="28" id="16420" />
+<TGConnectingPoint num="29" id="16421" />
+<TGConnectingPoint num="30" id="16422" />
+<TGConnectingPoint num="31" id="16423" />
+<TGConnectingPoint num="32" id="16424" />
+<TGConnectingPoint num="33" id="16425" />
+<TGConnectingPoint num="34" id="16426" />
+<TGConnectingPoint num="35" id="16427" />
+<TGConnectingPoint num="36" id="16428" />
+<TGConnectingPoint num="37" id="16429" />
+<TGConnectingPoint num="38" id="16430" />
+<TGConnectingPoint num="39" id="16431" />
+<TGConnectingPoint num="40" id="16432" />
+<TGConnectingPoint num="41" id="16433" />
+<TGConnectingPoint num="42" id="16434" />
+<TGConnectingPoint num="43" id="16435" />
+<TGConnectingPoint num="44" id="16436" />
+<TGConnectingPoint num="45" id="16437" />
+<TGConnectingPoint num="46" id="16438" />
+<TGConnectingPoint num="47" id="16439" />
+<TGConnectingPoint num="48" id="16440" />
+<extraparam>
+<Mapping mappedOn="" />
+<Actor data="false" />
+<Attribute access="2" id="size" value="" type="0" typeOther="" />
+<Attribute access="2" id="sourceAddress" value="" type="10" typeOther="" />
+<Attribute access="2" id="destinationAddress" value="" type="10" typeOther="" />
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="1524" id="16391" index="13" uid="7ffcffb3-ea63-4e96-8f8e-6c25b1ab8957" >
+<father id="16441" num="0" />
+<cdparam x="107" y="247" />
+<sizeparam width="158" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="5" maxX="5" minY="10" maxY="470" />
+<infoparam name="action state" value="counter = counter-1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16383" />
+<TGConnectingPoint num="1" id="16384" />
+<TGConnectingPoint num="2" id="16385" />
+<TGConnectingPoint num="3" id="16386" />
+<TGConnectingPoint num="4" id="16387" />
+<TGConnectingPoint num="5" id="16388" />
+<TGConnectingPoint num="6" id="16389" />
+<TGConnectingPoint num="7" id="16390" />
+</SUBCOMPONENT>
+
+<CONNECTOR type="1523" id="16442" index="9" uid="4a0cead6-bc0a-4ca3-9be3-475baca80499" >
+<cdparam x="643" y="176" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Write" value="Write(destinationAddress, size)" />
+<P1 x="666" y="178" id="16246" />
+<P2 x="799" y="179" id="16146" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<Param index="0" id="destinationAddress" />
+<Param index="1" id="size" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="1523" id="16443" index="10" uid="7b546df4-401d-41fd-bad2-6b8cb0ed8cfc" >
+<cdparam x="57" y="146" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Write" value="Write(destinationAddress, size)" />
+<P1 x="107" y="148" id="16402" />
+<P2 x="666" y="148" id="16243" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<Param index="0" id="destinationAddress" />
+<Param index="1" id="size" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="1523" id="16444" index="11" uid="0f435619-514b-49ee-a605-356a0da68687" >
+<cdparam x="324" y="96" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Read" value="Read(sourceAddress, size)" />
+<P1 x="305" y="98" id="16338" />
+<P2 x="513" y="98" id="16288" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<Param index="0" id="sourceAddress" />
+<Param index="1" id="size" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="1523" id="16445" index="12" uid="abe39157-9545-4718-a387-6e68b9dba2e5" >
+<cdparam x="57" y="66" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Read" value="Read(sourceAddress, size)" />
+<P1 x="107" y="68" id="16394" />
+<P2 x="305" y="68" id="16335" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<Param index="0" id="sourceAddress" />
+<Param index="1" id="size" />
+</extraparam>
+</CONNECTOR>
+
+</TMLSDPanel>
+
+<TMLSDPanel name="TerminateDMA_SD" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="1522" id="16495" index="0" uid="4860452c-738c-4729-95fa-c6bf5631a149" >
+<cdparam x="77" y="36" />
+<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="CPUController1" value="Controller instance name" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16446" />
+<TGConnectingPoint num="1" id="16447" />
+<TGConnectingPoint num="2" id="16448" />
+<TGConnectingPoint num="3" id="16449" />
+<TGConnectingPoint num="4" id="16450" />
+<TGConnectingPoint num="5" id="16451" />
+<TGConnectingPoint num="6" id="16452" />
+<TGConnectingPoint num="7" id="16453" />
+<TGConnectingPoint num="8" id="16454" />
+<TGConnectingPoint num="9" id="16455" />
+<TGConnectingPoint num="10" id="16456" />
+<TGConnectingPoint num="11" id="16457" />
+<TGConnectingPoint num="12" id="16458" />
+<TGConnectingPoint num="13" id="16459" />
+<TGConnectingPoint num="14" id="16460" />
+<TGConnectingPoint num="15" id="16461" />
+<TGConnectingPoint num="16" id="16462" />
+<TGConnectingPoint num="17" id="16463" />
+<TGConnectingPoint num="18" id="16464" />
+<TGConnectingPoint num="19" id="16465" />
+<TGConnectingPoint num="20" id="16466" />
+<TGConnectingPoint num="21" id="16467" />
+<TGConnectingPoint num="22" id="16468" />
+<TGConnectingPoint num="23" id="16469" />
+<TGConnectingPoint num="24" id="16470" />
+<TGConnectingPoint num="25" id="16471" />
+<TGConnectingPoint num="26" id="16472" />
+<TGConnectingPoint num="27" id="16473" />
+<TGConnectingPoint num="28" id="16474" />
+<TGConnectingPoint num="29" id="16475" />
+<TGConnectingPoint num="30" id="16476" />
+<TGConnectingPoint num="31" id="16477" />
+<TGConnectingPoint num="32" id="16478" />
+<TGConnectingPoint num="33" id="16479" />
+<TGConnectingPoint num="34" id="16480" />
+<TGConnectingPoint num="35" id="16481" />
+<TGConnectingPoint num="36" id="16482" />
+<TGConnectingPoint num="37" id="16483" />
+<TGConnectingPoint num="38" id="16484" />
+<TGConnectingPoint num="39" id="16485" />
+<TGConnectingPoint num="40" id="16486" />
+<TGConnectingPoint num="41" id="16487" />
+<TGConnectingPoint num="42" id="16488" />
+<TGConnectingPoint num="43" id="16489" />
+<TGConnectingPoint num="44" id="16490" />
+<TGConnectingPoint num="45" id="16491" />
+<TGConnectingPoint num="46" id="16492" />
+<TGConnectingPoint num="47" id="16493" />
+<TGConnectingPoint num="48" id="16494" />
+<extraparam>
+<Mapping mappedOn="" />
+<Actor data="false" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1522" id="16545" index="1" uid="1813b9b0-cf2c-4dad-ba31-65efc0d9baf1" >
+<cdparam x="627" y="36" />
+<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="DMAController1" value="Controller instance name" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16496" />
+<TGConnectingPoint num="1" id="16497" />
+<TGConnectingPoint num="2" id="16498" />
+<TGConnectingPoint num="3" id="16499" />
+<TGConnectingPoint num="4" id="16500" />
+<TGConnectingPoint num="5" id="16501" />
+<TGConnectingPoint num="6" id="16502" />
+<TGConnectingPoint num="7" id="16503" />
+<TGConnectingPoint num="8" id="16504" />
+<TGConnectingPoint num="9" id="16505" />
+<TGConnectingPoint num="10" id="16506" />
+<TGConnectingPoint num="11" id="16507" />
+<TGConnectingPoint num="12" id="16508" />
+<TGConnectingPoint num="13" id="16509" />
+<TGConnectingPoint num="14" id="16510" />
+<TGConnectingPoint num="15" id="16511" />
+<TGConnectingPoint num="16" id="16512" />
+<TGConnectingPoint num="17" id="16513" />
+<TGConnectingPoint num="18" id="16514" />
+<TGConnectingPoint num="19" id="16515" />
+<TGConnectingPoint num="20" id="16516" />
+<TGConnectingPoint num="21" id="16517" />
+<TGConnectingPoint num="22" id="16518" />
+<TGConnectingPoint num="23" id="16519" />
+<TGConnectingPoint num="24" id="16520" />
+<TGConnectingPoint num="25" id="16521" />
+<TGConnectingPoint num="26" id="16522" />
+<TGConnectingPoint num="27" id="16523" />
+<TGConnectingPoint num="28" id="16524" />
+<TGConnectingPoint num="29" id="16525" />
+<TGConnectingPoint num="30" id="16526" />
+<TGConnectingPoint num="31" id="16527" />
+<TGConnectingPoint num="32" id="16528" />
+<TGConnectingPoint num="33" id="16529" />
+<TGConnectingPoint num="34" id="16530" />
+<TGConnectingPoint num="35" id="16531" />
+<TGConnectingPoint num="36" id="16532" />
+<TGConnectingPoint num="37" id="16533" />
+<TGConnectingPoint num="38" id="16534" />
+<TGConnectingPoint num="39" id="16535" />
+<TGConnectingPoint num="40" id="16536" />
+<TGConnectingPoint num="41" id="16537" />
+<TGConnectingPoint num="42" id="16538" />
+<TGConnectingPoint num="43" id="16539" />
+<TGConnectingPoint num="44" id="16540" />
+<TGConnectingPoint num="45" id="16541" />
+<TGConnectingPoint num="46" id="16542" />
+<TGConnectingPoint num="47" id="16543" />
+<TGConnectingPoint num="48" id="16544" />
+<extraparam>
+<Mapping mappedOn="" />
+<Actor data="false" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1521" id="16595" index="2" uid="bd12738a-054e-403c-a9de-769cb95d2fea" >
+<cdparam x="352" y="36" />
+<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="TransferInstance6" value="Transfer instance name" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16546" />
+<TGConnectingPoint num="1" id="16547" />
+<TGConnectingPoint num="2" id="16548" />
+<TGConnectingPoint num="3" id="16549" />
+<TGConnectingPoint num="4" id="16550" />
+<TGConnectingPoint num="5" id="16551" />
+<TGConnectingPoint num="6" id="16552" />
+<TGConnectingPoint num="7" id="16553" />
+<TGConnectingPoint num="8" id="16554" />
+<TGConnectingPoint num="9" id="16555" />
+<TGConnectingPoint num="10" id="16556" />
+<TGConnectingPoint num="11" id="16557" />
+<TGConnectingPoint num="12" id="16558" />
+<TGConnectingPoint num="13" id="16559" />
+<TGConnectingPoint num="14" id="16560" />
+<TGConnectingPoint num="15" id="16561" />
+<TGConnectingPoint num="16" id="16562" />
+<TGConnectingPoint num="17" id="16563" />
+<TGConnectingPoint num="18" id="16564" />
+<TGConnectingPoint num="19" id="16565" />
+<TGConnectingPoint num="20" id="16566" />
+<TGConnectingPoint num="21" id="16567" />
+<TGConnectingPoint num="22" id="16568" />
+<TGConnectingPoint num="23" id="16569" />
+<TGConnectingPoint num="24" id="16570" />
+<TGConnectingPoint num="25" id="16571" />
+<TGConnectingPoint num="26" id="16572" />
+<TGConnectingPoint num="27" id="16573" />
+<TGConnectingPoint num="28" id="16574" />
+<TGConnectingPoint num="29" id="16575" />
+<TGConnectingPoint num="30" id="16576" />
+<TGConnectingPoint num="31" id="16577" />
+<TGConnectingPoint num="32" id="16578" />
+<TGConnectingPoint num="33" id="16579" />
+<TGConnectingPoint num="34" id="16580" />
+<TGConnectingPoint num="35" id="16581" />
+<TGConnectingPoint num="36" id="16582" />
+<TGConnectingPoint num="37" id="16583" />
+<TGConnectingPoint num="38" id="16584" />
+<TGConnectingPoint num="39" id="16585" />
+<TGConnectingPoint num="40" id="16586" />
+<TGConnectingPoint num="41" id="16587" />
+<TGConnectingPoint num="42" id="16588" />
+<TGConnectingPoint num="43" id="16589" />
+<TGConnectingPoint num="44" id="16590" />
+<TGConnectingPoint num="45" id="16591" />
+<TGConnectingPoint num="46" id="16592" />
+<TGConnectingPoint num="47" id="16593" />
+<TGConnectingPoint num="48" id="16594" />
+<extraparam>
+<Mapping mappedOn="" />
+<Actor data="false" />
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="1523" id="16596" index="3" uid="2e053317-b375-486e-a624-8684dd80bc6f" >
+<cdparam x="357" y="106" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="TransferTerminated" value="TransferTerminated()" />
+<P1 x="357" y="106" id="16552" />
+<P2 x="82" y="106" id="16452" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="1523" id="16597" index="4" uid="c2e68662-94c6-4593-8f7d-ca55fec0e1a1" >
+<cdparam x="632" y="66" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="TransferTerminated" value="TransferTerminated()" />
+<P1 x="632" y="66" id="16498" />
+<P2 x="357" y="66" id="16548" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+</extraparam>
+</CONNECTOR>
+
+</TMLSDPanel>
+
+</Modeling>
+
+
+
+
+</TURTLEGMODELING>
\ No newline at end of file
diff --git a/src/main/java/avatartranslator/toproverif/AVATAR2ProVerif.java b/src/main/java/avatartranslator/toproverif/AVATAR2ProVerif.java
index bf910bbedafbfee390b75e7b0c8400817352a8b1..21c6fbbfbb98a3c3d6d0e51f7f90291c8a60e906 100755
--- a/src/main/java/avatartranslator/toproverif/AVATAR2ProVerif.java
+++ b/src/main/java/avatartranslator/toproverif/AVATAR2ProVerif.java
@@ -717,8 +717,11 @@ public class AVATAR2ProVerif implements AvatarTranslator {
lastInstr = lastInstr.setNextInstr(new ProVerifProcLet(new ProVerifVar[]{new ProVerifVar(AVATAR2ProVerif.translateTerm(attr, null), "bitstring")}, attr.getName()));
systemKnowledge.add(attr);
} else {
- UICheckingError ce = new UICheckingError(CheckingError.BEHAVIOR_ERROR, "Attribute " + attr.getBlock().getName() + "." + attr.getName() + " should be of type int or bool to be considered as a constant.");
- ce.setTDiagramPanel(((AvatarDesignPanel) (avspec.getReferenceObject())).getAvatarBDPanel());
+ UICheckingError ce = new UICheckingError(CheckingError.BEHAVIOR_ERROR, "Attribute " + attr.getBlock().getName() +
+ "." + attr.getName() + " should be of type int or bool to be considered as a constant.");
+ try {
+ ce.setTDiagramPanel(((AvatarDesignPanel) (avspec.getReferenceObject())).getAvatarBDPanel());
+ } catch (Exception e) {};
ce.setTGComponent((TGComponent) attr.getReferenceObject());
warnings.add(ce);
continue;
diff --git a/src/main/java/tmltranslator/toavatarsec/TML2Avatar.java b/src/main/java/tmltranslator/toavatarsec/TML2Avatar.java
index 55028efdc1288acee37263f7d7854a428054c862..c0d08649edd312205bab4ad78fa7eaf07f468103 100644
--- a/src/main/java/tmltranslator/toavatarsec/TML2Avatar.java
+++ b/src/main/java/tmltranslator/toavatarsec/TML2Avatar.java
@@ -1128,8 +1128,22 @@ public class TML2Avatar {
} else {
//Translate state without security
if (ae instanceof TMLActionState) {
- String val = ((TMLActionState) ae).getAction();
- tran.addAction(reworkStringName(val));
+ TMLActionState actionsState = (TMLActionState) ae;
+ String[] actions = actionsState.getAction().split("\\$");
+ boolean isReqAction = false;
+ for (String action : actions) {
+ action = action.replaceAll(" ", "");
+ String[] terms = action.split("=");
+ if (terms.length == 2) {
+ if (terms[1].matches("arg" + "\\d+" + "__req")) {
+ isReqAction = true;
+ }
+ }
+ }
+ if (!isReqAction) {
+ String val = actionsState.getAction();
+ tran.addAction(reworkStringName(val));
+ }
} else if (ae instanceof TMLExecI) {
tran.setDelays(reworkStringName(((TMLExecI) (ae)).getAction()), reworkStringName(((TMLExecI) (ae)).getAction()));
} else if (ae instanceof TMLExecC) {
@@ -1873,10 +1887,31 @@ public class TML2Avatar {
//Create iteration attribute
AvatarAttribute req_loop_index = new AvatarAttribute("req_loop_index", AvatarType.INTEGER, block, null);
block.addAttribute(req_loop_index);
+ List<String> reqParams = new ArrayList<String>();
for (Object obj : tmlmodel.getRequestsToMe(task)) {
TMLRequest req = (TMLRequest) obj;
+ for (TMLActivityElement elements : task.getActivityDiagram().getElements()) {
+ if (elements instanceof TMLActionState) {
+ TMLActionState actionsState = (TMLActionState) elements;
+ String[] actions = actionsState.getAction().split("\\$");
+ boolean isReqAction = false;
+ for (String action : actions) {
+ action = action.replaceAll(" ", "");
+ String[] terms = action.split("=");
+ if (terms.length == 2) {
+ if (terms[1].matches("arg" + "\\d+" + "__req")) {
+ reqParams.add(terms[0]);
+ isReqAction = true;
+ }
+ }
+ }
+ if (isReqAction) {
+ break;
+ }
+ }
+ }
for (int i = 0; i < req.getNbOfParams(); i++) {
- if (block.getAvatarAttributeWithName(req.getParam(i)) == null) {
+ if (block.getAvatarAttributeWithName(reqParams.get(i)) == null) {
AvatarType type;
if (req.getParam(i).matches("-?\\d+")) {
type = AvatarType.INTEGER;
@@ -1974,12 +2009,12 @@ public class TML2Avatar {
AvatarAttribute requestData= new AvatarAttribute(req.getName()+"__reqData", AvatarType.INTEGER, block, null);
block.addAttribute(requestData);*/
for (int i = 0; i < req.getNbOfParams(); i++) {
- if (block.getAvatarAttributeWithName(req.getParam(i)) == null) {
+ if (block.getAvatarAttributeWithName(reqParams.get(i)) == null) {
String nameNewAtt = "arg"+ (i+1) +"_req";
as.addValue(block.getAvatarAttributeWithName(nameNewAtt).getName());
} else {
// Add parameter to signal and actiononsignal
- as.addValue(req.getParam(i));
+ as.addValue(reqParams.get(i));
}
}
AvatarTransition tran = new AvatarTransition(block, "__after_" + req.getName(), task.getActivityDiagram().get(0).getReferenceObject());
diff --git a/src/main/java/ui/GTMLModeling.java b/src/main/java/ui/GTMLModeling.java
index 1393f70e001136060c644f620cf897885ad973f1..fd86cf2f69588a78293c7c9b5d4be990b5b3b73f 100644
--- a/src/main/java/ui/GTMLModeling.java
+++ b/src/main/java/ui/GTMLModeling.java
@@ -3038,12 +3038,12 @@ public class GTMLModeling {
node.addMECToHwExecutionNode(mec);
map.addTaskToHwExecutionNode(task, (HwExecutionNode) node);
} else {
- TraceManager.addDev("Null task. Raising an error");
- String msg = "The task named " + artifact.getTaskName() + " was not found";
+ //TraceManager.addDev("Null task. Raising an error");
+ String msg = "The task " + artifact.getTaskName() + " is mapped but its definition was not found";
UICheckingError ce = new UICheckingError(CheckingError.STRUCTURE_ERROR, msg);
ce.setTDiagramPanel(tmlap.tmlap);
ce.setTGComponent(tgc);
- checkingErrors.add(ce);
+ warnings.add(ce);
}
}
}
@@ -3060,7 +3060,7 @@ public class GTMLModeling {
}
artifactscomm = ((TMLArchiCommunicationNode) (tgc)).getChannelArtifactList();
for (TMLArchiCommunicationArtifact artifact : artifactscomm) {
- //TraceManager.addDev("Exploring artifact " + artifact.getValue());
+ TraceManager.addDev("Exploring artifact " + artifact.getValue());
s = artifact.getReferenceCommunicationName();
s = s.replaceAll("\\s", "");
s = s + "__" + artifact.getCommunicationName();
@@ -3095,6 +3095,11 @@ public class GTMLModeling {
}
} else {
//TraceManager.addDev("Null mapping: no element named: " + s );
+ String msg = "Channel " + s + " is ignored since it is mapped but its definition was not found";
+ UICheckingError ce = new UICheckingError(CheckingError.STRUCTURE_ERROR, msg);
+ ce.setTDiagramPanel(tmlap.tmlap);
+ ce.setTGComponent(tgc);
+ warnings.add(ce);
}
}
artifactsEvt = ((TMLArchiCommunicationNode) (tgc)).getEventArtifactList();
@@ -3115,6 +3120,11 @@ public class GTMLModeling {
map.addCommToHwCommNode(elt, (HwCommunicationNode) node);
} else {
//TraceManager.addDev( "Null mapping: no element named: " + artifact.getEventArtifactName() );
+ String msg = "Channel " + s + " is ignored since it is mapped but its definition was not found";
+ UICheckingError ce = new UICheckingError(CheckingError.STRUCTURE_ERROR, msg);
+ ce.setTDiagramPanel(tmlap.tmlap);
+ ce.setTGComponent(tgc);
+ warnings.add(ce);
}
}
//Map keys
diff --git a/src/main/java/ui/MainGUI.java b/src/main/java/ui/MainGUI.java
index dba35755c8ac13fc407ada80302d2631135bc31f..12c2a7dfe541a48367f0663626999e1472c7c26d 100644
--- a/src/main/java/ui/MainGUI.java
+++ b/src/main/java/ui/MainGUI.java
@@ -5261,7 +5261,7 @@ public class MainGUI implements ActionListener, WindowListener, KeyListener, Per
ConfigurationTTool.ProVerifVerifierHost, SpecConfigTTool.ProVerifCodeDirectory, ConfigurationTTool.ProVerifVerifierPath, adp, limit,
gtm.getCPUTaskMap());
// jgen.setSize(500, 450);
- GraphicLib.centerOnParent(jgen, 600, 800);
+ GraphicLib.centerOnParent(jgen, 1000, 800);
jgen.setVisible(true);
dtree.toBeUpdated();
}
diff --git a/src/main/java/ui/TDiagramPanel.java b/src/main/java/ui/TDiagramPanel.java
index de1835932f86596a6d9097bacfed3e24bdd637fd..b78ae41f53b5deb05f05aa7689463b26c27d2b89 100644
--- a/src/main/java/ui/TDiagramPanel.java
+++ b/src/main/java/ui/TDiagramPanel.java
@@ -336,6 +336,10 @@ public abstract class TDiagramPanel extends JPanel implements GenericTree {
private FontMetrics savedFontMetrics = null;
+ public boolean changeOnComponent(TGComponent tgc, String oldValue, String newValue) {
+ return true;
+ }
+
public int stringWidth(Graphics g, String str) {
if (this.savedFontMetrics == null)
this.savedFontMetrics = g.getFontMetrics(new Font(Font.SANS_SERIF, Font.PLAIN, this.getFontSize()));
diff --git a/src/main/java/ui/tmldd/TMLArchiBUSNode.java b/src/main/java/ui/tmldd/TMLArchiBUSNode.java
index 148a6a9e7605bb665c2bc14b25a16292eae6fe3e..45bb6ddd9f85c4cfeccc43da81ba118cf1a8abbf 100755
--- a/src/main/java/ui/tmldd/TMLArchiBUSNode.java
+++ b/src/main/java/ui/tmldd/TMLArchiBUSNode.java
@@ -271,7 +271,9 @@ public class TMLArchiBUSNode extends TMLArchiCommunicationNode implements Swallo
error = true;
errors += "Name of the node ";
} else {
+ String oldName = name;
name = tmpName;
+ tdp.changeOnComponent(this, oldName, name);
}
}
@@ -378,6 +380,8 @@ public class TMLArchiBUSNode extends TMLArchiCommunicationNode implements Swallo
return false;
}
+
+
return true;
}
diff --git a/src/main/java/ui/tmldd/TMLArchiBridgeNode.java b/src/main/java/ui/tmldd/TMLArchiBridgeNode.java
index 9b0d7fa71562b8d424f0151dd5f5cb0fd61bd257..b678716ec09bbaa71db1888ecfe50d100b7e3ace 100755
--- a/src/main/java/ui/tmldd/TMLArchiBridgeNode.java
+++ b/src/main/java/ui/tmldd/TMLArchiBridgeNode.java
@@ -204,7 +204,9 @@ public class TMLArchiBridgeNode extends TMLArchiCommunicationNode implements Swa
error = true;
errors += "Name of the node ";
} else {
+ String oldName = name;
name = tmpName;
+ tdp.changeOnComponent(this, oldName, name);
}
}
diff --git a/src/main/java/ui/tmldd/TMLArchiCPNode.java b/src/main/java/ui/tmldd/TMLArchiCPNode.java
index 0f97175cf10775a1da6367c4e9f420d8302fb4d2..f90df583710091d583c518de96e6f03dc5ab179c 100755
--- a/src/main/java/ui/tmldd/TMLArchiCPNode.java
+++ b/src/main/java/ui/tmldd/TMLArchiCPNode.java
@@ -279,7 +279,9 @@ public class TMLArchiCPNode extends TMLArchiCommunicationNode implements Swallow
errors += "Name of the node ";
}
else {
+ String oldName = name;
name = tmpName;
+ tdp.changeOnComponent(this, oldName, name);
}
}
diff --git a/src/main/java/ui/tmldd/TMLArchiCommunicationArtifact.java b/src/main/java/ui/tmldd/TMLArchiCommunicationArtifact.java
index f65bac120b58a0e24b511192e2ed463f93584adc..ab9b166d8fa07ee2d0192d5b161391909b42d61a 100755
--- a/src/main/java/ui/tmldd/TMLArchiCommunicationArtifact.java
+++ b/src/main/java/ui/tmldd/TMLArchiCommunicationArtifact.java
@@ -411,4 +411,23 @@ public class TMLArchiCommunicationArtifact extends TGCWithoutInternalComponent i
public String getAttributes() {
return "Priority = " + priority;
}
+
+ public void updateMappedElements(String oldName, String newName) {
+ //TraceManager.addDev("Old:" + oldName + " newName:" + newName);
+ String found = null;
+ int index = 0;
+ for(String s: mappedElements) {
+ if (s.compareTo(oldName) == 0) {
+ found = s;
+ break;
+ }
+ index ++;
+ }
+
+ if (found != null) {
+ //TraceManager.addDev("Found mapping to change");
+ mappedElements.remove(index);
+ mappedElements.add(index, newName);
+ }
+ }
}
diff --git a/src/main/java/ui/tmldd/TMLArchiCrossbarNode.java b/src/main/java/ui/tmldd/TMLArchiCrossbarNode.java
index 34f7ec87936d62b49b8c4639994723b1083930da..d5772d6b2e2ec9452ed6deb67569e1fd9083510a 100755
--- a/src/main/java/ui/tmldd/TMLArchiCrossbarNode.java
+++ b/src/main/java/ui/tmldd/TMLArchiCrossbarNode.java
@@ -215,28 +215,13 @@ public class TMLArchiCrossbarNode extends TMLArchiCommunicationNode implements S
error = true;
errors += "Name of the node ";
} else {
+ String oldName = name;
name = tmpName;
- }
- }
+ tdp.changeOnComponent(this, oldName, name);
- /* arbitrationPolicy = dialog.getArbitrationPolicy();
- privacy = dialog.getPrivacy();
- if (arbitrationPolicy == HwBus.BASIC_ROUND_ROBIN) {
- stereotype = "BUS-RR";
- }
-
- if (arbitrationPolicy == HwBus.PRIORITY_BASED) {
- stereotype = "BUS-PB";
- }
-
- if (arbitrationPolicy == HwBus.CAN) {
- stereotype = "BUS-CAN";
+ }
}
- if (arbitrationPolicy == HwBus.CROSSBAR) {
- stereotype = "CROSSBAR";
- }*/
-
// DG we need only data size
if (dialog.getByteDataSize().length() != 0) {
diff --git a/src/main/java/ui/tmldd/TMLArchiDMANode.java b/src/main/java/ui/tmldd/TMLArchiDMANode.java
index 28ea0cec3ae5d747124e9cfc2e1fd201ada2d544..2e96f0152cbada6485fae3e0b67cad940840b7d3 100755
--- a/src/main/java/ui/tmldd/TMLArchiDMANode.java
+++ b/src/main/java/ui/tmldd/TMLArchiDMANode.java
@@ -208,7 +208,9 @@ public class TMLArchiDMANode extends TMLArchiCommunicationNode implements Swallo
error = true;
errors += "Name of the node ";
} else {
+ String oldName = name;
name = tmpName;
+ tdp.changeOnComponent(this, oldName, name);
}
}
diff --git a/src/main/java/ui/tmldd/TMLArchiDiagramPanel.java b/src/main/java/ui/tmldd/TMLArchiDiagramPanel.java
index 0a43ea411a76d5c07dbc0112a3951c59c8049f1a..1ce1806d7c26c3302140193ee97b91d0cd22c80d 100755
--- a/src/main/java/ui/tmldd/TMLArchiDiagramPanel.java
+++ b/src/main/java/ui/tmldd/TMLArchiDiagramPanel.java
@@ -79,6 +79,9 @@ public class TMLArchiDiagramPanel extends TDiagramPanel implements TDPWithAttrib
@Override
public boolean actionOnDoubleClick(TGComponent tgc) {
+
+ TraceManager.addDev("Change on tgc=" + tgc);
+
//
/*if (tgc instanceof TCDTClass) {
TCDTClass t = (TCDTClass)tgc;
@@ -98,6 +101,8 @@ public class TMLArchiDiagramPanel extends TDiagramPanel implements TDPWithAttrib
return false;
}
+
+
@Override
public boolean actionOnAdd(TGComponent tgc) {
/*if (tgc instanceof TCDTClass) {
@@ -185,10 +190,29 @@ public class TMLArchiDiagramPanel extends TDiagramPanel implements TDPWithAttrib
/*if (tgc instanceof TCDTClass) {
return actionOnDoubleClick(tgc);
}*/
+
+
listOfCP = getListOfCPNodes();
return false;
}
+ public boolean changeOnComponent(TGComponent tgc, String oldData, String newData) {
+
+ if (tgc instanceof TMLArchiCommunicationNode) {
+ // This change of name may induce mapping problems -> we do the refactoring
+ // We have to find all comm artifacts, and update their multi-mapping
+ //TraceManager.addDev("Change on comm node name");
+ for(TGComponent artifact: getAllComponentList()) {
+ if (artifact instanceof TMLArchiCommunicationArtifact) {
+ //TraceManager.addDev("Artifact found: " + artifact.getName() + " " + artifact.getValue());
+ ((TMLArchiCommunicationArtifact)artifact).updateMappedElements(oldData, newData);
+ }
+ }
+ }
+
+ return true;
+ }
+
public int getMasterClockFrequency() {
return masterClockFrequency;
}
diff --git a/src/main/java/ui/tmldd/TMLArchiFirewallNode.java b/src/main/java/ui/tmldd/TMLArchiFirewallNode.java
index 22d941c68e98ab16659758345f51a952c5465d89..757263ca72996edfe74171a5537a8fbf39adbd23 100644
--- a/src/main/java/ui/tmldd/TMLArchiFirewallNode.java
+++ b/src/main/java/ui/tmldd/TMLArchiFirewallNode.java
@@ -213,7 +213,9 @@ public class TMLArchiFirewallNode extends TMLArchiCommunicationNode implements S
error = true;
errors += "Name of the node ";
} else {
- name = tmpName;
+ String oldName = name;
+ name = tmpName;
+ tdp.changeOnComponent(this, oldName, name);
}
}
latency = Integer.valueOf(dialog.getLatency());
diff --git a/src/main/java/ui/tmldd/TMLArchiMemoryNode.java b/src/main/java/ui/tmldd/TMLArchiMemoryNode.java
index 36c7c6cfc0b67c152476b9c9d705e7927da74102..7d43e3ccce5747d50f0f9d302930d4857d1e2322 100755
--- a/src/main/java/ui/tmldd/TMLArchiMemoryNode.java
+++ b/src/main/java/ui/tmldd/TMLArchiMemoryNode.java
@@ -219,7 +219,9 @@ public class TMLArchiMemoryNode extends TMLArchiCommunicationNode implements Swa
error = true;
errors += "Name of the node ";
} else {
+ String oldName = name;
name = tmpName;
+ tdp.changeOnComponent(this, oldName, name);
}
}
diff --git a/src/main/java/ui/tmldd/TMLArchiRouterNode.java b/src/main/java/ui/tmldd/TMLArchiRouterNode.java
index d9ea2d11cccb2d59adf05ee524f5ed764cc53d35..e25a95c7d947a6a04c4b5574af1f6c19de6b526e 100755
--- a/src/main/java/ui/tmldd/TMLArchiRouterNode.java
+++ b/src/main/java/ui/tmldd/TMLArchiRouterNode.java
@@ -209,7 +209,9 @@ public class TMLArchiRouterNode extends TMLArchiCommunicationNode implements Swa
error = true;
errors += "Name of the node ";
} else {
+ String oldName = name;
name = tmpName;
+ tdp.changeOnComponent(this, oldName, name);
}
}
diff --git a/src/main/java/ui/tmldd/TMLArchiVGMNNode.java b/src/main/java/ui/tmldd/TMLArchiVGMNNode.java
index fb8a79651d5633329a34c2c82d991de0798f3d32..87320dd5928cc2d3bb3e57e4643dd540cbdaa80f 100755
--- a/src/main/java/ui/tmldd/TMLArchiVGMNNode.java
+++ b/src/main/java/ui/tmldd/TMLArchiVGMNNode.java
@@ -232,28 +232,13 @@ public class TMLArchiVGMNNode extends TMLArchiCommunicationNode implements Swall
error = true;
errors += "Name of the node ";
} else {
+ String oldName = name;
name = tmpName;
+ tdp.changeOnComponent(this, oldName, name);
}
}
- /* arbitrationPolicy = dialog.getArbitrationPolicy();
- privacy = dialog.getPrivacy();
- if (arbitrationPolicy == HwBus.BASIC_ROUND_ROBIN) {
- stereotype = "BUS-RR";
- }
-
- if (arbitrationPolicy == HwBus.PRIORITY_BASED) {
- stereotype = "BUS-PB";
- }
- if (arbitrationPolicy == HwBus.CAN) {
- stereotype = "BUS-CAN";
- }
-
- if (arbitrationPolicy == HwBus.CROSSBAR) {
- stereotype = "CROSSBAR";
- }*/
- //DG we need only data size
if (dialog.getByteDataSize().length() != 0) {
try {
tmp = byteDataSize;
@@ -269,50 +254,6 @@ public class TMLArchiVGMNNode extends TMLArchiCommunicationNode implements Swall
}
}
- /* if (dialog.getSliceTime().length() != 0) {
- try {
- tmp = sliceTime;
- sliceTime = Integer.decode(dialog.getSliceTime()).intValue();
- if (sliceTime <= 0) {
- sliceTime = tmp;
- error = true;
- errors += "Slice time ";
- }
- } catch (Exception e) {
- error = true;
- errors += "Slice time ";
- }
- }
-
- if (dialog.getPipelineSize().length() != 0) {
- try {
- tmp = pipelineSize;
- pipelineSize = Integer.decode(dialog.getPipelineSize()).intValue();
- if (pipelineSize <= 0) {
- pipelineSize = tmp;
- error = true;
- errors += "Pipeline size ";
- }
- } catch (Exception e) {
- error = true;
- errors += "Pipeline size ";
- }
- }
-
- if (dialog.getClockRatio().length() != 0) {
- try {
- tmp = clockRatio;
- clockRatio = Integer.decode(dialog.getClockRatio()).intValue();
- if (clockRatio <= 0) {
- clockRatio = tmp;
- error = true;
- errors += "Clock diviser ";
- }
- } catch (Exception e) {
- error = true;
- errors += "Clock diviser ";
- }
- }*/
if (error) {
JOptionPane.showMessageDialog(frame,
diff --git a/src/main/java/ui/util/DefaultText.java b/src/main/java/ui/util/DefaultText.java
index bc7a7faa08b6e12a821b81d73b3409122108b553..7ab978836dbeb2a166be3668b47c53994d12fa36 100755
--- a/src/main/java/ui/util/DefaultText.java
+++ b/src/main/java/ui/util/DefaultText.java
@@ -50,8 +50,8 @@ package ui.util;
*/
public class DefaultText {
- public static String BUILD = "14763";
- public static String DATE = "2024/04/29 03:22:04 CET";
+ public static String BUILD = "14770";
+ public static String DATE = "2024/05/06 03:22:03 CET";
public static StringBuffer sbAbout = makeAbout();
diff --git a/src/main/java/ui/window/JDialogProverifVerification.java b/src/main/java/ui/window/JDialogProverifVerification.java
index 5e930430eb46f04e3fb5c53d5880fe0a48f7b6e4..a43944507d8ad1b030d25e3ad68517092a9ee5c4 100644
--- a/src/main/java/ui/window/JDialogProverifVerification.java
+++ b/src/main/java/ui/window/JDialogProverifVerification.java
@@ -48,10 +48,7 @@ import java.awt.Frame;
import java.awt.GridBagConstraints;
import java.awt.GridBagLayout;
import java.awt.Insets;
-import java.awt.event.ActionEvent;
-import java.awt.event.ActionListener;
-import java.awt.event.MouseEvent;
-import java.awt.event.MouseListener;
+import java.awt.event.*;
import java.io.BufferedReader;
import java.io.BufferedWriter;
import java.io.File;
@@ -72,22 +69,7 @@ import java.util.List;
import java.util.Map;
import java.util.Vector;
-import javax.swing.Box;
-import javax.swing.ButtonGroup;
-import javax.swing.JButton;
-import javax.swing.JCheckBox;
-import javax.swing.JComboBox;
-import javax.swing.JDialog;
-import javax.swing.JLabel;
-import javax.swing.JList;
-import javax.swing.JMenuItem;
-import javax.swing.JPanel;
-import javax.swing.JPopupMenu;
-import javax.swing.JRadioButton;
-import javax.swing.JScrollPane;
-import javax.swing.JTabbedPane;
-import javax.swing.JTextField;
-import javax.swing.ListSelectionModel;
+import javax.swing.*;
import javax.swing.event.ListSelectionEvent;
import javax.swing.event.ListSelectionListener;
@@ -1076,7 +1058,7 @@ public class JDialogProverifVerification extends JDialog implements ActionListen
jsp = new JScrollPane(jta, JScrollPane.VERTICAL_SCROLLBAR_AS_NEEDED, JScrollPane.HORIZONTAL_SCROLLBAR_AS_NEEDED);
jsp.setPreferredSize(new Dimension(300, 300));
- c.add(jsp, BorderLayout.CENTER);
+ //c.add(jsp, BorderLayout.CENTER);
// addComponent(jp01, jsp, 1, curY, 2, GridBagConstraints.CENTER, GridBagConstraints.BOTH);
startButton = new JButton("Start", IconManager.imgic53);
@@ -1104,7 +1086,20 @@ public class JDialogProverifVerification extends JDialog implements ActionListen
jp1.add("Automated Security", jp02);
}
panelAutoPattern();
- c.add(jp1, BorderLayout.NORTH);
+ //c.add(jp1, BorderLayout.NORTH);
+
+ JSplitPane intermediate = new JSplitPane(JSplitPane.HORIZONTAL_SPLIT);
+ intermediate.setTopComponent(jp1);
+ intermediate.setBottomComponent(jsp);
+ addComponentListener(new ComponentAdapter() {
+ @Override
+ public void componentResized(ComponentEvent e) {
+ intermediate.setDividerLocation(0.6);
+ }
+ });
+ c.add(intermediate, BorderLayout.CENTER);
+ //c.add(jsp, BorderLayout.EAST);
+ //c.add(jp1, BorderLayout.WEST);
c.add(jp2, BorderLayout.SOUTH);
this.popup = new JPopupMenu();