From 2c41d170ffc6b116f35c2c95cf615bb5a1cb8439 Mon Sep 17 00:00:00 2001
From: Letitia Li <letitia.li@telecom-paristech.fr>
Date: Wed, 16 Nov 2016 15:22:12 +0100
Subject: [PATCH] New Latency Measurement table in interactive simulation

---
 modeling/vehicle.xml                          | 17803 ----------------
 src/tmltranslator/TMLModeling.java            |    21 +-
 src/ui/GTMLModeling.java                      |     6 +-
 src/ui/GTURTLEModeling.java                   |     8 +
 src/ui/TDiagramPanel.java                     |    26 +-
 src/ui/TGComponent.java                       |    34 +-
 .../InteractiveSimulationActions.java         |     6 +-
 .../JFrameInteractiveSimulation.java          |    72 +-
 8 files changed, 162 insertions(+), 17814 deletions(-)
 delete mode 100644 modeling/vehicle.xml

diff --git a/modeling/vehicle.xml b/modeling/vehicle.xml
deleted file mode 100644
index 4bc9c3cdb0..0000000000
--- a/modeling/vehicle.xml
+++ /dev/null
@@ -1,17803 +0,0 @@
-<?xml version="1.0" encoding="ISO-8859-1"?>
-
-<TURTLEGMODELING version="0.98-beta4">
-
-<Modeling type="Avatar Requirement" nameTab="AVATAR Requirements" >
-<AvatarRDPanel name="AVATAR RD" minX="10" maxX="3500" minY="10" maxY="1500" zoom="1.0" >
-<COMPONENT type="5200" id="44" >
-<cdparam x="706" y="622" />
-<sizeparam width="199" height="126" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="163" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="3500" minY="10" maxY="1500" />
-<infoparam name="Requirement" value="V2XConfidentialitydata" />
-<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" />
-<TGConnectingPoint num="7" id="8" />
-<TGConnectingPoint num="8" id="9" />
-<TGConnectingPoint num="9" id="10" />
-<TGConnectingPoint num="10" id="11" />
-<TGConnectingPoint num="11" id="12" />
-<TGConnectingPoint num="12" id="13" />
-<TGConnectingPoint num="13" id="14" />
-<TGConnectingPoint num="14" id="15" />
-<TGConnectingPoint num="15" id="16" />
-<TGConnectingPoint num="16" id="17" />
-<TGConnectingPoint num="17" id="18" />
-<TGConnectingPoint num="18" id="19" />
-<TGConnectingPoint num="19" id="20" />
-<TGConnectingPoint num="20" id="21" />
-<TGConnectingPoint num="21" id="22" />
-<TGConnectingPoint num="22" id="23" />
-<TGConnectingPoint num="23" id="24" />
-<TGConnectingPoint num="24" id="25" />
-<TGConnectingPoint num="25" id="26" />
-<TGConnectingPoint num="26" id="27" />
-<TGConnectingPoint num="27" id="28" />
-<TGConnectingPoint num="28" id="29" />
-<TGConnectingPoint num="29" id="30" />
-<TGConnectingPoint num="30" id="31" />
-<TGConnectingPoint num="31" id="32" />
-<TGConnectingPoint num="32" id="33" />
-<TGConnectingPoint num="33" id="34" />
-<TGConnectingPoint num="34" id="35" />
-<TGConnectingPoint num="35" id="36" />
-<TGConnectingPoint num="36" id="37" />
-<TGConnectingPoint num="37" id="38" />
-<TGConnectingPoint num="38" id="39" />
-<TGConnectingPoint num="39" id="40" />
-<TGConnectingPoint num="40" id="41" />
-<TGConnectingPoint num="41" id="42" />
-<TGConnectingPoint num="42" id="43" />
-<extraparam>
-<textline data="The system will only" />
-<textline data="send traffic data " />
-<textline data="over V2X" />
-<kind data="Confidentiality" />
-<criticality data="Low" />
-<reqType data="0" />
-<id data="21" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="88" >
-<cdparam x="2075" y="460" />
-<sizeparam width="195" height="126" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="153" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="3500" minY="10" maxY="1500" />
-<infoparam name="Requirement" value="AuthenticitySourceUI" />
-<TGConnectingPoint num="0" id="45" />
-<TGConnectingPoint num="1" id="46" />
-<TGConnectingPoint num="2" id="47" />
-<TGConnectingPoint num="3" id="48" />
-<TGConnectingPoint num="4" id="49" />
-<TGConnectingPoint num="5" id="50" />
-<TGConnectingPoint num="6" id="51" />
-<TGConnectingPoint num="7" id="52" />
-<TGConnectingPoint num="8" id="53" />
-<TGConnectingPoint num="9" id="54" />
-<TGConnectingPoint num="10" id="55" />
-<TGConnectingPoint num="11" id="56" />
-<TGConnectingPoint num="12" id="57" />
-<TGConnectingPoint num="13" id="58" />
-<TGConnectingPoint num="14" id="59" />
-<TGConnectingPoint num="15" id="60" />
-<TGConnectingPoint num="16" id="61" />
-<TGConnectingPoint num="17" id="62" />
-<TGConnectingPoint num="18" id="63" />
-<TGConnectingPoint num="19" id="64" />
-<TGConnectingPoint num="20" id="65" />
-<TGConnectingPoint num="21" id="66" />
-<TGConnectingPoint num="22" id="67" />
-<TGConnectingPoint num="23" id="68" />
-<TGConnectingPoint num="24" id="69" />
-<TGConnectingPoint num="25" id="70" />
-<TGConnectingPoint num="26" id="71" />
-<TGConnectingPoint num="27" id="72" />
-<TGConnectingPoint num="28" id="73" />
-<TGConnectingPoint num="29" id="74" />
-<TGConnectingPoint num="30" id="75" />
-<TGConnectingPoint num="31" id="76" />
-<TGConnectingPoint num="32" id="77" />
-<TGConnectingPoint num="33" id="78" />
-<TGConnectingPoint num="34" id="79" />
-<TGConnectingPoint num="35" id="80" />
-<TGConnectingPoint num="36" id="81" />
-<TGConnectingPoint num="37" id="82" />
-<TGConnectingPoint num="38" id="83" />
-<TGConnectingPoint num="39" id="84" />
-<TGConnectingPoint num="40" id="85" />
-<TGConnectingPoint num="41" id="86" />
-<TGConnectingPoint num="42" id="87" />
-<extraparam>
-<textline data="The system will accept" />
-<textline data="commands only from " />
-<textline data="the provided UI" />
-<kind data="Data origin authenticity" />
-<criticality data="Low" />
-<reqType data="0" />
-<id data="20" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="132" >
-<cdparam x="941" y="728" />
-<sizeparam width="173" height="138" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="143" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="3500" minY="10" maxY="1500" />
-<infoparam name="Requirement" value="checkSumFirmware" />
-<TGConnectingPoint num="0" id="89" />
-<TGConnectingPoint num="1" id="90" />
-<TGConnectingPoint num="2" id="91" />
-<TGConnectingPoint num="3" id="92" />
-<TGConnectingPoint num="4" id="93" />
-<TGConnectingPoint num="5" id="94" />
-<TGConnectingPoint num="6" id="95" />
-<TGConnectingPoint num="7" id="96" />
-<TGConnectingPoint num="8" id="97" />
-<TGConnectingPoint num="9" id="98" />
-<TGConnectingPoint num="10" id="99" />
-<TGConnectingPoint num="11" id="100" />
-<TGConnectingPoint num="12" id="101" />
-<TGConnectingPoint num="13" id="102" />
-<TGConnectingPoint num="14" id="103" />
-<TGConnectingPoint num="15" id="104" />
-<TGConnectingPoint num="16" id="105" />
-<TGConnectingPoint num="17" id="106" />
-<TGConnectingPoint num="18" id="107" />
-<TGConnectingPoint num="19" id="108" />
-<TGConnectingPoint num="20" id="109" />
-<TGConnectingPoint num="21" id="110" />
-<TGConnectingPoint num="22" id="111" />
-<TGConnectingPoint num="23" id="112" />
-<TGConnectingPoint num="24" id="113" />
-<TGConnectingPoint num="25" id="114" />
-<TGConnectingPoint num="26" id="115" />
-<TGConnectingPoint num="27" id="116" />
-<TGConnectingPoint num="28" id="117" />
-<TGConnectingPoint num="29" id="118" />
-<TGConnectingPoint num="30" id="119" />
-<TGConnectingPoint num="31" id="120" />
-<TGConnectingPoint num="32" id="121" />
-<TGConnectingPoint num="33" id="122" />
-<TGConnectingPoint num="34" id="123" />
-<TGConnectingPoint num="35" id="124" />
-<TGConnectingPoint num="36" id="125" />
-<TGConnectingPoint num="37" id="126" />
-<TGConnectingPoint num="38" id="127" />
-<TGConnectingPoint num="39" id="128" />
-<TGConnectingPoint num="40" id="129" />
-<TGConnectingPoint num="41" id="130" />
-<TGConnectingPoint num="42" id="131" />
-<extraparam>
-<textline data="The system will use" />
-<textline data="a checksum or " />
-<textline data="something to ensure" />
-<textline data="integrity of firmware" />
-<kind data="Integrity" />
-<criticality data="Low" />
-<reqType data="0" />
-<id data="19" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="176" >
-<cdparam x="396" y="466" />
-<sizeparam width="175" height="126" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="134" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="3500" minY="10" maxY="1500" />
-<infoparam name="Requirement" value="LANConfidentiality" />
-<TGConnectingPoint num="0" id="133" />
-<TGConnectingPoint num="1" id="134" />
-<TGConnectingPoint num="2" id="135" />
-<TGConnectingPoint num="3" id="136" />
-<TGConnectingPoint num="4" id="137" />
-<TGConnectingPoint num="5" id="138" />
-<TGConnectingPoint num="6" id="139" />
-<TGConnectingPoint num="7" id="140" />
-<TGConnectingPoint num="8" id="141" />
-<TGConnectingPoint num="9" id="142" />
-<TGConnectingPoint num="10" id="143" />
-<TGConnectingPoint num="11" id="144" />
-<TGConnectingPoint num="12" id="145" />
-<TGConnectingPoint num="13" id="146" />
-<TGConnectingPoint num="14" id="147" />
-<TGConnectingPoint num="15" id="148" />
-<TGConnectingPoint num="16" id="149" />
-<TGConnectingPoint num="17" id="150" />
-<TGConnectingPoint num="18" id="151" />
-<TGConnectingPoint num="19" id="152" />
-<TGConnectingPoint num="20" id="153" />
-<TGConnectingPoint num="21" id="154" />
-<TGConnectingPoint num="22" id="155" />
-<TGConnectingPoint num="23" id="156" />
-<TGConnectingPoint num="24" id="157" />
-<TGConnectingPoint num="25" id="158" />
-<TGConnectingPoint num="26" id="159" />
-<TGConnectingPoint num="27" id="160" />
-<TGConnectingPoint num="28" id="161" />
-<TGConnectingPoint num="29" id="162" />
-<TGConnectingPoint num="30" id="163" />
-<TGConnectingPoint num="31" id="164" />
-<TGConnectingPoint num="32" id="165" />
-<TGConnectingPoint num="33" id="166" />
-<TGConnectingPoint num="34" id="167" />
-<TGConnectingPoint num="35" id="168" />
-<TGConnectingPoint num="36" id="169" />
-<TGConnectingPoint num="37" id="170" />
-<TGConnectingPoint num="38" id="171" />
-<TGConnectingPoint num="39" id="172" />
-<TGConnectingPoint num="40" id="173" />
-<TGConnectingPoint num="41" id="174" />
-<TGConnectingPoint num="42" id="175" />
-<extraparam>
-<textline data="The system will not " />
-<textline data="allow external connections" />
-<textline data="to the LAN" />
-<kind data="Controlled access (authorization)" />
-<criticality data="Low" />
-<reqType data="0" />
-<id data="18" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="220" >
-<cdparam x="1000" y="477" />
-<sizeparam width="155" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="125" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="3500" minY="10" maxY="1500" />
-<infoparam name="Requirement" value="FirmwareProtect" />
-<TGConnectingPoint num="0" id="177" />
-<TGConnectingPoint num="1" id="178" />
-<TGConnectingPoint num="2" id="179" />
-<TGConnectingPoint num="3" id="180" />
-<TGConnectingPoint num="4" id="181" />
-<TGConnectingPoint num="5" id="182" />
-<TGConnectingPoint num="6" id="183" />
-<TGConnectingPoint num="7" id="184" />
-<TGConnectingPoint num="8" id="185" />
-<TGConnectingPoint num="9" id="186" />
-<TGConnectingPoint num="10" id="187" />
-<TGConnectingPoint num="11" id="188" />
-<TGConnectingPoint num="12" id="189" />
-<TGConnectingPoint num="13" id="190" />
-<TGConnectingPoint num="14" id="191" />
-<TGConnectingPoint num="15" id="192" />
-<TGConnectingPoint num="16" id="193" />
-<TGConnectingPoint num="17" id="194" />
-<TGConnectingPoint num="18" id="195" />
-<TGConnectingPoint num="19" id="196" />
-<TGConnectingPoint num="20" id="197" />
-<TGConnectingPoint num="21" id="198" />
-<TGConnectingPoint num="22" id="199" />
-<TGConnectingPoint num="23" id="200" />
-<TGConnectingPoint num="24" id="201" />
-<TGConnectingPoint num="25" id="202" />
-<TGConnectingPoint num="26" id="203" />
-<TGConnectingPoint num="27" id="204" />
-<TGConnectingPoint num="28" id="205" />
-<TGConnectingPoint num="29" id="206" />
-<TGConnectingPoint num="30" id="207" />
-<TGConnectingPoint num="31" id="208" />
-<TGConnectingPoint num="32" id="209" />
-<TGConnectingPoint num="33" id="210" />
-<TGConnectingPoint num="34" id="211" />
-<TGConnectingPoint num="35" id="212" />
-<TGConnectingPoint num="36" id="213" />
-<TGConnectingPoint num="37" id="214" />
-<TGConnectingPoint num="38" id="215" />
-<TGConnectingPoint num="39" id="216" />
-<TGConnectingPoint num="40" id="217" />
-<TGConnectingPoint num="41" id="218" />
-<TGConnectingPoint num="42" id="219" />
-<extraparam>
-<textline data="Firmware will be " />
-<textline data="encrypted" />
-<kind data="Confidentiality" />
-<criticality data="Low" />
-<reqType data="0" />
-<id data="17" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="264" >
-<cdparam x="793" y="467" />
-<sizeparam width="171" height="126" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="129" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="3500" minY="10" maxY="1500" />
-<infoparam name="Requirement" value="networkFirmware" />
-<TGConnectingPoint num="0" id="221" />
-<TGConnectingPoint num="1" id="222" />
-<TGConnectingPoint num="2" id="223" />
-<TGConnectingPoint num="3" id="224" />
-<TGConnectingPoint num="4" id="225" />
-<TGConnectingPoint num="5" id="226" />
-<TGConnectingPoint num="6" id="227" />
-<TGConnectingPoint num="7" id="228" />
-<TGConnectingPoint num="8" id="229" />
-<TGConnectingPoint num="9" id="230" />
-<TGConnectingPoint num="10" id="231" />
-<TGConnectingPoint num="11" id="232" />
-<TGConnectingPoint num="12" id="233" />
-<TGConnectingPoint num="13" id="234" />
-<TGConnectingPoint num="14" id="235" />
-<TGConnectingPoint num="15" id="236" />
-<TGConnectingPoint num="16" id="237" />
-<TGConnectingPoint num="17" id="238" />
-<TGConnectingPoint num="18" id="239" />
-<TGConnectingPoint num="19" id="240" />
-<TGConnectingPoint num="20" id="241" />
-<TGConnectingPoint num="21" id="242" />
-<TGConnectingPoint num="22" id="243" />
-<TGConnectingPoint num="23" id="244" />
-<TGConnectingPoint num="24" id="245" />
-<TGConnectingPoint num="25" id="246" />
-<TGConnectingPoint num="26" id="247" />
-<TGConnectingPoint num="27" id="248" />
-<TGConnectingPoint num="28" id="249" />
-<TGConnectingPoint num="29" id="250" />
-<TGConnectingPoint num="30" id="251" />
-<TGConnectingPoint num="31" id="252" />
-<TGConnectingPoint num="32" id="253" />
-<TGConnectingPoint num="33" id="254" />
-<TGConnectingPoint num="34" id="255" />
-<TGConnectingPoint num="35" id="256" />
-<TGConnectingPoint num="36" id="257" />
-<TGConnectingPoint num="37" id="258" />
-<TGConnectingPoint num="38" id="259" />
-<TGConnectingPoint num="39" id="260" />
-<TGConnectingPoint num="40" id="261" />
-<TGConnectingPoint num="41" id="262" />
-<TGConnectingPoint num="42" id="263" />
-<extraparam>
-<textline data="The system will not" />
-<textline data="send firmware on " />
-<textline data="the network" />
-<kind data="Confidentiality" />
-<criticality data="Low" />
-<reqType data="0" />
-<id data="5" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="308" >
-<cdparam x="1991" y="620" />
-<sizeparam width="216" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="150" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="3500" minY="10" maxY="1500" />
-<infoparam name="Requirement" value="GatewayAuthenticity" />
-<TGConnectingPoint num="0" id="265" />
-<TGConnectingPoint num="1" id="266" />
-<TGConnectingPoint num="2" id="267" />
-<TGConnectingPoint num="3" id="268" />
-<TGConnectingPoint num="4" id="269" />
-<TGConnectingPoint num="5" id="270" />
-<TGConnectingPoint num="6" id="271" />
-<TGConnectingPoint num="7" id="272" />
-<TGConnectingPoint num="8" id="273" />
-<TGConnectingPoint num="9" id="274" />
-<TGConnectingPoint num="10" id="275" />
-<TGConnectingPoint num="11" id="276" />
-<TGConnectingPoint num="12" id="277" />
-<TGConnectingPoint num="13" id="278" />
-<TGConnectingPoint num="14" id="279" />
-<TGConnectingPoint num="15" id="280" />
-<TGConnectingPoint num="16" id="281" />
-<TGConnectingPoint num="17" id="282" />
-<TGConnectingPoint num="18" id="283" />
-<TGConnectingPoint num="19" id="284" />
-<TGConnectingPoint num="20" id="285" />
-<TGConnectingPoint num="21" id="286" />
-<TGConnectingPoint num="22" id="287" />
-<TGConnectingPoint num="23" id="288" />
-<TGConnectingPoint num="24" id="289" />
-<TGConnectingPoint num="25" id="290" />
-<TGConnectingPoint num="26" id="291" />
-<TGConnectingPoint num="27" id="292" />
-<TGConnectingPoint num="28" id="293" />
-<TGConnectingPoint num="29" id="294" />
-<TGConnectingPoint num="30" id="295" />
-<TGConnectingPoint num="31" id="296" />
-<TGConnectingPoint num="32" id="297" />
-<TGConnectingPoint num="33" id="298" />
-<TGConnectingPoint num="34" id="299" />
-<TGConnectingPoint num="35" id="300" />
-<TGConnectingPoint num="36" id="301" />
-<TGConnectingPoint num="37" id="302" />
-<TGConnectingPoint num="38" id="303" />
-<TGConnectingPoint num="39" id="304" />
-<TGConnectingPoint num="40" id="305" />
-<TGConnectingPoint num="41" id="306" />
-<TGConnectingPoint num="42" id="307" />
-<extraparam>
-<textline data="The Gateway ECU will filter" />
-<textline data="ECU commands" />
-<kind data="Immunity" />
-<criticality data="Low" />
-<reqType data="0" />
-<id data="4" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="352" >
-<cdparam x="317" y="303" />
-<sizeparam width="202" height="126" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="166" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="3500" minY="10" maxY="1500" />
-<infoparam name="Requirement" value="EthernetConfidentiality" />
-<TGConnectingPoint num="0" id="309" />
-<TGConnectingPoint num="1" id="310" />
-<TGConnectingPoint num="2" id="311" />
-<TGConnectingPoint num="3" id="312" />
-<TGConnectingPoint num="4" id="313" />
-<TGConnectingPoint num="5" id="314" />
-<TGConnectingPoint num="6" id="315" />
-<TGConnectingPoint num="7" id="316" />
-<TGConnectingPoint num="8" id="317" />
-<TGConnectingPoint num="9" id="318" />
-<TGConnectingPoint num="10" id="319" />
-<TGConnectingPoint num="11" id="320" />
-<TGConnectingPoint num="12" id="321" />
-<TGConnectingPoint num="13" id="322" />
-<TGConnectingPoint num="14" id="323" />
-<TGConnectingPoint num="15" id="324" />
-<TGConnectingPoint num="16" id="325" />
-<TGConnectingPoint num="17" id="326" />
-<TGConnectingPoint num="18" id="327" />
-<TGConnectingPoint num="19" id="328" />
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-<textline data="The system will ensure" />
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-<TGConnectingPoint num="14" id="675" />
-<TGConnectingPoint num="15" id="676" />
-<TGConnectingPoint num="16" id="677" />
-<TGConnectingPoint num="17" id="678" />
-<TGConnectingPoint num="18" id="679" />
-<TGConnectingPoint num="19" id="680" />
-<TGConnectingPoint num="20" id="681" />
-<TGConnectingPoint num="21" id="682" />
-<TGConnectingPoint num="22" id="683" />
-<TGConnectingPoint num="23" id="684" />
-<TGConnectingPoint num="24" id="685" />
-<TGConnectingPoint num="25" id="686" />
-<TGConnectingPoint num="26" id="687" />
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-<TGConnectingPoint num="28" id="689" />
-<TGConnectingPoint num="29" id="690" />
-<TGConnectingPoint num="30" id="691" />
-<TGConnectingPoint num="31" id="692" />
-<TGConnectingPoint num="32" id="693" />
-<TGConnectingPoint num="33" id="694" />
-<TGConnectingPoint num="34" id="695" />
-<TGConnectingPoint num="35" id="696" />
-<TGConnectingPoint num="36" id="697" />
-<TGConnectingPoint num="37" id="698" />
-<TGConnectingPoint num="38" id="699" />
-<TGConnectingPoint num="39" id="700" />
-<TGConnectingPoint num="40" id="701" />
-<TGConnectingPoint num="41" id="702" />
-<TGConnectingPoint num="42" id="703" />
-<extraparam>
-<textline data="The system will ensure" />
-<textline data="Availability" />
-<kind data="Availability" />
-<criticality data="Low" />
-<reqType data="0" />
-<id data="0" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="748" >
-<cdparam x="1485" y="161" />
-<sizeparam width="194" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="121" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="3500" minY="10" maxY="1500" />
-<infoparam name="Requirement" value="AuthenticityReq" />
-<TGConnectingPoint num="0" id="705" />
-<TGConnectingPoint num="1" id="706" />
-<TGConnectingPoint num="2" id="707" />
-<TGConnectingPoint num="3" id="708" />
-<TGConnectingPoint num="4" id="709" />
-<TGConnectingPoint num="5" id="710" />
-<TGConnectingPoint num="6" id="711" />
-<TGConnectingPoint num="7" id="712" />
-<TGConnectingPoint num="8" id="713" />
-<TGConnectingPoint num="9" id="714" />
-<TGConnectingPoint num="10" id="715" />
-<TGConnectingPoint num="11" id="716" />
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-<TGConnectingPoint num="13" id="718" />
-<TGConnectingPoint num="14" id="719" />
-<TGConnectingPoint num="15" id="720" />
-<TGConnectingPoint num="16" id="721" />
-<TGConnectingPoint num="17" id="722" />
-<TGConnectingPoint num="18" id="723" />
-<TGConnectingPoint num="19" id="724" />
-<TGConnectingPoint num="20" id="725" />
-<TGConnectingPoint num="21" id="726" />
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-<TGConnectingPoint num="25" id="730" />
-<TGConnectingPoint num="26" id="731" />
-<TGConnectingPoint num="27" id="732" />
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-<TGConnectingPoint num="30" id="735" />
-<TGConnectingPoint num="31" id="736" />
-<TGConnectingPoint num="32" id="737" />
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-<TGConnectingPoint num="34" id="739" />
-<TGConnectingPoint num="35" id="740" />
-<TGConnectingPoint num="36" id="741" />
-<TGConnectingPoint num="37" id="742" />
-<TGConnectingPoint num="38" id="743" />
-<TGConnectingPoint num="39" id="744" />
-<TGConnectingPoint num="40" id="745" />
-<TGConnectingPoint num="41" id="746" />
-<TGConnectingPoint num="42" id="747" />
-<extraparam>
-<textline data="The system will ensure" />
-<textline data="Authenticity" />
-<kind data="Integrity" />
-<criticality data="Low" />
-<reqType data="0" />
-<id data="0" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="792" >
-<cdparam x="1241" y="317" />
-<sizeparam width="198" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="153" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="3500" minY="10" maxY="1500" />
-<infoparam name="Requirement" value="AuthenticityFirmware" />
-<TGConnectingPoint num="0" id="749" />
-<TGConnectingPoint num="1" id="750" />
-<TGConnectingPoint num="2" id="751" />
-<TGConnectingPoint num="3" id="752" />
-<TGConnectingPoint num="4" id="753" />
-<TGConnectingPoint num="5" id="754" />
-<TGConnectingPoint num="6" id="755" />
-<TGConnectingPoint num="7" id="756" />
-<TGConnectingPoint num="8" id="757" />
-<TGConnectingPoint num="9" id="758" />
-<TGConnectingPoint num="10" id="759" />
-<TGConnectingPoint num="11" id="760" />
-<TGConnectingPoint num="12" id="761" />
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-<TGConnectingPoint num="15" id="764" />
-<TGConnectingPoint num="16" id="765" />
-<TGConnectingPoint num="17" id="766" />
-<TGConnectingPoint num="18" id="767" />
-<TGConnectingPoint num="19" id="768" />
-<TGConnectingPoint num="20" id="769" />
-<TGConnectingPoint num="21" id="770" />
-<TGConnectingPoint num="22" id="771" />
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-<TGConnectingPoint num="25" id="774" />
-<TGConnectingPoint num="26" id="775" />
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-<TGConnectingPoint num="31" id="780" />
-<TGConnectingPoint num="32" id="781" />
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-<TGConnectingPoint num="36" id="785" />
-<TGConnectingPoint num="37" id="786" />
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-<TGConnectingPoint num="39" id="788" />
-<TGConnectingPoint num="40" id="789" />
-<TGConnectingPoint num="41" id="790" />
-<TGConnectingPoint num="42" id="791" />
-<extraparam>
-<textline data="The system will ensure " />
-<textline data="authenticity of firmware" />
-<kind data="Integrity" />
-<criticality data="Low" />
-<reqType data="0" />
-<id data="0" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="836" >
-<cdparam x="546" y="146" />
-<sizeparam width="194" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="135" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="3500" minY="10" maxY="1500" />
-<infoparam name="Requirement" value="ConfidentialityReq" />
-<TGConnectingPoint num="0" id="793" />
-<TGConnectingPoint num="1" id="794" />
-<TGConnectingPoint num="2" id="795" />
-<TGConnectingPoint num="3" id="796" />
-<TGConnectingPoint num="4" id="797" />
-<TGConnectingPoint num="5" id="798" />
-<TGConnectingPoint num="6" id="799" />
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-<extraparam>
-<textline data="The system will ensure" />
-<textline data="Confidentiality" />
-<kind data="Confidentiality" />
-<criticality data="Low" />
-<reqType data="0" />
-<id data="0" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="880" >
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-<sizeparam width="210" height="126" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="99" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="3500" minY="10" maxY="1500" />
-<infoparam name="Requirement" value="externalMsg" />
-<TGConnectingPoint num="0" id="837" />
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-<TGConnectingPoint num="2" id="839" />
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-<TGConnectingPoint num="5" id="842" />
-<TGConnectingPoint num="6" id="843" />
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-<TGConnectingPoint num="10" id="847" />
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-<TGConnectingPoint num="17" id="854" />
-<TGConnectingPoint num="18" id="855" />
-<TGConnectingPoint num="19" id="856" />
-<TGConnectingPoint num="20" id="857" />
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-<extraparam>
-<textline data="The system will not send " />
-<textline data="data to external " />
-<textline data="components(V2I, camera...)" />
-<kind data="Confidentiality" />
-<criticality data="Low" />
-<reqType data="0" />
-<id data="0" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="924" >
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-<sizeparam width="209" height="126" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="101" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="3500" minY="10" maxY="1500" />
-<infoparam name="Requirement" value="ECUdataflow" />
-<TGConnectingPoint num="0" id="881" />
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-<TGConnectingPoint num="5" id="886" />
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-<TGConnectingPoint num="20" id="901" />
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-<extraparam>
-<textline data="The system will not pass " />
-<textline data="data from external directly" />
-<textline data="to the ECU control" />
-<kind data="Privacy" />
-<criticality data="Low" />
-<reqType data="0" />
-<id data="0" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="968" >
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-<sizeparam width="193" height="126" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="109" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="3500" minY="10" maxY="1500" />
-<infoparam name="Requirement" value="notAllSensors" />
-<TGConnectingPoint num="0" id="925" />
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-<extraparam>
-<textline data="The attacker must not" />
-<textline data="be able to compromise" />
-<textline data="all sensors" />
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-<reqType data="0" />
-<id data="0" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="1012" >
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-<extraparam>
-<textline data="The system will not allow" />
-<textline data="modification of control/perception " />
-<textline data="firmware." />
-<kind data="Integrity" />
-<criticality data="Low" />
-<reqType data="0" />
-<id data="1" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="1056" >
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-<hidden value="false" />
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-<textline data="User override will " />
-<textline data="always be effective." />
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-<criticality data="Low" />
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-<id data="13" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="1408" >
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-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="3500" minY="10" maxY="1500" />
-<infoparam name="Requirement" value="ConfidentialGPS" />
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-<textline data="The system will not " />
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-<id data="8" />
-<satisfied data="false" />
-<verified data="false" />
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-<violatedAction data="" />
-<referenceElements data="" />
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-</COMPONENT>
-
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-<textline data="The user-entered " />
-<textline data="location will be the" />
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-<id data="12" />
-<satisfied data="false" />
-<verified data="false" />
-<attackTreeNode data="" />
-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5200" id="1496" >
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-<verified data="false" />
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-<violatedAction data="" />
-<referenceElements data="" />
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-
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-<violatedAction data="" />
-<referenceElements data="" />
-</extraparam>
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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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-<TGConnectingPoint num="8" id="3636" />
-<TGConnectingPoint num="9" id="3637" />
-<TGConnectingPoint num="10" id="3638" />
-<TGConnectingPoint num="11" id="3639" />
-<extraparam>
-<info description="blah blah blah" root="true" />
-</extraparam>
-</SUBCOMPONENT>
-
-
-</AttackTreeDiagramPanel>
-
-</Modeling>
-
-
-
-
-<Modeling type="AVATAR Design" nameTab="AvatarDesign" >
-<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="4000" minY="10" maxY="1500" >
-<MainCode value="void __user_init() {"/>
-<MainCode value="}"/>
-<Optimized value="true" />
-<Validated value="Perception;Supervisor;MABX;UI;ExteriorInterface;ECU;Sensors;IMU;GPS;Camera;FusionLidar;Radar;V2X;" />
-<Ignored value="" />
-
-<COMPONENT type="5003" id="10143" >
-<cdparam x="1369" y="856" />
-<sizeparam width="210" height="100" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
-<infoparam name="DataType0" value="calculatedData" />
-<TGConnectingPoint num="0" id="10144" />
-<TGConnectingPoint num="1" id="10145" />
-<TGConnectingPoint num="2" id="10146" />
-<TGConnectingPoint num="3" id="10147" />
-<TGConnectingPoint num="4" id="10148" />
-<TGConnectingPoint num="5" id="10149" />
-<TGConnectingPoint num="6" id="10150" />
-<TGConnectingPoint num="7" id="10151" />
-<extraparam>
-<Attribute access="0" id="value" value="" type="8" typeOther="" />
-<Attribute access="0" id="reliability" value="" type="8" typeOther="" />
-<Attribute access="0" id="confidence" value="" type="8" typeOther="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5003" id="10072" >
-<cdparam x="1695" y="724" />
-<sizeparam width="173" height="112" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
-<infoparam name="DataType0" value="mapCoordinate" />
-<TGConnectingPoint num="0" id="10073" />
-<TGConnectingPoint num="1" id="10074" />
-<TGConnectingPoint num="2" id="10075" />
-<TGConnectingPoint num="3" id="10076" />
-<TGConnectingPoint num="4" id="10077" />
-<TGConnectingPoint num="5" id="10078" />
-<TGConnectingPoint num="6" id="10079" />
-<TGConnectingPoint num="7" id="10080" />
-<extraparam>
-<Attribute access="0" id="x" value="" type="8" typeOther="" />
-<Attribute access="0" id="y" value="" type="8" typeOther="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5003" id="9953" >
-<cdparam x="1368" y="724" />
-<sizeparam width="211" height="104" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
-<infoparam name="DataType0" value="vehCommand" />
-<TGConnectingPoint num="0" id="9954" />
-<TGConnectingPoint num="1" id="9955" />
-<TGConnectingPoint num="2" id="9956" />
-<TGConnectingPoint num="3" id="9957" />
-<TGConnectingPoint num="4" id="9958" />
-<TGConnectingPoint num="5" id="9959" />
-<TGConnectingPoint num="6" id="9960" />
-<TGConnectingPoint num="7" id="9961" />
-<extraparam>
-<Attribute access="0" id="accel" value="" type="8" typeOther="" />
-<Attribute access="0" id="brake" value="" type="8" typeOther="" />
-<Attribute access="0" id="steeringAngle" value="" type="8" typeOther="" />
-</extraparam>
-</COMPONENT>
-
-<CONNECTOR type="5002" id="9924" >
-<cdparam x="1142" y="684" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="" />
-<TGConnectingPoint num="0" id="9925" />
-<P1  x="1142" y="684" id="3806" />
-<P2  x="1142" y="726" id="9899" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<iso value="in V2XOut(int V2Idata, int V2Vdata)" />
-<osd value="out V2Xdata(int V2Idata, int V2Vdata)" />
-<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
-</extraparam>
-</CONNECTOR>
-<COMPONENT type="5000" id="9897" >
-<cdparam x="1017" y="726" />
-<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
-<infoparam name="Block0" value="V2X" />
-<TGConnectingPoint num="0" id="9898" />
-<TGConnectingPoint num="1" id="9899" />
-<TGConnectingPoint num="2" id="9900" />
-<TGConnectingPoint num="3" id="9901" />
-<TGConnectingPoint num="4" id="9902" />
-<TGConnectingPoint num="5" id="9903" />
-<TGConnectingPoint num="6" id="9904" />
-<TGConnectingPoint num="7" id="9905" />
-<TGConnectingPoint num="8" id="9906" />
-<TGConnectingPoint num="9" id="9907" />
-<TGConnectingPoint num="10" id="9908" />
-<TGConnectingPoint num="11" id="9909" />
-<TGConnectingPoint num="12" id="9910" />
-<TGConnectingPoint num="13" id="9911" />
-<TGConnectingPoint num="14" id="9912" />
-<TGConnectingPoint num="15" id="9913" />
-<TGConnectingPoint num="16" id="9914" />
-<TGConnectingPoint num="17" id="9915" />
-<TGConnectingPoint num="18" id="9916" />
-<TGConnectingPoint num="19" id="9917" />
-<TGConnectingPoint num="20" id="9918" />
-<TGConnectingPoint num="21" id="9919" />
-<TGConnectingPoint num="22" id="9920" />
-<TGConnectingPoint num="23" id="9921" />
-<extraparam>
-<CryptoBlock value="true" />
-<Attribute access="0" id="V2Idata" value="" type="8" typeOther="" />
-<Attribute access="0" id="V2Vdata" value="" type="8" typeOther="" />
-<Method value="Message aencrypt(Message msg, Key k)" />
-<Method value="Message adecrypt(Message msg, Key k)" />
-<Method value="Key pk(Key k)" />
-<Method value="Message sign(Message msg, Key k)" />
-<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
-<Method value="Message cert(Key k, Message msg)" />
-<Method value="bool verifyCert(Message cert, Key k)" />
-<Method value="Key getpk(Message cert)" />
-<Method value="Message sencrypt(Message msg, Key k)" />
-<Method value="Message sdecrypt(Message msg, Key k)" />
-<Method value="Message hash(Message msg)" />
-<Method value="Message MAC(Message msg, Key k)" />
-<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
-<Method value="Message concat2(Message msg1, Message msg2)" />
-<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
-<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Method value="get2(Message msg, Message msg1, Message msg2)" />
-<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
-<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Signal value="out V2Xdata(int V2Idata, int V2Vdata)" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5003" id="9285" >
-<cdparam x="252" y="769" />
-<sizeparam width="163" height="81" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
-<infoparam name="DataType1" value="Key" />
-<TGConnectingPoint num="0" id="9286" />
-<TGConnectingPoint num="1" id="9287" />
-<TGConnectingPoint num="2" id="9288" />
-<TGConnectingPoint num="3" id="9289" />
-<TGConnectingPoint num="4" id="9290" />
-<TGConnectingPoint num="5" id="9291" />
-<TGConnectingPoint num="6" id="9292" />
-<TGConnectingPoint num="7" id="9293" />
-<extraparam>
-<Attribute access="0" id="data" value="" type="8" typeOther="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5003" id="9276" >
-<cdparam x="77" y="769" />
-<sizeparam width="166" height="81" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
-<infoparam name="DataType0" value="Message" />
-<TGConnectingPoint num="0" id="9277" />
-<TGConnectingPoint num="1" id="9278" />
-<TGConnectingPoint num="2" id="9279" />
-<TGConnectingPoint num="3" id="9280" />
-<TGConnectingPoint num="4" id="9281" />
-<TGConnectingPoint num="5" id="9282" />
-<TGConnectingPoint num="6" id="9283" />
-<TGConnectingPoint num="7" id="9284" />
-<extraparam>
-<Attribute access="0" id="data" value="" type="8" typeOther="" />
-</extraparam>
-</COMPONENT>
-
-<CONNECTOR type="5002" id="3667" >
-<cdparam x="0" y="0" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="" />
-<TGConnectingPoint num="0" id="3666" />
-<P1  x="885" y="293" id="4011" />
-<P2  x="1017" y="294" id="3712" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<isd value="in IMUdata(int IMUdata)" />
-<isd value="in radarData(int radarData)" />
-<isd value="in GPSRTKdata(int GPSRTKdata)" />
-<isd value="in lidarData(int lidarData)" />
-<isd value="in camData(int camData)" />
-<oso value="out IMUdata(int IMUdata)" />
-<oso value="out radarData(int radarData)" />
-<oso value="out GPSRTKdata(int GPSRTKdata)" />
-<oso value="out lidarData(int lidarData)" />
-<oso value="out camData(int camData)" />
-<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="5002" id="3673" >
-<cdparam x="0" y="0" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="" />
-<TGConnectingPoint num="0" id="3672" />
-<P1  x="1267" y="344" id="3707" />
-<P2  x="1716" y="485" id="3725" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<isd value="in percStatus()" />
-<oso value="out percStatus()" />
-<FIFOType asynchronous="false" size="1024" blocking="false" private="true" broadcast="false" lossy="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="5002" id="3675" >
-<cdparam x="0" y="0" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="" />
-<TGConnectingPoint num="0" id="3674" />
-<P1  x="1345" y="245" id="3753" />
-<P2  x="1267" y="244" id="3704" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<iso value="in commandOut(vehCommand command)" />
-<osd value="out commandOut(vehCommand command)" />
-<isd value="in vehStatus()" />
-<oso value="out vehStatus()" />
-<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="5002" id="3679" >
-<cdparam x="0" y="0" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="" />
-<TGConnectingPoint num="0" id="3678" />
-<P1  x="1595" y="245" id="3754" />
-<P2  x="1710" y="246" id="3828" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<isd value="in ECUin(vehCommand command)" />
-<oso value="out ECUin(vehCommand command)" />
-<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="5002" id="3681" >
-<cdparam x="0" y="0" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="" />
-<TGConnectingPoint num="0" id="3680" />
-<P1  x="1470" y="345" id="3756" />
-<P2  x="1841" y="485" id="3726" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<isd value="in ECUStatus()" />
-<oso value="out ECUStatus()" />
-<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="5002" id="3685" >
-<cdparam x="0" y="0" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="" />
-<TGConnectingPoint num="0" id="3684" />
-<P1  x="1017" y="584" id="3803" />
-<P2  x="885" y="583" id="4013" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="5002" id="3687" >
-<cdparam x="0" y="0" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="" />
-<TGConnectingPoint num="0" id="3686" />
-<P1  x="1142" y="484" id="3801" />
-<P2  x="1142" y="344" id="3706" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<isd value="in destOut()" />
-<isd value="in V2Vdata(int V2Vdata)" />
-<isd value="in V2Idata(int V2Idata)" />
-<oso value="out destOut(mapCoordinate destination)" />
-<oso value="out V2Vdata(int V2Vdata)" />
-<oso value="out V2Idata(int V2Idata)" />
-<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="5002" id="3693" >
-<cdparam x="0" y="0" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="" />
-<TGConnectingPoint num="0" id="3692" />
-<P1  x="1357" y="585" id="3778" />
-<P2  x="1267" y="584" id="3804" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<isd value="in UIout(mapCoordinate destination)" />
-<oso value="out UIout(mapCoordinate destination)" />
-<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="5002" id="3695" >
-<cdparam x="0" y="0" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="" />
-<TGConnectingPoint num="0" id="3694" />
-<P1  x="1607" y="585" id="3779" />
-<P2  x="1716" y="585" id="3728" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
-</extraparam>
-</CONNECTOR>
-<COMPONENT type="5000" id="3724" >
-<cdparam x="1017" y="144" />
-<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
-<infoparam name="Block0" value="Perception" />
-<TGConnectingPoint num="0" id="3700" />
-<TGConnectingPoint num="1" id="3701" />
-<TGConnectingPoint num="2" id="3702" />
-<TGConnectingPoint num="3" id="3703" />
-<TGConnectingPoint num="4" id="3704" />
-<TGConnectingPoint num="5" id="3705" />
-<TGConnectingPoint num="6" id="3706" />
-<TGConnectingPoint num="7" id="3707" />
-<TGConnectingPoint num="8" id="3708" />
-<TGConnectingPoint num="9" id="3709" />
-<TGConnectingPoint num="10" id="3710" />
-<TGConnectingPoint num="11" id="3711" />
-<TGConnectingPoint num="12" id="3712" />
-<TGConnectingPoint num="13" id="3713" />
-<TGConnectingPoint num="14" id="3714" />
-<TGConnectingPoint num="15" id="3715" />
-<TGConnectingPoint num="16" id="3716" />
-<TGConnectingPoint num="17" id="3717" />
-<TGConnectingPoint num="18" id="3718" />
-<TGConnectingPoint num="19" id="3719" />
-<TGConnectingPoint num="20" id="3720" />
-<TGConnectingPoint num="21" id="3721" />
-<TGConnectingPoint num="22" id="3722" />
-<TGConnectingPoint num="23" id="3723" />
-<extraparam>
-<CryptoBlock value="true" />
-<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
-<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
-<Attribute access="0" id="IMUdata" value="" type="8" typeOther="" />
-<Attribute access="0" id="GPSRTKdata" value="" type="8" typeOther="" />
-<Attribute access="0" id="camData" value="" type="8" typeOther="" />
-<Attribute access="0" id="radarData" value="" type="8" typeOther="" />
-<Attribute access="0" id="lidarData" value="" type="8" typeOther="" />
-<Attribute access="0" id="V2Vdata" value="" type="8" typeOther="" />
-<Attribute access="0" id="V2Idata" value="" type="8" typeOther="" />
-<Attribute access="0" id="infoObstacles" value="0" type="8" typeOther="" />
-<Attribute access="0" id="infoMarkings" value="0" type="8" typeOther="" />
-<Attribute access="0" id="infoInfrastructure" value="0" type="8" typeOther="" />
-<Attribute access="0" id="infoVehicle" value="0" type="8" typeOther="" />
-<Attribute access="0" id="command" value="" type="5" typeOther="vehCommand" />
-<Attribute access="0" id="environmentCondition" value="" type="8" typeOther="" />
-<Method value="Message aencrypt(Message msg, Key k)" />
-<Method value="Message adecrypt(Message msg, Key k)" />
-<Method value="Key pk(Key k)" />
-<Method value="Message sign(Message msg, Key k)" />
-<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
-<Method value="Message cert(Key k, Message msg)" />
-<Method value="bool verifyCert(Message cert, Key k)" />
-<Method value="Key getpk(Message cert)" />
-<Method value="Message sencrypt(Message msg, Key k)" />
-<Method value="Message sdecrypt(Message msg, Key k)" />
-<Method value="Message hash(Message msg)" />
-<Method value="Message MAC(Message msg, Key k)" />
-<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
-<Method value="Message concat2(Message msg1, Message msg2)" />
-<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
-<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Method value="get2(Message msg, Message msg1, Message msg2)" />
-<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
-<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Signal value="in IMUdata(int IMUdata)" />
-<Signal value="in vehStatus()" />
-<Signal value="in destOut()" />
-<Signal value="out commandOut(vehCommand command)" />
-<Signal value="out percStatus()" />
-<Signal value="in radarData(int radarData)" />
-<Signal value="in lidarData(int lidarData)" />
-<Signal value="in camData(int camData)" />
-<Signal value="in GPSRTKdata(int GPSRTKdata)" />
-<Signal value="in V2Vdata(int V2Vdata)" />
-<Signal value="in V2Idata(int V2Idata)" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5000" id="3749" >
-<cdparam x="1716" y="485" />
-<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
-<infoparam name="Block0" value="Supervisor" />
-<TGConnectingPoint num="0" id="3725" />
-<TGConnectingPoint num="1" id="3726" />
-<TGConnectingPoint num="2" id="3727" />
-<TGConnectingPoint num="3" id="3728" />
-<TGConnectingPoint num="4" id="3729" />
-<TGConnectingPoint num="5" id="3730" />
-<TGConnectingPoint num="6" id="3731" />
-<TGConnectingPoint num="7" id="3732" />
-<TGConnectingPoint num="8" id="3733" />
-<TGConnectingPoint num="9" id="3734" />
-<TGConnectingPoint num="10" id="3735" />
-<TGConnectingPoint num="11" id="3736" />
-<TGConnectingPoint num="12" id="3737" />
-<TGConnectingPoint num="13" id="3738" />
-<TGConnectingPoint num="14" id="3739" />
-<TGConnectingPoint num="15" id="3740" />
-<TGConnectingPoint num="16" id="3741" />
-<TGConnectingPoint num="17" id="3742" />
-<TGConnectingPoint num="18" id="3743" />
-<TGConnectingPoint num="19" id="3744" />
-<TGConnectingPoint num="20" id="3745" />
-<TGConnectingPoint num="21" id="3746" />
-<TGConnectingPoint num="22" id="3747" />
-<TGConnectingPoint num="23" id="3748" />
-<extraparam>
-<CryptoBlock value="true" />
-<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
-<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
-<Attribute access="0" id="error" value="false" type="4" typeOther="" />
-<Attribute access="0" id="Design__percStatus__chData" value="0" type="8" typeOther="" />
-<Attribute access="0" id="Design__ECUStatus__chData" value="0" type="8" typeOther="" />
-<Method value="Message aencrypt(Message msg, Key k)" />
-<Method value="Message adecrypt(Message msg, Key k)" />
-<Method value="Key pk(Key k)" />
-<Method value="Message sign(Message msg, Key k)" />
-<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
-<Method value="Message cert(Key k, Message msg)" />
-<Method value="bool verifyCert(Message cert, Key k)" />
-<Method value="Key getpk(Message cert)" />
-<Method value="Message sencrypt(Message msg, Key k)" />
-<Method value="Message sdecrypt(Message msg, Key k)" />
-<Method value="Message hash(Message msg)" />
-<Method value="Message MAC(Message msg, Key k)" />
-<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
-<Method value="Message concat2(Message msg1, Message msg2)" />
-<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
-<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Method value="get2(Message msg, Message msg1, Message msg2)" />
-<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
-<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Signal value="in percStatus()" />
-<Signal value="in ECUStatus()" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5000" id="3774" >
-<cdparam x="1345" y="145" />
-<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
-<infoparam name="Block0" value="MABX" />
-<TGConnectingPoint num="0" id="3750" />
-<TGConnectingPoint num="1" id="3751" />
-<TGConnectingPoint num="2" id="3752" />
-<TGConnectingPoint num="3" id="3753" />
-<TGConnectingPoint num="4" id="3754" />
-<TGConnectingPoint num="5" id="3755" />
-<TGConnectingPoint num="6" id="3756" />
-<TGConnectingPoint num="7" id="3757" />
-<TGConnectingPoint num="8" id="3758" />
-<TGConnectingPoint num="9" id="3759" />
-<TGConnectingPoint num="10" id="3760" />
-<TGConnectingPoint num="11" id="3761" />
-<TGConnectingPoint num="12" id="3762" />
-<TGConnectingPoint num="13" id="3763" />
-<TGConnectingPoint num="14" id="3764" />
-<TGConnectingPoint num="15" id="3765" />
-<TGConnectingPoint num="16" id="3766" />
-<TGConnectingPoint num="17" id="3767" />
-<TGConnectingPoint num="18" id="3768" />
-<TGConnectingPoint num="19" id="3769" />
-<TGConnectingPoint num="20" id="3770" />
-<TGConnectingPoint num="21" id="3771" />
-<TGConnectingPoint num="22" id="3772" />
-<TGConnectingPoint num="23" id="3773" />
-<extraparam>
-<CryptoBlock value="true" />
-<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
-<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
-<Attribute access="0" id="command" value="" type="5" typeOther="vehCommand" />
-<Attribute access="0" id="maxAccel" value="" type="8" typeOther="" />
-<Attribute access="0" id="maxBrake" value="" type="8" typeOther="" />
-<Method value="Message aencrypt(Message msg, Key k)" />
-<Method value="Message adecrypt(Message msg, Key k)" />
-<Method value="Key pk(Key k)" />
-<Method value="Message sign(Message msg, Key k)" />
-<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
-<Method value="Message cert(Key k, Message msg)" />
-<Method value="bool verifyCert(Message cert, Key k)" />
-<Method value="Key getpk(Message cert)" />
-<Method value="Message sencrypt(Message msg, Key k)" />
-<Method value="Message sdecrypt(Message msg, Key k)" />
-<Method value="Message hash(Message msg)" />
-<Method value="Message MAC(Message msg, Key k)" />
-<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
-<Method value="Message concat2(Message msg1, Message msg2)" />
-<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
-<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Method value="get2(Message msg, Message msg1, Message msg2)" />
-<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
-<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Signal value="out ECUin(vehCommand command)" />
-<Signal value="out ECUStatus()" />
-<Signal value="out vehStatus()" />
-<Signal value="in commandOut(vehCommand command)" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5000" id="3799" >
-<cdparam x="1357" y="485" />
-<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
-<infoparam name="Block0" value="UI" />
-<TGConnectingPoint num="0" id="3775" />
-<TGConnectingPoint num="1" id="3776" />
-<TGConnectingPoint num="2" id="3777" />
-<TGConnectingPoint num="3" id="3778" />
-<TGConnectingPoint num="4" id="3779" />
-<TGConnectingPoint num="5" id="3780" />
-<TGConnectingPoint num="6" id="3781" />
-<TGConnectingPoint num="7" id="3782" />
-<TGConnectingPoint num="8" id="3783" />
-<TGConnectingPoint num="9" id="3784" />
-<TGConnectingPoint num="10" id="3785" />
-<TGConnectingPoint num="11" id="3786" />
-<TGConnectingPoint num="12" id="3787" />
-<TGConnectingPoint num="13" id="3788" />
-<TGConnectingPoint num="14" id="3789" />
-<TGConnectingPoint num="15" id="3790" />
-<TGConnectingPoint num="16" id="3791" />
-<TGConnectingPoint num="17" id="3792" />
-<TGConnectingPoint num="18" id="3793" />
-<TGConnectingPoint num="19" id="3794" />
-<TGConnectingPoint num="20" id="3795" />
-<TGConnectingPoint num="21" id="3796" />
-<TGConnectingPoint num="22" id="3797" />
-<TGConnectingPoint num="23" id="3798" />
-<extraparam>
-<CryptoBlock value="true" />
-<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
-<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
-<Attribute access="0" id="destination" value="" type="5" typeOther="mapCoordinate" />
-<Method value="Message aencrypt(Message msg, Key k)" />
-<Method value="Message adecrypt(Message msg, Key k)" />
-<Method value="Key pk(Key k)" />
-<Method value="Message sign(Message msg, Key k)" />
-<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
-<Method value="Message cert(Key k, Message msg)" />
-<Method value="bool verifyCert(Message cert, Key k)" />
-<Method value="Key getpk(Message cert)" />
-<Method value="Message sencrypt(Message msg, Key k)" />
-<Method value="Message sdecrypt(Message msg, Key k)" />
-<Method value="Message hash(Message msg)" />
-<Method value="Message MAC(Message msg, Key k)" />
-<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
-<Method value="Message concat2(Message msg1, Message msg2)" />
-<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
-<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Method value="get2(Message msg, Message msg1, Message msg2)" />
-<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
-<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Signal value="out UIout(mapCoordinate destination)" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5000" id="3824" >
-<cdparam x="1017" y="484" />
-<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
-<infoparam name="Block0" value="ExteriorInterface" />
-<TGConnectingPoint num="0" id="3800" />
-<TGConnectingPoint num="1" id="3801" />
-<TGConnectingPoint num="2" id="3802" />
-<TGConnectingPoint num="3" id="3803" />
-<TGConnectingPoint num="4" id="3804" />
-<TGConnectingPoint num="5" id="3805" />
-<TGConnectingPoint num="6" id="3806" />
-<TGConnectingPoint num="7" id="3807" />
-<TGConnectingPoint num="8" id="3808" />
-<TGConnectingPoint num="9" id="3809" />
-<TGConnectingPoint num="10" id="3810" />
-<TGConnectingPoint num="11" id="3811" />
-<TGConnectingPoint num="12" id="3812" />
-<TGConnectingPoint num="13" id="3813" />
-<TGConnectingPoint num="14" id="3814" />
-<TGConnectingPoint num="15" id="3815" />
-<TGConnectingPoint num="16" id="3816" />
-<TGConnectingPoint num="17" id="3817" />
-<TGConnectingPoint num="18" id="3818" />
-<TGConnectingPoint num="19" id="3819" />
-<TGConnectingPoint num="20" id="3820" />
-<TGConnectingPoint num="21" id="3821" />
-<TGConnectingPoint num="22" id="3822" />
-<TGConnectingPoint num="23" id="3823" />
-<extraparam>
-<CryptoBlock value="true" />
-<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
-<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
-<Attribute access="0" id="V2Vdata" value="0" type="8" typeOther="" />
-<Attribute access="0" id="V2Idata" value="0" type="8" typeOther="" />
-<Attribute access="0" id="destination" value="" type="5" typeOther="mapCoordinate" />
-<Method value="Message aencrypt(Message msg, Key k)" />
-<Method value="Message adecrypt(Message msg, Key k)" />
-<Method value="Key pk(Key k)" />
-<Method value="Message sign(Message msg, Key k)" />
-<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
-<Method value="Message cert(Key k, Message msg)" />
-<Method value="bool verifyCert(Message cert, Key k)" />
-<Method value="Key getpk(Message cert)" />
-<Method value="Message sencrypt(Message msg, Key k)" />
-<Method value="Message sdecrypt(Message msg, Key k)" />
-<Method value="Message hash(Message msg)" />
-<Method value="Message MAC(Message msg, Key k)" />
-<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
-<Method value="Message concat2(Message msg1, Message msg2)" />
-<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
-<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Method value="get2(Message msg, Message msg1, Message msg2)" />
-<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
-<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Signal value="in V2XOut(int V2Idata, int V2Vdata)" />
-<Signal value="in UIout(mapCoordinate destination)" />
-<Signal value="out destOut(mapCoordinate destination)" />
-<Signal value="out V2Vdata(int V2Vdata)" />
-<Signal value="out V2Idata(int V2Idata)" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5000" id="3849" >
-<cdparam x="1710" y="146" />
-<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
-<infoparam name="Block0" value="ECU" />
-<TGConnectingPoint num="0" id="3825" />
-<TGConnectingPoint num="1" id="3826" />
-<TGConnectingPoint num="2" id="3827" />
-<TGConnectingPoint num="3" id="3828" />
-<TGConnectingPoint num="4" id="3829" />
-<TGConnectingPoint num="5" id="3830" />
-<TGConnectingPoint num="6" id="3831" />
-<TGConnectingPoint num="7" id="3832" />
-<TGConnectingPoint num="8" id="3833" />
-<TGConnectingPoint num="9" id="3834" />
-<TGConnectingPoint num="10" id="3835" />
-<TGConnectingPoint num="11" id="3836" />
-<TGConnectingPoint num="12" id="3837" />
-<TGConnectingPoint num="13" id="3838" />
-<TGConnectingPoint num="14" id="3839" />
-<TGConnectingPoint num="15" id="3840" />
-<TGConnectingPoint num="16" id="3841" />
-<TGConnectingPoint num="17" id="3842" />
-<TGConnectingPoint num="18" id="3843" />
-<TGConnectingPoint num="19" id="3844" />
-<TGConnectingPoint num="20" id="3845" />
-<TGConnectingPoint num="21" id="3846" />
-<TGConnectingPoint num="22" id="3847" />
-<TGConnectingPoint num="23" id="3848" />
-<extraparam>
-<CryptoBlock value="true" />
-<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
-<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
-<Attribute access="0" id="command" value="" type="5" typeOther="vehCommand" />
-<Method value="Message aencrypt(Message msg, Key k)" />
-<Method value="Message adecrypt(Message msg, Key k)" />
-<Method value="Key pk(Key k)" />
-<Method value="Message sign(Message msg, Key k)" />
-<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
-<Method value="Message cert(Key k, Message msg)" />
-<Method value="bool verifyCert(Message cert, Key k)" />
-<Method value="Key getpk(Message cert)" />
-<Method value="Message sencrypt(Message msg, Key k)" />
-<Method value="Message sdecrypt(Message msg, Key k)" />
-<Method value="Message hash(Message msg)" />
-<Method value="Message MAC(Message msg, Key k)" />
-<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
-<Method value="Message concat2(Message msg1, Message msg2)" />
-<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
-<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Method value="get2(Message msg, Message msg1, Message msg2)" />
-<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
-<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Signal value="in ECUin(vehCommand command)" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5000" id="4024" >
-<cdparam x="75" y="148" />
-<sizeparam width="810" height="581" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
-<infoparam name="Block0" value="Sensors" />
-<TGConnectingPoint num="0" id="4000" />
-<TGConnectingPoint num="1" id="4001" />
-<TGConnectingPoint num="2" id="4002" />
-<TGConnectingPoint num="3" id="4003" />
-<TGConnectingPoint num="4" id="4004" />
-<TGConnectingPoint num="5" id="4005" />
-<TGConnectingPoint num="6" id="4006" />
-<TGConnectingPoint num="7" id="4007" />
-<TGConnectingPoint num="8" id="4008" />
-<TGConnectingPoint num="9" id="4009" />
-<TGConnectingPoint num="10" id="4010" />
-<TGConnectingPoint num="11" id="4011" />
-<TGConnectingPoint num="12" id="4012" />
-<TGConnectingPoint num="13" id="4013" />
-<TGConnectingPoint num="14" id="4014" />
-<TGConnectingPoint num="15" id="4015" />
-<TGConnectingPoint num="16" id="4016" />
-<TGConnectingPoint num="17" id="4017" />
-<TGConnectingPoint num="18" id="4018" />
-<TGConnectingPoint num="19" id="4019" />
-<TGConnectingPoint num="20" id="4020" />
-<TGConnectingPoint num="21" id="4021" />
-<TGConnectingPoint num="22" id="4022" />
-<TGConnectingPoint num="23" id="4023" />
-<extraparam>
-<CryptoBlock value="false" />
-<Signal value="out IMUdata(int IMUdata)" />
-<Signal value="out radarData(int radarData)" />
-<Signal value="out GPSRTKdata(int GPSRTKdata)" />
-<Signal value="out lidarData(int lidarData)" />
-<Signal value="out camData(int camData)" />
-</extraparam>
-</COMPONENT>
-<SUBCOMPONENT type="5000" id="3899" >
-<father id="4024" num="0" />
-<cdparam x="91" y="301" />
-<sizeparam width="248" height="197" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="562" minY="0" maxY="384" />
-<infoparam name="Block0" value="IMU" />
-<TGConnectingPoint num="0" id="3875" />
-<TGConnectingPoint num="1" id="3876" />
-<TGConnectingPoint num="2" id="3877" />
-<TGConnectingPoint num="3" id="3878" />
-<TGConnectingPoint num="4" id="3879" />
-<TGConnectingPoint num="5" id="3880" />
-<TGConnectingPoint num="6" id="3881" />
-<TGConnectingPoint num="7" id="3882" />
-<TGConnectingPoint num="8" id="3883" />
-<TGConnectingPoint num="9" id="3884" />
-<TGConnectingPoint num="10" id="3885" />
-<TGConnectingPoint num="11" id="3886" />
-<TGConnectingPoint num="12" id="3887" />
-<TGConnectingPoint num="13" id="3888" />
-<TGConnectingPoint num="14" id="3889" />
-<TGConnectingPoint num="15" id="3890" />
-<TGConnectingPoint num="16" id="3891" />
-<TGConnectingPoint num="17" id="3892" />
-<TGConnectingPoint num="18" id="3893" />
-<TGConnectingPoint num="19" id="3894" />
-<TGConnectingPoint num="20" id="3895" />
-<TGConnectingPoint num="21" id="3896" />
-<TGConnectingPoint num="22" id="3897" />
-<TGConnectingPoint num="23" id="3898" />
-<extraparam>
-<CryptoBlock value="true" />
-<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
-<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
-<Attribute access="0" id="Design__IMUdata__chData" value="0" type="8" typeOther="" />
-<Attribute access="0" id="IMUdata" value="0" type="8" typeOther="" />
-<Method value="Message aencrypt(Message msg, Key k)" />
-<Method value="Message adecrypt(Message msg, Key k)" />
-<Method value="Key pk(Key k)" />
-<Method value="Message sign(Message msg, Key k)" />
-<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
-<Method value="Message cert(Key k, Message msg)" />
-<Method value="bool verifyCert(Message cert, Key k)" />
-<Method value="Key getpk(Message cert)" />
-<Method value="Message sencrypt(Message msg, Key k)" />
-<Method value="Message sdecrypt(Message msg, Key k)" />
-<Method value="Message hash(Message msg)" />
-<Method value="Message MAC(Message msg, Key k)" />
-<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
-<Method value="Message concat2(Message msg1, Message msg2)" />
-<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
-<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Method value="get2(Message msg, Message msg1, Message msg2)" />
-<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
-<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
-</extraparam>
-</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="3924" >
-<father id="4024" num="1" />
-<cdparam x="92" y="515" />
-<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="560" minY="0" maxY="381" />
-<infoparam name="Block0" value="GPS" />
-<TGConnectingPoint num="0" id="3900" />
-<TGConnectingPoint num="1" id="3901" />
-<TGConnectingPoint num="2" id="3902" />
-<TGConnectingPoint num="3" id="3903" />
-<TGConnectingPoint num="4" id="3904" />
-<TGConnectingPoint num="5" id="3905" />
-<TGConnectingPoint num="6" id="3906" />
-<TGConnectingPoint num="7" id="3907" />
-<TGConnectingPoint num="8" id="3908" />
-<TGConnectingPoint num="9" id="3909" />
-<TGConnectingPoint num="10" id="3910" />
-<TGConnectingPoint num="11" id="3911" />
-<TGConnectingPoint num="12" id="3912" />
-<TGConnectingPoint num="13" id="3913" />
-<TGConnectingPoint num="14" id="3914" />
-<TGConnectingPoint num="15" id="3915" />
-<TGConnectingPoint num="16" id="3916" />
-<TGConnectingPoint num="17" id="3917" />
-<TGConnectingPoint num="18" id="3918" />
-<TGConnectingPoint num="19" id="3919" />
-<TGConnectingPoint num="20" id="3920" />
-<TGConnectingPoint num="21" id="3921" />
-<TGConnectingPoint num="22" id="3922" />
-<TGConnectingPoint num="23" id="3923" />
-<extraparam>
-<CryptoBlock value="true" />
-<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
-<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
-<Attribute access="0" id="GPSRTKdata" value="" type="8" typeOther="" />
-<Method value="Message aencrypt(Message msg, Key k)" />
-<Method value="Message adecrypt(Message msg, Key k)" />
-<Method value="Key pk(Key k)" />
-<Method value="Message sign(Message msg, Key k)" />
-<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
-<Method value="Message cert(Key k, Message msg)" />
-<Method value="bool verifyCert(Message cert, Key k)" />
-<Method value="Key getpk(Message cert)" />
-<Method value="Message sencrypt(Message msg, Key k)" />
-<Method value="Message sdecrypt(Message msg, Key k)" />
-<Method value="Message hash(Message msg)" />
-<Method value="Message MAC(Message msg, Key k)" />
-<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
-<Method value="Message concat2(Message msg1, Message msg2)" />
-<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
-<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Method value="get2(Message msg, Message msg1, Message msg2)" />
-<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
-<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
-</extraparam>
-</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="3949" >
-<father id="4024" num="2" />
-<cdparam x="351" y="300" />
-<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="560" minY="0" maxY="381" />
-<infoparam name="Block0" value="Camera" />
-<TGConnectingPoint num="0" id="3925" />
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-<TGConnectingPoint num="23" id="3948" />
-<extraparam>
-<CryptoBlock value="true" />
-<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
-<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
-<Attribute access="0" id="signal" value="0" type="8" typeOther="" />
-<Attribute access="0" id="cameraInterval" value="0" type="8" typeOther="" />
-<Attribute access="0" id="Design__CamData__chData" value="0" type="8" typeOther="" />
-<Attribute access="0" id="camData" value="" type="8" typeOther="" />
-<Method value="Message aencrypt(Message msg, Key k)" />
-<Method value="Message adecrypt(Message msg, Key k)" />
-<Method value="Key pk(Key k)" />
-<Method value="Message sign(Message msg, Key k)" />
-<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
-<Method value="Message cert(Key k, Message msg)" />
-<Method value="bool verifyCert(Message cert, Key k)" />
-<Method value="Key getpk(Message cert)" />
-<Method value="Message sencrypt(Message msg, Key k)" />
-<Method value="Message sdecrypt(Message msg, Key k)" />
-<Method value="Message hash(Message msg)" />
-<Method value="Message MAC(Message msg, Key k)" />
-<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
-<Method value="Message concat2(Message msg1, Message msg2)" />
-<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
-<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Method value="get2(Message msg, Message msg1, Message msg2)" />
-<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
-<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
-</extraparam>
-</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="3974" >
-<father id="4024" num="3" />
-<cdparam x="618" y="512" />
-<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="560" minY="0" maxY="381" />
-<infoparam name="Block0" value="FusionLidar" />
-<TGConnectingPoint num="0" id="3950" />
-<TGConnectingPoint num="1" id="3951" />
-<TGConnectingPoint num="2" id="3952" />
-<TGConnectingPoint num="3" id="3953" />
-<TGConnectingPoint num="4" id="3954" />
-<TGConnectingPoint num="5" id="3955" />
-<TGConnectingPoint num="6" id="3956" />
-<TGConnectingPoint num="7" id="3957" />
-<TGConnectingPoint num="8" id="3958" />
-<TGConnectingPoint num="9" id="3959" />
-<TGConnectingPoint num="10" id="3960" />
-<TGConnectingPoint num="11" id="3961" />
-<TGConnectingPoint num="12" id="3962" />
-<TGConnectingPoint num="13" id="3963" />
-<TGConnectingPoint num="14" id="3964" />
-<TGConnectingPoint num="15" id="3965" />
-<TGConnectingPoint num="16" id="3966" />
-<TGConnectingPoint num="17" id="3967" />
-<TGConnectingPoint num="18" id="3968" />
-<TGConnectingPoint num="19" id="3969" />
-<TGConnectingPoint num="20" id="3970" />
-<TGConnectingPoint num="21" id="3971" />
-<TGConnectingPoint num="22" id="3972" />
-<TGConnectingPoint num="23" id="3973" />
-<extraparam>
-<CryptoBlock value="true" />
-<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
-<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
-<Attribute access="0" id="signal" value="0" type="8" typeOther="" />
-<Attribute access="0" id="fusionInterval" value="0" type="8" typeOther="" />
-<Attribute access="0" id="Design__LidarData__chData" value="0" type="8" typeOther="" />
-<Attribute access="0" id="lidarData" value="" type="8" typeOther="" />
-<Method value="Message aencrypt(Message msg, Key k)" />
-<Method value="Message adecrypt(Message msg, Key k)" />
-<Method value="Key pk(Key k)" />
-<Method value="Message sign(Message msg, Key k)" />
-<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
-<Method value="Message cert(Key k, Message msg)" />
-<Method value="bool verifyCert(Message cert, Key k)" />
-<Method value="Key getpk(Message cert)" />
-<Method value="Message sencrypt(Message msg, Key k)" />
-<Method value="Message sdecrypt(Message msg, Key k)" />
-<Method value="Message hash(Message msg)" />
-<Method value="Message MAC(Message msg, Key k)" />
-<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
-<Method value="Message concat2(Message msg1, Message msg2)" />
-<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
-<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Method value="get2(Message msg, Message msg1, Message msg2)" />
-<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
-<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
-</extraparam>
-</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="3999" >
-<father id="4024" num="4" />
-<cdparam x="618" y="299" />
-<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="560" minY="0" maxY="381" />
-<infoparam name="Block0" value="Radar" />
-<TGConnectingPoint num="0" id="3975" />
-<TGConnectingPoint num="1" id="3976" />
-<TGConnectingPoint num="2" id="3977" />
-<TGConnectingPoint num="3" id="3978" />
-<TGConnectingPoint num="4" id="3979" />
-<TGConnectingPoint num="5" id="3980" />
-<TGConnectingPoint num="6" id="3981" />
-<TGConnectingPoint num="7" id="3982" />
-<TGConnectingPoint num="8" id="3983" />
-<TGConnectingPoint num="9" id="3984" />
-<TGConnectingPoint num="10" id="3985" />
-<TGConnectingPoint num="11" id="3986" />
-<TGConnectingPoint num="12" id="3987" />
-<TGConnectingPoint num="13" id="3988" />
-<TGConnectingPoint num="14" id="3989" />
-<TGConnectingPoint num="15" id="3990" />
-<TGConnectingPoint num="16" id="3991" />
-<TGConnectingPoint num="17" id="3992" />
-<TGConnectingPoint num="18" id="3993" />
-<TGConnectingPoint num="19" id="3994" />
-<TGConnectingPoint num="20" id="3995" />
-<TGConnectingPoint num="21" id="3996" />
-<TGConnectingPoint num="22" id="3997" />
-<TGConnectingPoint num="23" id="3998" />
-<extraparam>
-<CryptoBlock value="true" />
-<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
-<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
-<Attribute access="0" id="signal" value="0" type="8" typeOther="" />
-<Attribute access="0" id="radarInterval" value="0" type="8" typeOther="" />
-<Attribute access="0" id="Design__RadarData__chData" value="0" type="8" typeOther="" />
-<Attribute access="0" id="radarData" value="" type="8" typeOther="" />
-<Method value="Message aencrypt(Message msg, Key k)" />
-<Method value="Message adecrypt(Message msg, Key k)" />
-<Method value="Key pk(Key k)" />
-<Method value="Message sign(Message msg, Key k)" />
-<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
-<Method value="Message cert(Key k, Message msg)" />
-<Method value="bool verifyCert(Message cert, Key k)" />
-<Method value="Key getpk(Message cert)" />
-<Method value="Message sencrypt(Message msg, Key k)" />
-<Method value="Message sdecrypt(Message msg, Key k)" />
-<Method value="Message hash(Message msg)" />
-<Method value="Message MAC(Message msg, Key k)" />
-<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
-<Method value="Message concat2(Message msg1, Message msg2)" />
-<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
-<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Method value="get2(Message msg, Message msg1, Message msg2)" />
-<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
-<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
-</extraparam>
-</SUBCOMPONENT>
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-
-</AVATARBlockDiagramPanel>
-
-<AVATARStateMachineDiagramPanel name="Perception" minX="10" maxX="2500" minY="10" maxY="2500" >
-<CONNECTOR type="5102" id="10136" >
-<cdparam x="229" y="753" />
-<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="10137" />
-<P1  x="229" y="753" id="10119" />
-<P2  x="486" y="774" id="9480" />
-<AutomaticDrawing  data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="10138" >
-<father id="10136" num="0" />
-<cdparam x="229" y="793" />
-<sizeparam width="10" 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="2500" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="10139" />
-<TGConnectingPoint num="1" id="10140" />
-<TGConnectingPoint num="2" id="10141" />
-<TGConnectingPoint num="3" id="10142" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
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-<COMPONENT type="5106" id="10088" >
-<cdparam x="127" y="703" />
-<sizeparam width="165" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
-<infoparam name="State" value="fusionPerceptionMap" />
-<TGConnectingPoint num="0" id="10089" />
-<TGConnectingPoint num="1" id="10090" />
-<TGConnectingPoint num="2" id="10091" />
-<TGConnectingPoint num="3" id="10092" />
-<TGConnectingPoint num="4" id="10093" />
-<TGConnectingPoint num="5" id="10094" />
-<TGConnectingPoint num="6" id="10095" />
-<TGConnectingPoint num="7" id="10096" />
-<TGConnectingPoint num="8" id="10097" />
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-<TGConnectingPoint num="11" id="10100" />
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-<TGConnectingPoint num="13" id="10102" />
-<TGConnectingPoint num="14" id="10103" />
-<TGConnectingPoint num="15" id="10104" />
-<TGConnectingPoint num="16" id="10105" />
-<TGConnectingPoint num="17" id="10106" />
-<TGConnectingPoint num="18" id="10107" />
-<TGConnectingPoint num="19" id="10108" />
-<TGConnectingPoint num="20" id="10109" />
-<TGConnectingPoint num="21" id="10110" />
-<TGConnectingPoint num="22" id="10111" />
-<TGConnectingPoint num="23" id="10112" />
-<TGConnectingPoint num="24" id="10113" />
-<TGConnectingPoint num="25" id="10114" />
-<TGConnectingPoint num="26" id="10115" />
-<TGConnectingPoint num="27" id="10116" />
-<TGConnectingPoint num="28" id="10117" />
-<TGConnectingPoint num="29" id="10118" />
-<TGConnectingPoint num="30" id="10119" />
-<TGConnectingPoint num="31" id="10120" />
-<TGConnectingPoint num="32" id="10121" />
-<TGConnectingPoint num="33" id="10122" />
-<TGConnectingPoint num="34" id="10123" />
-<TGConnectingPoint num="35" id="10124" />
-<TGConnectingPoint num="36" id="10125" />
-<TGConnectingPoint num="37" id="10126" />
-<TGConnectingPoint num="38" id="10127" />
-<TGConnectingPoint num="39" id="10128" />
-<extraparam>
-</extraparam>
-</COMPONENT>
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-<CONNECTOR type="5102" id="10081" >
-<cdparam x="380" y="636" />
-<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="10082" />
-<P1  x="380" y="636" id="4640" />
-<P2  x="511" y="774" id="9481" />
-<AutomaticDrawing  data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="10083" >
-<father id="10081" num="0" />
-<cdparam x="380" y="676" />
-<sizeparam width="10" 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="2500" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="10084" />
-<TGConnectingPoint num="1" id="10085" />
-<TGConnectingPoint num="2" id="10086" />
-<TGConnectingPoint num="3" id="10087" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
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-<CONNECTOR type="5102" id="9731" >
-<cdparam x="493" y="1184" />
-<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="9732" />
-<P1  x="493" y="1184" id="4484" />
-<P2  x="498" y="1237" id="4427" />
-<AutomaticDrawing  data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="9733" >
-<father id="9731" num="0" />
-<cdparam x="493" y="1224" />
-<sizeparam width="10" 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="2500" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="9734" />
-<TGConnectingPoint num="1" id="9735" />
-<TGConnectingPoint num="2" id="9736" />
-<TGConnectingPoint num="3" id="9737" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
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-<CONNECTOR type="5102" id="9724" >
-<cdparam x="816" y="947" />
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-<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="9725" />
-<P1  x="816" y="947" id="9648" />
-<P2  x="557" y="1111" id="4487" />
-<AutomaticDrawing  data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="9726" >
-<father id="9724" num="0" />
-<cdparam x="816" y="987" />
-<sizeparam width="10" 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="2500" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="9727" />
-<TGConnectingPoint num="1" id="9728" />
-<TGConnectingPoint num="2" id="9729" />
-<TGConnectingPoint num="3" id="9730" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="9717" >
-<cdparam x="623" y="959" />
-<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="9718" />
-<P1  x="623" y="959" id="9552" />
-<P2  x="524" y="1111" id="4496" />
-<AutomaticDrawing  data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="9719" >
-<father id="9717" num="0" />
-<cdparam x="623" y="999" />
-<sizeparam width="10" 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="2500" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="9720" />
-<TGConnectingPoint num="1" id="9721" />
-<TGConnectingPoint num="2" id="9722" />
-<TGConnectingPoint num="3" id="9723" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="9710" >
-<cdparam x="411" y="951" />
-<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="9711" />
-<P1  x="411" y="951" id="9600" />
-<P2  x="460" y="1111" id="4495" />
-<AutomaticDrawing  data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="9712" >
-<father id="9710" num="0" />
-<cdparam x="411" y="991" />
-<sizeparam width="10" 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="2500" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="9713" />
-<TGConnectingPoint num="1" id="9714" />
-<TGConnectingPoint num="2" id="9715" />
-<TGConnectingPoint num="3" id="9716" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="9703" >
-<cdparam x="206" y="953" />
-<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="9704" />
-<P1  x="206" y="953" id="9511" />
-<P2  x="396" y="1111" id="4494" />
-<AutomaticDrawing  data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="9705" >
-<father id="9703" num="0" />
-<cdparam x="206" y="993" />
-<sizeparam width="10" 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="2500" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="9706" />
-<TGConnectingPoint num="1" id="9707" />
-<TGConnectingPoint num="2" id="9708" />
-<TGConnectingPoint num="3" id="9709" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="9696" >
-<cdparam x="445" y="1402" />
-<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="9697" />
-<P1  x="498" y="1447" id="4269" />
-<P2  x="498" y="1480" id="4216" />
-<AutomaticDrawing  data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="9698" >
-<father id="9696" num="0" />
-<cdparam x="445" y="1442" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
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-<AutomaticDrawing  data="true" />
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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="3" id="5348" />
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-<AutomaticDrawing  data="true" />
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-<guard value="[ command.accel &gt; maxAccel]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="command.accel=maxAccel" />
-<filesToIncludeLine value="" />
-<codeToIncludeLine value="" />
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-<hidden value="false" />
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-<infoparam name="Send signal" value="ECUin(command)" />
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-<infoparam name="State" value="filterAccel" />
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-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="Receive signal" value="commandOut(command)" />
-<TGConnectingPoint num="0" id="5616" />
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-<TGConnectingPoint num="0" id="5668" />
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-<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="5709" />
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-<infoparam name="connector" value="null" />
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-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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-<extraparam>
-<guard value="[ command.brake &gt; maxBrake]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="command.brake= maxBrake" />
-<filesToIncludeLine value="" />
-<codeToIncludeLine value="" />
-</extraparam>
-</SUBCOMPONENT>
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-<AutomaticDrawing  data="true" />
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-<infoparam name="connector" value="null" />
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-<AutomaticDrawing  data="true" />
-</CONNECTOR>
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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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-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1  x="275" y="353" id="8405" />
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-<AutomaticDrawing  data="true" />
-</CONNECTOR>
-
-</TMLActivityDiagramPanel>
-
-<TMLActivityDiagramPanel name="MABX" minX="10" maxX="2500" minY="10" maxY="1500" >
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-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="UML Note" value="Command rejected by MABX box
-" />
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-<Line value="Command rejected by MABX box" />
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-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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-<hidden value="false" />
-<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
-<infoparam name="guard 1" value="[ ]" />
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-<hidden value="false" />
-<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
-<infoparam name="guard 2" value="[ ]" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="8487" >
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-<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="1006" id="8495" >
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-<sizeparam width="91" 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="vehStatus(1)" />
-<TGConnectingPoint num="0" id="8493" />
-<TGConnectingPoint num="1" id="8494" />
-<extraparam>
-<Data channelName="vehStatus" nbOfSamples="1" secPattern="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="301" id="8512" >
-<cdparam x="132" y="525" />
-<sizeparam width="347" 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="ECUin includes wheel rotation, braking, acceleration
-" />
-<TGConnectingPoint num="0" id="8496" />
-<TGConnectingPoint num="1" id="8497" />
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-<TGConnectingPoint num="3" id="8499" />
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-<TGConnectingPoint num="14" id="8510" />
-<TGConnectingPoint num="15" id="8511" />
-<extraparam>
-<Line value="ECUin includes wheel rotation, braking, acceleration" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1001" id="8514" >
-<cdparam x="401" y="372" />
-<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="8513" />
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-
-<COMPONENT type="1012" id="8522" >
-<cdparam x="396" y="272" />
-<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" />
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-<TGConnectingPoint num="0" id="8518" />
-<TGConnectingPoint num="1" id="8519" />
-<TGConnectingPoint num="2" id="8520" />
-<TGConnectingPoint num="3" id="8521" />
-</COMPONENT>
-<SUBCOMPONENT type="-1" id="8515" >
-<father id="8522" num="0" />
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-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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-<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
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-<SUBCOMPONENT type="-1" id="8516" >
-<father id="8522" num="1" />
-<cdparam x="431" y="282" />
-<sizeparam width="14" 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" />
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-<SUBCOMPONENT type="-1" id="8517" >
-<father id="8522" num="2" />
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-<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="[ ]" />
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-
-<COMPONENT type="1001" id="8524" >
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-<sizeparam width="20" height="20" 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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-<TGConnectingPoint num="0" id="8523" />
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-
-<COMPONENT type="1006" id="8527" >
-<cdparam x="255" y="420" />
-<sizeparam width="94" 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="ECUStatus(1)" />
-<TGConnectingPoint num="0" id="8525" />
-<TGConnectingPoint num="1" id="8526" />
-<extraparam>
-<Data channelName="ECUStatus" nbOfSamples="1" secPattern="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1006" id="8530" >
-<cdparam x="270" y="343" />
-<sizeparam width="64" 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="ECUin(1)" />
-<TGConnectingPoint num="0" id="8528" />
-<TGConnectingPoint num="1" id="8529" />
-<extraparam>
-<Data channelName="ECUin" nbOfSamples="1" secPattern="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1009" id="8533" >
-<cdparam x="354" y="204" />
-<sizeparam width="115" 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="commandOut(1) " />
-<TGConnectingPoint num="0" id="8531" />
-<TGConnectingPoint num="1" id="8532" />
-<extraparam>
-<Data channelName="commandOut" nbOfSamples="1" secPattern="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1000" id="8535" >
-<cdparam x="333" y="93" />
-<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="8534" />
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-
-<CONNECTOR type="115" id="8536" >
-<cdparam x="374" y="154" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1  x="380" y="156" id="8490" />
-<P2  x="411" y="199" id="8531" />
-<AutomaticDrawing  data="true" />
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-<CONNECTOR type="115" id="8537" >
-<cdparam x="411" y="229" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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-<P1  x="411" y="229" id="8532" />
-<P2  x="411" y="262" id="8518" />
-<AutomaticDrawing  data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="8538" >
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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="340" y="113" id="8534" />
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-<AutomaticDrawing  data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="8539" >
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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="371" y="287" id="8519" />
-<P2  x="302" y="338" id="8528" />
-<AutomaticDrawing  data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="8540" >
-<cdparam x="302" y="368" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1  x="302" y="368" id="8529" />
-<P2  x="302" y="415" id="8525" />
-<AutomaticDrawing  data="true" />
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-<CONNECTOR type="115" id="8541" >
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-<AutomaticDrawing  data="true" />
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-<CONNECTOR type="115" id="8542" >
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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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-<P1  x="411" y="327" id="8521" />
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-<AutomaticDrawing  data="true" />
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-<CONNECTOR type="115" id="8543" >
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-<P1  x="300" y="156" id="8489" />
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-<AutomaticDrawing  data="true" />
-</CONNECTOR>
-
-</TMLActivityDiagramPanel>
-
-</Modeling>
-
-
-
-
-<Modeling type="TML Architecture" nameTab="Architecture" >
-<TMLArchiDiagramPanel name="DIPLODOCUS architecture and mapping Diagram" minX="10" maxX="2500" minY="10" maxY="1500" attributes="0" masterClockFrequency="200" >
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-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="IMU" value="name" />
-<TGConnectingPoint num="0" id="8553" />
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-<TGConnectingPoint num="23" id="8576" />
-<extraparam>
-<info stereotype="CPURR" nodeName="IMU" />
-<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"/>
-</extraparam>
-</COMPONENT>
-<SUBCOMPONENT type="1101" id="8552" >
-<father id="8577" num="0" />
-<cdparam x="212" y="986" />
-<sizeparam width="108" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="142" minY="0" maxY="60" />
-<infoparam name="TGComponent" value="Design::IMU" />
-<TGConnectingPoint num="0" id="8544" />
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-<extraparam>
-<info value="Design::IMU" taskName="IMU" referenceTaskName="Design" priority="0" operation="IMU" fatherComponentMECType="0" />
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-</SUBCOMPONENT>
-
-<COMPONENT type="1102" id="8602" >
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-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="EthernetV2IGPS" value="name" />
-<TGConnectingPoint num="0" id="8578" />
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-<extraparam>
-<info stereotype="BUS-RR" nodeName="EthernetV2IGPS" />
-<attributes byteDataSize="4"  arbitrationPolicy="0"  sliceTime="10000"  pipelineSize="1"  clockRatio="1"  privacy="1" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1100" id="8636" >
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-<sizeparam width="150" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="CPU0" value="name" />
-<TGConnectingPoint num="0" id="8612" />
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-</extraparam>
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-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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-<TGConnectingPoint num="22" id="8693" />
-<TGConnectingPoint num="23" id="8694" />
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-<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"/>
-</extraparam>
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-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="139" minY="0" maxY="63" />
-<infoparam name="TGComponent" value="Design::ECU" />
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-<TGConnectingPoint num="1" id="8663" />
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-<TGConnectingPoint num="7" id="8669" />
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-</extraparam>
-</SUBCOMPONENT>
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-</extraparam>
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-</extraparam>
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-</extraparam>
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-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="141" minY="0" maxY="60" />
-<infoparam name="TGComponent" value="Design::V2X" />
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-</extraparam>
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-</extraparam>
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-<hidden value="false" />
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-<extraparam>
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-</extraparam>
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-<attributes byteDataSize="4"  arbitrationPolicy="0"  sliceTime="10000"  pipelineSize="1"  clockRatio="1"  privacy="1" />
-</extraparam>
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-<hidden value="false" />
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-<extraparam>
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-<attributes byteDataSize="4"  clockRatio="1"  bufferType="0" />
-</extraparam>
-</COMPONENT>
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-<extraparam>
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-<attributes byteDataSize="4"  arbitrationPolicy="0"  sliceTime="10000"  pipelineSize="1"  clockRatio="1"  privacy="1" />
-</extraparam>
-</COMPONENT>
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-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="MemorySystem" value="name" />
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-<TGConnectingPoint num="7" id="9175" />
-<TGConnectingPoint num="8" id="9176" />
-<TGConnectingPoint num="9" id="9177" />
-<TGConnectingPoint num="10" id="9178" />
-<TGConnectingPoint num="11" id="9179" />
-<TGConnectingPoint num="12" id="9180" />
-<TGConnectingPoint num="13" id="9181" />
-<TGConnectingPoint num="14" id="9182" />
-<TGConnectingPoint num="15" id="9183" />
-<TGConnectingPoint num="16" id="9184" />
-<TGConnectingPoint num="17" id="9185" />
-<TGConnectingPoint num="18" id="9186" />
-<TGConnectingPoint num="19" id="9187" />
-<TGConnectingPoint num="20" id="9188" />
-<TGConnectingPoint num="21" id="9189" />
-<TGConnectingPoint num="22" id="9190" />
-<TGConnectingPoint num="23" id="9191" />
-<extraparam>
-<info stereotype="CPURR" nodeName="Radar" />
-<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"/>
-</extraparam>
-</COMPONENT>
-<SUBCOMPONENT type="1101" id="9167" >
-<father id="9192" num="0" />
-<cdparam x="199" y="621" />
-<sizeparam width="123" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="127" minY="0" maxY="60" />
-<infoparam name="TGComponent" value="Design::Radar" />
-<TGConnectingPoint num="0" id="9159" />
-<TGConnectingPoint num="1" id="9160" />
-<TGConnectingPoint num="2" id="9161" />
-<TGConnectingPoint num="3" id="9162" />
-<TGConnectingPoint num="4" id="9163" />
-<TGConnectingPoint num="5" id="9164" />
-<TGConnectingPoint num="6" id="9165" />
-<TGConnectingPoint num="7" id="9166" />
-<extraparam>
-<info value="Design::Radar" taskName="Radar" referenceTaskName="Design" priority="0" operation="ECU" fatherComponentMECType="0" />
-</extraparam>
-</SUBCOMPONENT>
-
-<COMPONENT type="1102" id="9217" >
-<cdparam x="166" y="872" />
-<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="EthernetCamera" value="name" />
-<TGConnectingPoint num="0" id="9193" />
-<TGConnectingPoint num="1" id="9194" />
-<TGConnectingPoint num="2" id="9195" />
-<TGConnectingPoint num="3" id="9196" />
-<TGConnectingPoint num="4" id="9197" />
-<TGConnectingPoint num="5" id="9198" />
-<TGConnectingPoint num="6" id="9199" />
-<TGConnectingPoint num="7" id="9200" />
-<TGConnectingPoint num="8" id="9201" />
-<TGConnectingPoint num="9" id="9202" />
-<TGConnectingPoint num="10" id="9203" />
-<TGConnectingPoint num="11" id="9204" />
-<TGConnectingPoint num="12" id="9205" />
-<TGConnectingPoint num="13" id="9206" />
-<TGConnectingPoint num="14" id="9207" />
-<TGConnectingPoint num="15" id="9208" />
-<TGConnectingPoint num="16" id="9209" />
-<TGConnectingPoint num="17" id="9210" />
-<TGConnectingPoint num="18" id="9211" />
-<TGConnectingPoint num="19" id="9212" />
-<TGConnectingPoint num="20" id="9213" />
-<TGConnectingPoint num="21" id="9214" />
-<TGConnectingPoint num="22" id="9215" />
-<TGConnectingPoint num="23" id="9216" />
-<extraparam>
-<info stereotype="BUS-RR" nodeName="EthernetCamera" />
-<attributes byteDataSize="4"  arbitrationPolicy="0"  sliceTime="10000"  pipelineSize="1"  clockRatio="1"  privacy="1" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1100" id="9251" >
-<cdparam x="166" y="756" />
-<sizeparam width="250" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="Camera" value="name" />
-<TGConnectingPoint num="0" id="9227" />
-<TGConnectingPoint num="1" id="9228" />
-<TGConnectingPoint num="2" id="9229" />
-<TGConnectingPoint num="3" id="9230" />
-<TGConnectingPoint num="4" id="9231" />
-<TGConnectingPoint num="5" id="9232" />
-<TGConnectingPoint num="6" id="9233" />
-<TGConnectingPoint num="7" id="9234" />
-<TGConnectingPoint num="8" id="9235" />
-<TGConnectingPoint num="9" id="9236" />
-<TGConnectingPoint num="10" id="9237" />
-<TGConnectingPoint num="11" id="9238" />
-<TGConnectingPoint num="12" id="9239" />
-<TGConnectingPoint num="13" id="9240" />
-<TGConnectingPoint num="14" id="9241" />
-<TGConnectingPoint num="15" id="9242" />
-<TGConnectingPoint num="16" id="9243" />
-<TGConnectingPoint num="17" id="9244" />
-<TGConnectingPoint num="18" id="9245" />
-<TGConnectingPoint num="19" id="9246" />
-<TGConnectingPoint num="20" id="9247" />
-<TGConnectingPoint num="21" id="9248" />
-<TGConnectingPoint num="22" id="9249" />
-<TGConnectingPoint num="23" id="9250" />
-<extraparam>
-<info stereotype="CPURR" nodeName="Camera" />
-<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"/>
-</extraparam>
-</COMPONENT>
-<SUBCOMPONENT type="1101" id="9226" >
-<father id="9251" num="0" />
-<cdparam x="207" y="806" />
-<sizeparam width="134" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="116" minY="0" maxY="60" />
-<infoparam name="TGComponent" value="Design::Camera" />
-<TGConnectingPoint num="0" id="9218" />
-<TGConnectingPoint num="1" id="9219" />
-<TGConnectingPoint num="2" id="9220" />
-<TGConnectingPoint num="3" id="9221" />
-<TGConnectingPoint num="4" id="9222" />
-<TGConnectingPoint num="5" id="9223" />
-<TGConnectingPoint num="6" id="9224" />
-<TGConnectingPoint num="7" id="9225" />
-<extraparam>
-<info value="Design::Camera" taskName="Camera" referenceTaskName="Design" priority="0" operation="ECU" fatherComponentMECType="0" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="125" id="9252" >
-<cdparam x="774" y="933" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="905" y="789" id="9076" />
-<P2  x="965" y="644" id="8582" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9253" >
-<cdparam x="840" y="602" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="840" y="596" id="8618" />
-<P2  x="840" y="619" id="8579" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9254" >
-<cdparam x="1529" y="681" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="1529" y="681" id="8679" />
-<P2  x="1503" y="656" id="8652" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9255" >
-<cdparam x="1361" y="683" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="1361" y="683" id="9041" />
-<P2  x="1378" y="656" id="8651" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9256" >
-<cdparam x="774" y="897" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="774" y="897" id="9087" />
-<P2  x="416" y="897" id="9197" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9257" >
-<cdparam x="774" y="861" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="774" y="861" id="9078" />
-<P2  x="408" y="712" id="9138" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9258" >
-<cdparam x="970" y="789" />
-<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="789" id="9084" />
-<P2  x="1152" y="406" id="8710" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9259" >
-<cdparam x="1168" y="251" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="1152" y="248" id="8938" />
-<P2  x="1152" y="356" id="8704" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9260" >
-<cdparam x="1361" y="783" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="1361" y="783" id="9047" />
-<P2  x="1361" y="872" id="8730" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9261" >
-<cdparam x="1036" y="897" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="1036" y="897" id="9088" />
-<P2  x="1174" y="897" id="8724" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9262" >
-<cdparam x="768" 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="768" y="249" id="8770" />
-<P2  x="833" y="295" id="8956" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9263" >
-<cdparam x="1504" y="190" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="1518" y="176" id="8851" />
-<P2  x="1495" y="176" id="8825" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9264" >
-<cdparam x="1202" y="217" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="1215" y="223" id="8936" />
-<P2  x="1245" y="201" id="8826" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9265" >
-<cdparam x="781" y="703" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="905" y="1043" id="8890" />
-<P2  x="905" y="1013" id="8870" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9266" >
-<cdparam x="955" y="601" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="905" y="933" id="9081" />
-<P2  x="905" y="963" id="8865" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9267" >
-<cdparam x="1017" y="406" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="896" y="377" id="8790" />
-<P2  x="896" y="345" id="8954" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9268" >
-<cdparam x="1160" y="227" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="1027" y="248" id="8937" />
-<P2  x="958" y="295" id="8957" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9269" >
-<cdparam x="836" y="299" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="774" y="825" id="9085" />
-<P2  x="409" y="513" id="8984" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9270" >
-<cdparam x="708" y="38" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="284" y="484" id="9115" />
-<P2  x="284" y="501" id="8974" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9271" >
-<cdparam x="1226" y="328" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="1236" y="783" id="9046" />
-<P2  x="1236" y="800" id="9007" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9272" >
-<cdparam x="1070" y="350" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="1036" y="825" id="9086" />
-<P2  x="1101" y="825" id="9001" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9273" >
-<cdparam x="707" y="291" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="283" y="671" id="9174" />
-<P2  x="283" y="687" id="9135" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="125" id="9274" >
-<cdparam x="712" y="407" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1  x="291" y="856" id="9233" />
-<P2  x="291" y="872" id="9194" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<info priority="0" />
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-
-</TMLArchiDiagramPanel>
-
-</Modeling>
-
-
-
-
-</TURTLEGMODELING>
\ No newline at end of file
diff --git a/src/tmltranslator/TMLModeling.java b/src/tmltranslator/TMLModeling.java
index ed834c9471..6b6615858f 100755
--- a/src/tmltranslator/TMLModeling.java
+++ b/src/tmltranslator/TMLModeling.java
@@ -68,7 +68,7 @@ public class TMLModeling {
     public HashMap<String, String> secChannelMap = new HashMap<String, String>();
     public HashMap<SecurityPattern, ArrayList<TMLTask>> securityTaskMap = new HashMap<SecurityPattern, ArrayList<TMLTask>>();
     private String[] ops = {">", "<", "+", "-", "*", "/", "[", "]", "(", ")", ":", "=", "==", ","};
-
+	private ArrayList<String> checkedActivity = new ArrayList<String>();
     private int hashCode;
     private boolean hashCodeComputed = false;
 
@@ -83,10 +83,17 @@ public class TMLModeling {
         }
     }
     public void addSec(SecurityPattern sp){
-	if (!secPatterns.contains(sp)){
-	    secPatterns.add(sp);
-	}
+		if (!secPatterns.contains(sp)){
+		    secPatterns.add(sp);
+		}
     }
+
+	public void addCheckedActivity(String s){
+		checkedActivity.add(s);
+	}
+	public ArrayList<String> getCheckedActivities(){
+		return checkedActivity;
+	}
     public SecurityPattern getSecurityPattern(String s){
 	for (SecurityPattern sp:secPatterns){
 	    if (sp.name.equals(s)){
@@ -1111,6 +1118,7 @@ public class TMLModeling {
         tasks.addAll(tmlm.getTasks());
 	secPatterns.addAll(tmlm.secPatterns);
 	securityTaskMap.putAll(tmlm.securityTaskMap);
+		checkedActivity.addAll(tmlm.getCheckedActivities());
     }
 
     // Elements with same names are not duplicated
@@ -1149,6 +1157,11 @@ public class TMLModeling {
 	    }
 	}
 	securityTaskMap.putAll(tmlm.securityTaskMap);
+	for (String s: tmlm.getCheckedActivities()){
+		if (!checkedActivity.contains(s)){
+			checkedActivity.add(s);
+		}
+	}
     }
 
 
diff --git a/src/ui/GTMLModeling.java b/src/ui/GTMLModeling.java
index c754002be8..ae11a423e6 100755
--- a/src/ui/GTMLModeling.java
+++ b/src/ui/GTMLModeling.java
@@ -1451,7 +1451,11 @@ public class GTMLModeling  {
         iterator = list.listIterator();
         while(iterator.hasNext()) {
             tgc = (TGComponent)(iterator.next());
-
+			if (tgc.getCheckLatency()){
+				String name = tmltask.getName() + ":" +  tgc.getName();
+				TraceManager.addDev("To check " + name);
+				tmlm.addCheckedActivity(name);
+			}
             if (tgc instanceof TMLADActionState) {
                 tmlaction = new TMLActionState("action", tgc);
                 tmp = ((TMLADActionState)(tgc)).getAction();
diff --git a/src/ui/GTURTLEModeling.java b/src/ui/GTURTLEModeling.java
index f0efd625f7..4685d65df9 100755
--- a/src/ui/GTURTLEModeling.java
+++ b/src/ui/GTURTLEModeling.java
@@ -1819,6 +1819,7 @@ public class GTURTLEModeling {
       return false;
       }*/
 
+
     public ArrayList<TGComponentAndUPPAALQuery> getUPPAALQueries() {
         return getUPPAALQueries(mgui.getCurrentTURTLEPanel());
     }
@@ -6864,6 +6865,7 @@ public class GTURTLEModeling {
             String pre = "", post = "";
             String internalComment = "";
             boolean accessibility = false;
+			boolean latencyCheck = false;
             boolean invariant = false;
             boolean breakpoint = false;
             boolean hidden = false;
@@ -6911,6 +6913,8 @@ public class GTURTLEModeling {
                         internalComment += elt.getAttribute("value") + "\n";
                     } else if (elt.getTagName().equals("accessibility")) {
                         accessibility = true;
+                    } else if (elt.getTagName().equals("latencyCheck")) {
+                        latencyCheck = true;
                     } else if (elt.getTagName().equals("invariant")) {
                         invariant = true;
                     } else if (elt.getTagName().equals("mastermutex")) {
@@ -7077,6 +7081,10 @@ public class GTURTLEModeling {
 
             }
 
+            if (latencyCheck) {
+                tgc.setCheckLatency(latencyCheck);
+
+            }
             if (invariant) {
                 tgc.setCheckableInvariant(invariant);
             }
diff --git a/src/ui/TDiagramPanel.java b/src/ui/TDiagramPanel.java
index 0f7dbac6f9..823205535f 100755
--- a/src/ui/TDiagramPanel.java
+++ b/src/ui/TDiagramPanel.java
@@ -126,7 +126,7 @@ public abstract class TDiagramPanel extends JPanel implements GenericTree {
     protected JPopupMenu selectedMenu;
     protected int popupX, popupY;
     protected JMenuItem remove, edit, clone, bringFront, bringBack, makeSquare, setJavaCode, removeJavaCode, setInternalComment, removeInternalComment, attach, detach, hide, unhide,search, enableDisable, setAsCryptoBlock, setAsRegularBlock;
-    protected JMenuItem checkAccessibility, checkInvariant, checkMasterMutex;
+    protected JMenuItem checkAccessibility, checkInvariant, checkMasterMutex, checkLatency;
     protected JMenuItem breakpoint;
     protected JMenuItem paste, insertLibrary, upX, upY, downX, downY;
     protected JMenuItem cut, copy, saveAsLibrary, captureSelected;
@@ -1309,6 +1309,7 @@ public abstract class TDiagramPanel extends JPanel implements GenericTree {
         componentMenu.add(removeInternalComment);
         componentMenu.add(checkAccessibility);
         componentMenu.add(checkInvariant);
+		componentMenu.add(checkLatency);
         componentMenu.add(checkMasterMutex);
         componentMenu.add(breakpoint);
 
@@ -1413,6 +1414,9 @@ public abstract class TDiagramPanel extends JPanel implements GenericTree {
         checkInvariant = new JMenuItem("Check for mutual exclusion");
         checkInvariant.addActionListener(menuAL);
 
+		checkLatency = new JMenuItem("Set latency measurement checkpoint");
+		checkLatency.addActionListener(menuAL);
+
         checkMasterMutex = new JMenuItem("Search for other states in mutual exclusion with");
         checkMasterMutex.addActionListener(menuAL);
 
@@ -1611,7 +1615,11 @@ public abstract class TDiagramPanel extends JPanel implements GenericTree {
                 componentPopup.setCheckableInvariant(!componentPopup.getCheckableInvariant());
             }
         }
-
+		if (e.getSource() == checkLatency) {
+			if (componentPopup instanceof CheckableAccessibility){
+				componentPopup.setCheckLatency(!componentPopup.getCheckLatency());
+			}
+		}
         if (e.getSource() == checkMasterMutex) {
 
             if (componentPopup instanceof CheckableInvariant) {
@@ -1843,6 +1851,13 @@ public abstract class TDiagramPanel extends JPanel implements GenericTree {
 
         }
 
+        if (componentPointed instanceof CheckableAccessibility){
+            checkLatency.setEnabled(true);
+        } else {
+            checkLatency.setEnabled(false);
+
+        }
+
         if (componentPointed instanceof CheckableInvariant){
             checkInvariant.setEnabled(true);
             checkMasterMutex.setEnabled(true);
@@ -2285,6 +2300,13 @@ public abstract class TDiagramPanel extends JPanel implements GenericTree {
         return null;
     }
 
+	public void getAllLatencyChecks(ArrayList<TGComponent> _list){
+		for (TGComponent tgc: this.componentList) {
+			if (tgc.getCheckLatency()){
+				_list.add(tgc);
+			}
+		}
+	}
     public void getAllCheckableTGComponent(ArrayList<TGComponent> _list) {
         for (TGComponent tgc: this.componentList)
             if (tgc.hasCheckableAccessibility())
diff --git a/src/ui/TGComponent.java b/src/ui/TGComponent.java
index 465abd15cc..60f2af5561 100755
--- a/src/ui/TGComponent.java
+++ b/src/ui/TGComponent.java
@@ -181,6 +181,7 @@ public abstract class TGComponent implements CDElement, GenericTree {
 
     
     protected boolean accessibility;
+	protected boolean latencyCheck;
     protected int reachability = ACCESSIBILITY_UNKNOWN;
     protected int liveness = ACCESSIBILITY_UNKNOWN;
 
@@ -404,6 +405,13 @@ public abstract class TGComponent implements CDElement, GenericTree {
 	liveness = live;
     }
 
+	public boolean getCheckLatency(){
+		return latencyCheck;
+	}
+	
+	public void setCheckLatency(boolean b) {	
+		latencyCheck=b;
+	}
 
     public LinkedList getAllCheckableInvariant() {
         LinkedList list = new LinkedList();
@@ -931,6 +939,19 @@ public abstract class TGComponent implements CDElement, GenericTree {
 
     }
     
+	public void drawLatencyCheck(Graphics g, int _x, int _y){
+		Color c= g.getColor();
+		g.setColor(Color.BLUE);
+		int[] xs = new int[]{_x-12,_x-4, _x-12};
+		int[] ys= new int[]{_y, _y+5, _y+10};
+		g.fillPolygon(xs,ys,3);
+		g.setColor(Color.BLACK);
+		g.drawLine(_x-12, _y, _x-12, _y+20);
+		g.drawLine(_x-12, _y, _x-4, _y+5);
+		g.drawLine(_x-12, _y+10, _x-4, _y+5);	
+
+	}
+
     
     public void draw(Graphics g) {
         RunningInfo ri;
@@ -1124,6 +1145,7 @@ public abstract class TGComponent implements CDElement, GenericTree {
         } else {
 	    runningStatus="";
 	    transactions.clear();
+
 	}
 
         if (tdp.AVATAR_ANIMATE_ON) {
@@ -1163,7 +1185,9 @@ public abstract class TGComponent implements CDElement, GenericTree {
             drawInvariantInformation(g);
 
         }
-
+		if (latencyCheck){
+			drawLatencyCheck(g,x,y);
+		}
     }
 
     public void drawInvariantInformation(Graphics g) {
@@ -2882,6 +2906,7 @@ public abstract class TGComponent implements CDElement, GenericTree {
         sb.append(translateJavaCode());
         sb.append(translateInternalComment());
         sb.append(translateAccessibility());
+		sb.append(translateCheckLatency());
         sb.append(translateInvariant());
         sb.append(translateMasterMutex());
         sb.append(translateBreakpoint());
@@ -2934,6 +2959,13 @@ public abstract class TGComponent implements CDElement, GenericTree {
         return new String(sb);
     }
 
+	protected String translateCheckLatency(){
+        StringBuffer sb = new StringBuffer();
+        if (latencyCheck) {
+            sb.append("<latencyCheck />\n");
+        }
+        return new String(sb);
+	}
     protected String translateInvariant() {
         StringBuffer sb = new StringBuffer();
         if (invariant) {
diff --git a/src/ui/interactivesimulation/InteractiveSimulationActions.java b/src/ui/interactivesimulation/InteractiveSimulationActions.java
index 96affc9394..e99552ffa0 100755
--- a/src/ui/interactivesimulation/InteractiveSimulationActions.java
+++ b/src/ui/interactivesimulation/InteractiveSimulationActions.java
@@ -92,6 +92,8 @@ public class InteractiveSimulationActions extends AbstractAction {
     public static final int ACT_UPDATE_BUS = 18;
     public static final int ACT_UPDATE_TASKS = 19;
     public static final int ACT_UPDATE_TRANSACTIONS = 33;
+	public static final int ACT_UPDATE_LATENCY = 34;
+	public static final int ACT_ADD_LATENCY = 35;
 
     public static final int ACT_REFRESH = 32;
 
@@ -101,7 +103,7 @@ public class InteractiveSimulationActions extends AbstractAction {
     public static final int ACT_ANALYSIS_RG = 30;
     public static final int ACT_VIEW_RG = 31;
 
-    public static final int NB_ACTION = 34;
+    public static final int NB_ACTION = 36;
 
 
     private  static final TAction [] actions = new TAction[NB_ACTION];
@@ -183,6 +185,8 @@ public class InteractiveSimulationActions extends AbstractAction {
 
         actions[ACT_ANALYSIS_RG] = new TAction("analysis-rg", "Analysis of last RG", IconManager.imgic29, IconManager.imgic29, "Analysis of last RG", "Analyzis of the lastly generated RG", '0');
         actions[ACT_VIEW_RG] = new TAction("view-rg", "View last RG", IconManager.imgic344, IconManager.imgic344, "View last RG", "View last RG with Dotty (note: Dotty must be installed and configured to do so)", '0');
+	    actions[ACT_UPDATE_LATENCY] = new TAction("update-latency", "Update latencies", IconManager.imgic75, IconManager.imgic75, "Update latencies", "Update latencies", '0');
+	    actions[ACT_ADD_LATENCY] = new TAction("add-latency", "Measure Latency", null, null, "Measure Latency", "Measure Latency", '0');
 
 
     }
diff --git a/src/ui/interactivesimulation/JFrameInteractiveSimulation.java b/src/ui/interactivesimulation/JFrameInteractiveSimulation.java
index b37ed1c15f..c3e283c02b 100755
--- a/src/ui/interactivesimulation/JFrameInteractiveSimulation.java
+++ b/src/ui/interactivesimulation/JFrameInteractiveSimulation.java
@@ -240,7 +240,16 @@ public  class JFrameInteractiveSimulation extends JFrame implements ActionListen
     JButton updateBusInformationButton;
     private JScrollPane jspBusInfo;
     private JPanel panelBus;
-
+	
+	//Latency
+	JPanel latencyPanel;
+	JComboBox transaction1;
+	JComboBox transaction2;
+	JButton addLatencyCheckButton;
+	JButton updateLatencyInformationButton;
+	LatencyTableModel latm;
+	public Vector checkedTransactions = new Vector();
+	private JScrollPane jspLatency;
 
     private int mode = 0;
     //private boolean busyStatus = false;
@@ -303,6 +312,7 @@ public  class JFrameInteractiveSimulation extends JFrame implements ActionListen
         initActions();
         makeComponents();
         setComponents();
+		
     }
 
     private JLabel createStatusBar()  {
@@ -951,7 +961,38 @@ public  class JFrameInteractiveSimulation extends JFrame implements ActionListen
         panelBus.add(printBusInfo);
         busPanel.add(panelBus, BorderLayout.SOUTH);
 
+		//Latency
+		latencyPanel = new JPanel();
+		GridBagLayout gridbag0 = new GridBagLayout();
+		GridBagConstraints c0 = new GridBagConstraints();
+		latencyPanel.setLayout(gridbag0);
+        infoTab.addTab("Latency", null, latencyPanel, "Latency Measurements");
+		transaction1 = new JComboBox(checkedTransactions);
+		transaction1.setPrototypeDisplayValue("Transaction1");
+	
+		transaction2 = new JComboBox(checkedTransactions);	
+		transaction2.setPrototypeDisplayValue("Transaction2");
+		latencyPanel.add(transaction1, c0);
+		c0.gridwidth = GridBagConstraints.RELATIVE;
+		latencyPanel.add(transaction2, c0);
+		c0.gridwidth = GridBagConstraints.REMAINDER;
+		addLatencyCheckButton = new JButton(actions[InteractiveSimulationActions.ACT_ADD_LATENCY]);
+		latencyPanel.add(addLatencyCheckButton,c0);
+        latm = new LatencyTableModel(this);
+		sorterPI = new TableSorter(latm);
+        jtablePI = new JTable(sorterPI);
+        sorterPI.setTableHeader(jtablePI.getTableHeader());
+        ((jtablePI.getColumnModel()).getColumn(0)).setPreferredWidth(100);
+        ((jtablePI.getColumnModel()).getColumn(1)).setPreferredWidth(100);
+        ((jtablePI.getColumnModel()).getColumn(2)).setPreferredWidth(50);
+        jtablePI.setAutoResizeMode(JTable.AUTO_RESIZE_OFF);
+        jspLatency = new JScrollPane(jtablePI);
+        jspLatency.setWheelScrollingEnabled(true);
+        jspLatency.getVerticalScrollBar().setUnitIncrement(10);
+        jspLatency.setPreferredSize(new Dimension(260, 300));
+        latencyPanel.add(jspLatency, c0);
 
+		
         if (!hashOK) {
             wrongHashCode();
         }
@@ -974,6 +1015,7 @@ public  class JFrameInteractiveSimulation extends JFrame implements ActionListen
         memIDs = makeMemIDs();
         taskIDs = makeTasksIDs();
         chanIDs = makeChanIDs();
+		fillCheckedTrans();
     }
 
 
@@ -2214,6 +2256,20 @@ public  class JFrameInteractiveSimulation extends JFrame implements ActionListen
         sendCommand("lt " + nb);
     }
 
+	private void addLatency(){
+		Vector latencies = new Vector();
+		SimulationLatency sl = new SimulationLatency();
+		sl.trans1 = transaction1.getSelectedItem().toString();
+		sl.trans2 = transaction2.getSelectedItem().toString();
+		sl.time="0";
+		latencies.add(sl);
+		latm.setData(latencies);
+	}
+	
+	private void updateLatency(){
+		
+	}
+
     private void updateTaskCommands() {
         if (tmap == null) {
             return;
@@ -2665,6 +2721,10 @@ public  class JFrameInteractiveSimulation extends JFrame implements ActionListen
             updateTasks();
         } else if (command.equals(actions[InteractiveSimulationActions.ACT_UPDATE_TRANSACTIONS].getActionCommand())) {
             updateTransactions();
+        } else if (command.equals(actions[InteractiveSimulationActions.ACT_ADD_LATENCY].getActionCommand())) {
+            addLatency();
+        } else if (command.equals(actions[InteractiveSimulationActions.ACT_UPDATE_LATENCY].getActionCommand())) {
+            updateLatency();
         } else if (command.equals(actions[InteractiveSimulationActions.ACT_PRINT_CPUS].getActionCommand())) {
             printCPUs();
         } else if (command.equals(actions[InteractiveSimulationActions.ACT_PRINT_BUS].getActionCommand())) {
@@ -2891,7 +2951,15 @@ public  class JFrameInteractiveSimulation extends JFrame implements ActionListen
 
         return tmap.makeVariableIDs(index);
     }
-
+	public void fillCheckedTrans(){
+		if (tmap==null){
+			return;
+		}
+		for (String s: tmap.getTMLModeling().getCheckedActivities()){
+			TraceManager.addDev(s);
+			checkedTransactions.add(s.split("__")[s.split("__").length-1]);
+		}
+	}
     public void activeBreakPoint(boolean active) {
         if (mode == STARTED_AND_CONNECTED) {
             if (active) {
-- 
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