diff --git a/MPSoC/Makefile.soclib b/MPSoC/Makefile.soclib
index 23e77faf34ad1f4812701ab0b68b9e434df2d28e..04e934715353b2c39d37989826d866245cea1406 100644
--- a/MPSoC/Makefile.soclib
+++ b/MPSoC/Makefile.soclib
@@ -1 +1 @@
-objs = main.o TestBench.o SpeedSensor.o RadarSensor.o GPSSensor.o CarPositionSimulator.o EmergencySimulator.o Communication.o DSRSC_Management.o NeighbourhoodTableManagement.o CorrectnessChecking.o PTC.o DrivingPowerReductionStrategy.o BCU.o DangerAvoidanceStrategy.o BrakeManagement.o CSCU.o ObjectListManagement.o PlausibilityCheck.o VehiculeDynamicsManagement.o
\ No newline at end of file
+objs = main.o TestBench.o EmergencySimulator.o CarPositionSimulator.o GPSSensor.o RadarSensor.o SpeedSensor.o Communication.o CorrectnessChecking.o NeighbourhoodTableManagement.o DSRSC_Management.o PTC.o DrivingPowerReductionStrategy.o BCU.o BrakeManagement.o DangerAvoidanceStrategy.o CSCU.o VehiculeDynamicsManagement.o PlausibilityCheck.o ObjectListManagement.o
\ No newline at end of file
diff --git a/MPSoC/Makefile.src b/MPSoC/Makefile.src
index f005e67c8d1e0d5e5c34cf7b6df437b6e54e8ed9..cdf12b5430fd358660700a63ec442af0a3a9b1d8 100755
--- a/MPSoC/Makefile.src
+++ b/MPSoC/Makefile.src
@@ -1 +1 @@
-SRCS = generated_src/main.c generated_src/TestBench.c generated_src/SpeedSensor.c generated_src/RadarSensor.c generated_src/GPSSensor.c generated_src/CarPositionSimulator.c generated_src/EmergencySimulator.c generated_src/Communication.c generated_src/DSRSC_Management.c generated_src/NeighbourhoodTableManagement.c generated_src/CorrectnessChecking.c generated_src/PTC.c generated_src/DrivingPowerReductionStrategy.c generated_src/BCU.c generated_src/DangerAvoidanceStrategy.c generated_src/BrakeManagement.c generated_src/CSCU.c generated_src/ObjectListManagement.c generated_src/PlausibilityCheck.c generated_src/VehiculeDynamicsManagement.c
\ No newline at end of file
+SRCS = generated_src/main.c generated_src/TestBench.c generated_src/EmergencySimulator.c generated_src/CarPositionSimulator.c generated_src/GPSSensor.c generated_src/RadarSensor.c generated_src/SpeedSensor.c generated_src/Communication.c generated_src/CorrectnessChecking.c generated_src/NeighbourhoodTableManagement.c generated_src/DSRSC_Management.c generated_src/PTC.c generated_src/DrivingPowerReductionStrategy.c generated_src/BCU.c generated_src/BrakeManagement.c generated_src/DangerAvoidanceStrategy.c generated_src/CSCU.c generated_src/VehiculeDynamicsManagement.c generated_src/PlausibilityCheck.c generated_src/ObjectListManagement.c
\ No newline at end of file
diff --git a/MPSoC/generated_src/main.c b/MPSoC/generated_src/main.c
index d57d0aa9682a4f12692cd849525016fed726e16a..6af99354af8aab10d010b868caeb7f026fd2c535 100644
--- a/MPSoC/generated_src/main.c
+++ b/MPSoC/generated_src/main.c
@@ -25,24 +25,24 @@ void __user_init() {
}
#include "TestBench.h"
-#include "SpeedSensor.h"
-#include "RadarSensor.h"
-#include "GPSSensor.h"
-#include "CarPositionSimulator.h"
#include "EmergencySimulator.h"
+#include "CarPositionSimulator.h"
+#include "GPSSensor.h"
+#include "RadarSensor.h"
+#include "SpeedSensor.h"
#include "Communication.h"
-#include "DSRSC_Management.h"
-#include "NeighbourhoodTableManagement.h"
#include "CorrectnessChecking.h"
+#include "NeighbourhoodTableManagement.h"
+#include "DSRSC_Management.h"
#include "PTC.h"
#include "DrivingPowerReductionStrategy.h"
#include "BCU.h"
-#include "DangerAvoidanceStrategy.h"
#include "BrakeManagement.h"
+#include "DangerAvoidanceStrategy.h"
#include "CSCU.h"
-#include "ObjectListManagement.h"
-#include "PlausibilityCheck.h"
#include "VehiculeDynamicsManagement.h"
+#include "PlausibilityCheck.h"
+#include "ObjectListManagement.h"
/* Main mutex */
pthread_barrier_t barrier ;
@@ -115,24 +115,24 @@ int main(int argc, char *argv[]) {
/* Threads of tasks */
pthread_t thread__TestBench;
- pthread_t thread__SpeedSensor;
- pthread_t thread__RadarSensor;
- pthread_t thread__GPSSensor;
- pthread_t thread__CarPositionSimulator;
pthread_t thread__EmergencySimulator;
+ pthread_t thread__CarPositionSimulator;
+ pthread_t thread__GPSSensor;
+ pthread_t thread__RadarSensor;
+ pthread_t thread__SpeedSensor;
pthread_t thread__Communication;
- pthread_t thread__DSRSC_Management;
- pthread_t thread__NeighbourhoodTableManagement;
pthread_t thread__CorrectnessChecking;
+ pthread_t thread__NeighbourhoodTableManagement;
+ pthread_t thread__DSRSC_Management;
pthread_t thread__PTC;
pthread_t thread__DrivingPowerReductionStrategy;
pthread_t thread__BCU;
- pthread_t thread__DangerAvoidanceStrategy;
pthread_t thread__BrakeManagement;
+ pthread_t thread__DangerAvoidanceStrategy;
pthread_t thread__CSCU;
- pthread_t thread__ObjectListManagement;
- pthread_t thread__PlausibilityCheck;
pthread_t thread__VehiculeDynamicsManagement;
+ pthread_t thread__PlausibilityCheck;
+ pthread_t thread__ObjectListManagement;
/* Activating tracing */
if (argc>1){
activeTracingInFile(argv[1]);
@@ -161,25 +161,25 @@ if (pthread_mutex_init(&__mainMutex, NULL) < 0) { exit(-1);}
debugMsg("Starting tasks");
pthread_create(&thread__TestBench, NULL, mainFunc__TestBench, (void *)channels_array_TestBench);
- struct mwmr_s *channels_array_SpeedSensor;
+ struct mwmr_s *channels_array_EmergencySimulator;
ptr =malloc(sizeof(pthread_t));
- thread__SpeedSensor= (pthread_t)ptr;
+ thread__EmergencySimulator= (pthread_t)ptr;
attr_t = malloc(sizeof(pthread_attr_t));
attr_t->cpucount = 0;
debugMsg("Starting tasks");
- pthread_create(&thread__SpeedSensor, NULL, mainFunc__SpeedSensor, (void *)channels_array_SpeedSensor);
+ pthread_create(&thread__EmergencySimulator, NULL, mainFunc__EmergencySimulator, (void *)channels_array_EmergencySimulator);
- struct mwmr_s *channels_array_RadarSensor;
+ struct mwmr_s *channels_array_CarPositionSimulator;
ptr =malloc(sizeof(pthread_t));
- thread__RadarSensor= (pthread_t)ptr;
+ thread__CarPositionSimulator= (pthread_t)ptr;
attr_t = malloc(sizeof(pthread_attr_t));
attr_t->cpucount = 0;
debugMsg("Starting tasks");
- pthread_create(&thread__RadarSensor, NULL, mainFunc__RadarSensor, (void *)channels_array_RadarSensor);
+ pthread_create(&thread__CarPositionSimulator, NULL, mainFunc__CarPositionSimulator, (void *)channels_array_CarPositionSimulator);
struct mwmr_s *channels_array_GPSSensor;
ptr =malloc(sizeof(pthread_t));
@@ -191,25 +191,25 @@ if (pthread_mutex_init(&__mainMutex, NULL) < 0) { exit(-1);}
debugMsg("Starting tasks");
pthread_create(&thread__GPSSensor, NULL, mainFunc__GPSSensor, (void *)channels_array_GPSSensor);
- struct mwmr_s *channels_array_CarPositionSimulator;
+ struct mwmr_s *channels_array_RadarSensor;
ptr =malloc(sizeof(pthread_t));
- thread__CarPositionSimulator= (pthread_t)ptr;
+ thread__RadarSensor= (pthread_t)ptr;
attr_t = malloc(sizeof(pthread_attr_t));
attr_t->cpucount = 0;
debugMsg("Starting tasks");
- pthread_create(&thread__CarPositionSimulator, NULL, mainFunc__CarPositionSimulator, (void *)channels_array_CarPositionSimulator);
+ pthread_create(&thread__RadarSensor, NULL, mainFunc__RadarSensor, (void *)channels_array_RadarSensor);
- struct mwmr_s *channels_array_EmergencySimulator;
+ struct mwmr_s *channels_array_SpeedSensor;
ptr =malloc(sizeof(pthread_t));
- thread__EmergencySimulator= (pthread_t)ptr;
+ thread__SpeedSensor= (pthread_t)ptr;
attr_t = malloc(sizeof(pthread_attr_t));
attr_t->cpucount = 0;
debugMsg("Starting tasks");
- pthread_create(&thread__EmergencySimulator, NULL, mainFunc__EmergencySimulator, (void *)channels_array_EmergencySimulator);
+ pthread_create(&thread__SpeedSensor, NULL, mainFunc__SpeedSensor, (void *)channels_array_SpeedSensor);
struct mwmr_s *channels_array_Communication;
ptr =malloc(sizeof(pthread_t));
@@ -221,15 +221,15 @@ if (pthread_mutex_init(&__mainMutex, NULL) < 0) { exit(-1);}
debugMsg("Starting tasks");
pthread_create(&thread__Communication, NULL, mainFunc__Communication, (void *)channels_array_Communication);
- struct mwmr_s *channels_array_DSRSC_Management;
+ struct mwmr_s *channels_array_CorrectnessChecking;
ptr =malloc(sizeof(pthread_t));
- thread__DSRSC_Management= (pthread_t)ptr;
+ thread__CorrectnessChecking= (pthread_t)ptr;
attr_t = malloc(sizeof(pthread_attr_t));
attr_t->cpucount = 0;
debugMsg("Starting tasks");
- pthread_create(&thread__DSRSC_Management, NULL, mainFunc__DSRSC_Management, (void *)channels_array_DSRSC_Management);
+ pthread_create(&thread__CorrectnessChecking, NULL, mainFunc__CorrectnessChecking, (void *)channels_array_CorrectnessChecking);
struct mwmr_s *channels_array_NeighbourhoodTableManagement;
ptr =malloc(sizeof(pthread_t));
@@ -241,15 +241,15 @@ if (pthread_mutex_init(&__mainMutex, NULL) < 0) { exit(-1);}
debugMsg("Starting tasks");
pthread_create(&thread__NeighbourhoodTableManagement, NULL, mainFunc__NeighbourhoodTableManagement, (void *)channels_array_NeighbourhoodTableManagement);
- struct mwmr_s *channels_array_CorrectnessChecking;
+ struct mwmr_s *channels_array_DSRSC_Management;
ptr =malloc(sizeof(pthread_t));
- thread__CorrectnessChecking= (pthread_t)ptr;
+ thread__DSRSC_Management= (pthread_t)ptr;
attr_t = malloc(sizeof(pthread_attr_t));
attr_t->cpucount = 0;
debugMsg("Starting tasks");
- pthread_create(&thread__CorrectnessChecking, NULL, mainFunc__CorrectnessChecking, (void *)channels_array_CorrectnessChecking);
+ pthread_create(&thread__DSRSC_Management, NULL, mainFunc__DSRSC_Management, (void *)channels_array_DSRSC_Management);
struct mwmr_s *channels_array_PTC;
ptr =malloc(sizeof(pthread_t));
@@ -281,25 +281,25 @@ if (pthread_mutex_init(&__mainMutex, NULL) < 0) { exit(-1);}
debugMsg("Starting tasks");
pthread_create(&thread__BCU, NULL, mainFunc__BCU, (void *)channels_array_BCU);
- struct mwmr_s *channels_array_DangerAvoidanceStrategy;
+ struct mwmr_s *channels_array_BrakeManagement;
ptr =malloc(sizeof(pthread_t));
- thread__DangerAvoidanceStrategy= (pthread_t)ptr;
+ thread__BrakeManagement= (pthread_t)ptr;
attr_t = malloc(sizeof(pthread_attr_t));
attr_t->cpucount = 0;
debugMsg("Starting tasks");
- pthread_create(&thread__DangerAvoidanceStrategy, NULL, mainFunc__DangerAvoidanceStrategy, (void *)channels_array_DangerAvoidanceStrategy);
+ pthread_create(&thread__BrakeManagement, NULL, mainFunc__BrakeManagement, (void *)channels_array_BrakeManagement);
- struct mwmr_s *channels_array_BrakeManagement;
+ struct mwmr_s *channels_array_DangerAvoidanceStrategy;
ptr =malloc(sizeof(pthread_t));
- thread__BrakeManagement= (pthread_t)ptr;
+ thread__DangerAvoidanceStrategy= (pthread_t)ptr;
attr_t = malloc(sizeof(pthread_attr_t));
attr_t->cpucount = 0;
debugMsg("Starting tasks");
- pthread_create(&thread__BrakeManagement, NULL, mainFunc__BrakeManagement, (void *)channels_array_BrakeManagement);
+ pthread_create(&thread__DangerAvoidanceStrategy, NULL, mainFunc__DangerAvoidanceStrategy, (void *)channels_array_DangerAvoidanceStrategy);
struct mwmr_s *channels_array_CSCU;
ptr =malloc(sizeof(pthread_t));
@@ -311,15 +311,15 @@ if (pthread_mutex_init(&__mainMutex, NULL) < 0) { exit(-1);}
debugMsg("Starting tasks");
pthread_create(&thread__CSCU, NULL, mainFunc__CSCU, (void *)channels_array_CSCU);
- struct mwmr_s *channels_array_ObjectListManagement;
+ struct mwmr_s *channels_array_VehiculeDynamicsManagement;
ptr =malloc(sizeof(pthread_t));
- thread__ObjectListManagement= (pthread_t)ptr;
+ thread__VehiculeDynamicsManagement= (pthread_t)ptr;
attr_t = malloc(sizeof(pthread_attr_t));
attr_t->cpucount = 0;
debugMsg("Starting tasks");
- pthread_create(&thread__ObjectListManagement, NULL, mainFunc__ObjectListManagement, (void *)channels_array_ObjectListManagement);
+ pthread_create(&thread__VehiculeDynamicsManagement, NULL, mainFunc__VehiculeDynamicsManagement, (void *)channels_array_VehiculeDynamicsManagement);
struct mwmr_s *channels_array_PlausibilityCheck;
ptr =malloc(sizeof(pthread_t));
@@ -331,38 +331,38 @@ if (pthread_mutex_init(&__mainMutex, NULL) < 0) { exit(-1);}
debugMsg("Starting tasks");
pthread_create(&thread__PlausibilityCheck, NULL, mainFunc__PlausibilityCheck, (void *)channels_array_PlausibilityCheck);
- struct mwmr_s *channels_array_VehiculeDynamicsManagement;
+ struct mwmr_s *channels_array_ObjectListManagement;
ptr =malloc(sizeof(pthread_t));
- thread__VehiculeDynamicsManagement= (pthread_t)ptr;
+ thread__ObjectListManagement= (pthread_t)ptr;
attr_t = malloc(sizeof(pthread_attr_t));
attr_t->cpucount = 0;
debugMsg("Starting tasks");
- pthread_create(&thread__VehiculeDynamicsManagement, NULL, mainFunc__VehiculeDynamicsManagement, (void *)channels_array_VehiculeDynamicsManagement);
+ pthread_create(&thread__ObjectListManagement, NULL, mainFunc__ObjectListManagement, (void *)channels_array_ObjectListManagement);
debugMsg("Joining tasks");
pthread_join(thread__TestBench, NULL);
- pthread_join(thread__SpeedSensor, NULL);
- pthread_join(thread__RadarSensor, NULL);
- pthread_join(thread__GPSSensor, NULL);
- pthread_join(thread__CarPositionSimulator, NULL);
pthread_join(thread__EmergencySimulator, NULL);
+ pthread_join(thread__CarPositionSimulator, NULL);
+ pthread_join(thread__GPSSensor, NULL);
+ pthread_join(thread__RadarSensor, NULL);
+ pthread_join(thread__SpeedSensor, NULL);
pthread_join(thread__Communication, NULL);
- pthread_join(thread__DSRSC_Management, NULL);
- pthread_join(thread__NeighbourhoodTableManagement, NULL);
pthread_join(thread__CorrectnessChecking, NULL);
+ pthread_join(thread__NeighbourhoodTableManagement, NULL);
+ pthread_join(thread__DSRSC_Management, NULL);
pthread_join(thread__PTC, NULL);
pthread_join(thread__DrivingPowerReductionStrategy, NULL);
pthread_join(thread__BCU, NULL);
- pthread_join(thread__DangerAvoidanceStrategy, NULL);
pthread_join(thread__BrakeManagement, NULL);
+ pthread_join(thread__DangerAvoidanceStrategy, NULL);
pthread_join(thread__CSCU, NULL);
- pthread_join(thread__ObjectListManagement, NULL);
- pthread_join(thread__PlausibilityCheck, NULL);
pthread_join(thread__VehiculeDynamicsManagement, NULL);
+ pthread_join(thread__PlausibilityCheck, NULL);
+ pthread_join(thread__ObjectListManagement, NULL);
debugMsg("Application terminated");
diff --git a/bin/config.xml b/bin/config.xml
index dd933931526452bbb744b5229a4ece7b33911cad..a17106a84b0a6bee5dce80ce9465b554d7a1a8c4 100755
--- a/bin/config.xml
+++ b/bin/config.xml
@@ -66,7 +66,7 @@
-<LastWindowAttributes x="1117" y="60" width="1461" height="938" max="false" />
+<LastWindowAttributes x="351" y="39" width="1461" height="938" max="false" />
<ProVerifHash data=""/>
diff --git a/modeling/DASIP2016/DASIP2016_1proc.xml b/modeling/DASIP2016/DASIP2016_1proc.xml
index cd70979787d827505bbfe7a9eaf0294c57a8e3c1..bddd0b815a8446d082556ba980a40843a5ca73b0 100644
--- a/modeling/DASIP2016/DASIP2016_1proc.xml
+++ b/modeling/DASIP2016/DASIP2016_1proc.xml
@@ -3,13 +3,13 @@
<TURTLEGMODELING version="0.98-beta4">
<Modeling type="TML Component Design" nameTab="Braking - FV" >
-<TMLComponentTaskDiagramPanel name="TML Component Task Diagram" minX="10" maxX="1912" minY="10" maxY="1412" channels="true" events="true" requests="true" zoom="1.0000000000000009" >
+<TMLComponentTaskDiagramPanel name="TML Component Task Diagram" minX="10" maxX="1915" minY="10" maxY="1415" channels="true" events="true" requests="true" zoom="1.0000000000000009" >
<CONNECTOR type="126" id="2" >
<cdparam x="472" y="108" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="460" y="109" id="29" />
-<P2 x="195" y="81" id="219" />
+<P1 x="460" y="109" id="23" />
+<P2 x="195" y="81" id="215" />
<Point x="460" y="95" />
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="1" >
@@ -26,15 +26,15 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
<P1 x="195" y="174" id="217" />
-<P2 x="355" y="174" id="31" />
+<P2 x="355" y="174" id="21" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="5" >
<cdparam x="1018" y="479" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="1018" y="479" id="204" />
-<P2 x="525" y="154" id="27" />
+<P1 x="1018" y="479" id="196" />
+<P2 x="525" y="154" id="25" />
<Point x="1018" y="168" />
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="4" >
@@ -50,15 +50,15 @@
<cdparam x="221" y="113" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="195" y="125" id="215" />
-<P2 x="355" y="125" id="25" />
+<P1 x="195" y="125" id="219" />
+<P2 x="355" y="125" id="27" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="7" >
<cdparam x="1309" y="685" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="1360" y="664" id="53" />
+<P1 x="1360" y="664" id="55" />
<P2 x="1415" y="739" id="42" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -66,15 +66,15 @@
<cdparam x="1183" y="534" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="1138" y="555" id="196" />
-<P2 x="1241" y="625" id="55" />
+<P1 x="1138" y="555" id="204" />
+<P2 x="1241" y="625" id="53" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="9" >
<cdparam x="1555" y="370" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="1353" y="380" id="183" />
+<P1 x="1353" y="380" id="185" />
<P2 x="1449" y="380" id="66" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -83,23 +83,23 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
<P1 x="1080" y="479" id="200" />
-<P2 x="1160" y="382" id="185" />
+<P2 x="1160" y="382" id="183" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="11" >
<cdparam x="843" y="483" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="828" y="457" id="129" />
-<P2 x="977" y="518" id="202" />
+<P1 x="828" y="457" id="133" />
+<P2 x="977" y="518" id="198" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="12" >
<cdparam x="686" y="624" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="692" y="584" id="159" />
-<P2 x="692" y="487" id="127" />
+<P1 x="692" y="584" id="161" />
+<P2 x="692" y="487" id="135" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="13" >
@@ -107,15 +107,15 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
<P1 x="695" y="707" id="172" />
-<P2 x="695" y="646" id="161" />
+<P2 x="695" y="646" id="159" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="14" >
<cdparam x="247" y="495" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="375" y="208" id="23" />
-<P2 x="301" y="454" id="88" />
+<P1 x="375" y="208" id="29" />
+<P2 x="301" y="454" id="92" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="15" >
@@ -130,15 +130,15 @@
<cdparam x="247" y="467" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="480" y="208" id="21" />
-<P2 x="521" y="291" id="103" />
+<P1 x="480" y="208" id="31" />
+<P2 x="521" y="291" id="105" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="17" >
<cdparam x="555" y="415" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="548" y="495" id="92" />
+<P1 x="548" y="495" id="88" />
<P2 x="605" y="479" id="131" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -146,16 +146,16 @@
<cdparam x="531" y="310" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="569" y="351" id="105" />
-<P2 x="605" y="444" id="133" />
+<P1 x="569" y="351" id="103" />
+<P2 x="605" y="444" id="129" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="19" >
<cdparam x="708" y="372" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="708" y="359" id="146" />
-<P2 x="708" y="421" id="135" />
+<P1 x="708" y="359" id="148" />
+<P2 x="708" y="421" id="127" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="20" >
@@ -163,14 +163,14 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
<P1 x="706" y="116" id="116" />
-<P2 x="706" y="302" id="148" />
+<P2 x="706" y="302" id="146" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1202" id="41" >
<cdparam x="355" y="122" />
<sizeparam width="170" height="99" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Primitive component" value="DSRCManagement" />
<TGConnectingPoint num="0" id="33" />
<TGConnectingPoint num="1" id="34" />
@@ -187,14 +187,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="22" >
<father id="41" num="0" />
-<cdparam x="467" y="208" />
+<cdparam x="342" y="174" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event emergencyBrake" />
+<infoparam name="Primitive port" value="Channel neighbourhoodData" />
<TGConnectingPoint num="0" id="21" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="neighbourhoodData" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -204,14 +204,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="24" >
<father id="41" num="1" />
-<cdparam x="362" y="208" />
+<cdparam x="447" y="109" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
+<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
<TGConnectingPoint num="0" id="23" />
<extraparam>
-<Prop commName="neighbourhoodInfo" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -221,14 +221,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="26" >
<father id="41" num="2" />
-<cdparam x="342" y="125" />
+<cdparam x="512" y="154" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
+<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
<TGConnectingPoint num="0" id="25" />
<extraparam>
-<Prop commName="DSRCEmergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="sendEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -238,14 +238,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="28" >
<father id="41" num="3" />
-<cdparam x="512" y="154" />
+<cdparam x="342" y="125" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
+<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
<TGConnectingPoint num="0" id="27" />
<extraparam>
-<Prop commName="sendEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="DSRCEmergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -255,14 +255,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="30" >
<father id="41" num="4" />
-<cdparam x="447" y="109" />
+<cdparam x="362" y="208" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
+<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
<TGConnectingPoint num="0" id="29" />
<extraparam>
-<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="neighbourhoodInfo" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -272,14 +272,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="32" >
<father id="41" num="5" />
-<cdparam x="342" y="174" />
+<cdparam x="467" y="208" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Channel neighbourhoodData" />
+<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="31" />
<extraparam>
-<Prop commName="neighbourhoodData" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -292,7 +292,7 @@
<cdparam x="1353" y="752" />
<sizeparam width="233" height="60" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Primitive component" value="doReduceDrivingPower" />
<TGConnectingPoint num="0" id="44" />
<TGConnectingPoint num="1" id="45" />
@@ -327,7 +327,7 @@
<cdparam x="1241" y="613" />
<sizeparam width="245" height="64" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Primitive component" value="DrivingPowerReductionstrategy" />
<TGConnectingPoint num="0" id="57" />
<TGConnectingPoint num="1" id="58" />
@@ -342,14 +342,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="54" >
<father id="65" num="0" />
-<cdparam x="1347" y="664" />
+<cdparam x="1228" y="625" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="232" minY="-13" maxY="51" />
-<infoparam name="Primitive port" value="Event commandDP" />
+<infoparam name="Primitive port" value="Event drivingPowerReduction" />
<TGConnectingPoint num="0" id="53" />
<extraparam>
-<Prop commName="commandDP" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="drivingPowerReduction" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -359,14 +359,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="56" >
<father id="65" num="1" />
-<cdparam x="1228" y="625" />
+<cdparam x="1347" y="664" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="232" minY="-13" maxY="51" />
-<infoparam name="Primitive port" value="Event drivingPowerReduction" />
+<infoparam name="Primitive port" value="Event commandDP" />
<TGConnectingPoint num="0" id="55" />
<extraparam>
-<Prop commName="drivingPowerReduction" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="commandDP" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -379,7 +379,7 @@
<cdparam x="1449" y="354" />
<sizeparam width="141" height="67" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Primitive component" value="DoBrake" />
<TGConnectingPoint num="0" id="68" />
<TGConnectingPoint num="1" id="69" />
@@ -414,7 +414,7 @@
<cdparam x="188" y="618" />
<sizeparam width="146" height="50" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Primitive component" value="GPSReception" />
<TGConnectingPoint num="0" id="79" />
<TGConnectingPoint num="1" id="80" />
@@ -449,7 +449,7 @@
<cdparam x="273" y="467" />
<sizeparam width="275" height="62" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Primitive component" value="NeighbourhoodTableManagement" />
<TGConnectingPoint num="0" id="94" />
<TGConnectingPoint num="1" id="95" />
@@ -464,14 +464,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="89" >
<father id="102" num="0" />
-<cdparam x="288" y="454" />
+<cdparam x="535" y="495" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="262" minY="-13" maxY="49" />
-<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
+<infoparam name="Primitive port" value="Channel neigbourhoodTable" />
<TGConnectingPoint num="0" id="88" />
<extraparam>
-<Prop commName="neighbourhoodInfo" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="neigbourhoodTable" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -498,14 +498,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="93" >
<father id="102" num="2" />
-<cdparam x="535" y="495" />
+<cdparam x="288" y="454" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="262" minY="-13" maxY="49" />
-<infoparam name="Primitive port" value="Channel neigbourhoodTable" />
+<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
<TGConnectingPoint num="0" id="92" />
<extraparam>
-<Prop commName="neigbourhoodTable" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="neighbourhoodInfo" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -518,7 +518,7 @@
<cdparam x="402" y="304" />
<sizeparam width="176" height="60" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Primitive component" value="CorrectnessChecking" />
<TGConnectingPoint num="0" id="107" />
<TGConnectingPoint num="1" id="108" />
@@ -533,14 +533,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="104" >
<father id="115" num="0" />
-<cdparam x="508" y="291" />
+<cdparam x="556" y="351" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="163" minY="-13" maxY="47" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="103" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -550,14 +550,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="106" >
<father id="115" num="1" />
-<cdparam x="556" y="351" />
+<cdparam x="508" y="291" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="163" minY="-13" maxY="47" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="105" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -570,7 +570,7 @@
<cdparam x="600" y="68" />
<sizeparam width="239" height="61" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Primitive component" value="GetEnvironmentInformation" />
<TGConnectingPoint num="0" id="118" />
<TGConnectingPoint num="1" id="119" />
@@ -605,7 +605,7 @@
<cdparam x="605" y="434" />
<sizeparam width="223" height="66" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Primitive component" value="PlausibilityCheck" />
<TGConnectingPoint num="0" id="137" />
<TGConnectingPoint num="1" id="138" />
@@ -620,14 +620,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="128" >
<father id="145" num="0" />
-<cdparam x="679" y="487" />
+<cdparam x="695" y="421" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
-<infoparam name="Primitive port" value="Channel vehicleDynamics" />
+<infoparam name="Primitive port" value="Channel objList01" />
<TGConnectingPoint num="0" id="127" />
<extraparam>
-<Prop commName="vehicleDynamics" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="objList01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -637,14 +637,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="130" >
<father id="145" num="1" />
-<cdparam x="815" y="457" />
+<cdparam x="592" y="444" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="129" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -671,14 +671,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="134" >
<father id="145" num="3" />
-<cdparam x="592" y="444" />
+<cdparam x="815" y="457" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="133" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -688,14 +688,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="136" >
<father id="145" num="4" />
-<cdparam x="695" y="421" />
+<cdparam x="679" y="487" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
-<infoparam name="Primitive port" value="Channel objList01" />
+<infoparam name="Primitive port" value="Channel vehicleDynamics" />
<TGConnectingPoint num="0" id="135" />
<extraparam>
-<Prop commName="objList01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="vehicleDynamics" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -708,7 +708,7 @@
<cdparam x="605" y="315" />
<sizeparam width="227" height="57" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Primitive component" value="ObjectListManagement" />
<TGConnectingPoint num="0" id="150" />
<TGConnectingPoint num="1" id="151" />
@@ -723,14 +723,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="147" >
<father id="158" num="0" />
-<cdparam x="695" y="359" />
+<cdparam x="693" y="302" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="214" minY="-13" maxY="44" />
-<infoparam name="Primitive port" value="Channel objList01" />
+<infoparam name="Primitive port" value="Channel rawData01" />
<TGConnectingPoint num="0" id="146" />
<extraparam>
-<Prop commName="objList01" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="rawData01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -740,14 +740,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="149" >
<father id="158" num="1" />
-<cdparam x="693" y="302" />
+<cdparam x="695" y="359" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="214" minY="-13" maxY="44" />
-<infoparam name="Primitive port" value="Channel rawData01" />
+<infoparam name="Primitive port" value="Channel objList01" />
<TGConnectingPoint num="0" id="148" />
<extraparam>
-<Prop commName="rawData01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="objList01" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -760,7 +760,7 @@
<cdparam x="615" y="597" />
<sizeparam width="242" height="62" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Primitive component" value="VehicleDynamicsManagement" />
<TGConnectingPoint num="0" id="163" />
<TGConnectingPoint num="1" id="164" />
@@ -775,14 +775,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="160" >
<father id="171" num="0" />
-<cdparam x="679" y="584" />
+<cdparam x="682" y="646" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="229" minY="-13" maxY="49" />
-<infoparam name="Primitive port" value="Channel vehicleDynamics" />
+<infoparam name="Primitive port" value="Channel rawData02" />
<TGConnectingPoint num="0" id="159" />
<extraparam>
-<Prop commName="vehicleDynamics" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="rawData02" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -792,14 +792,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="162" >
<father id="171" num="1" />
-<cdparam x="682" y="646" />
+<cdparam x="679" y="584" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="229" minY="-13" maxY="49" />
-<infoparam name="Primitive port" value="Channel rawData02" />
+<infoparam name="Primitive port" value="Channel vehicleDynamics" />
<TGConnectingPoint num="0" id="161" />
<extraparam>
-<Prop commName="rawData02" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="vehicleDynamics" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -812,7 +812,7 @@
<cdparam x="613" y="720" />
<sizeparam width="215" height="61" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Primitive component" value="GetVehicleDynamics" />
<TGConnectingPoint num="0" id="174" />
<TGConnectingPoint num="1" id="175" />
@@ -847,7 +847,7 @@
<cdparam x="1160" y="366" />
<sizeparam width="193" height="60" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Primitive component" value="BrakeManagement" />
<TGConnectingPoint num="0" id="187" />
<TGConnectingPoint num="1" id="188" />
@@ -862,14 +862,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="184" >
<father id="195" num="0" />
-<cdparam x="1340" y="380" />
+<cdparam x="1147" y="382" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="180" minY="-13" maxY="47" />
-<infoparam name="Primitive port" value="Event brake" />
+<infoparam name="Primitive port" value="Event brakeCommand" />
<TGConnectingPoint num="0" id="183" />
<extraparam>
-<Prop commName="brake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="brakeCommand" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -879,14 +879,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="186" >
<father id="195" num="1" />
-<cdparam x="1147" y="382" />
+<cdparam x="1340" y="380" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="180" minY="-13" maxY="47" />
-<infoparam name="Primitive port" value="Event brakeCommand" />
+<infoparam name="Primitive port" value="Event brake" />
<TGConnectingPoint num="0" id="185" />
<extraparam>
-<Prop commName="brakeCommand" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="brake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -899,7 +899,7 @@
<cdparam x="977" y="492" />
<sizeparam width="200" height="76" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Primitive component" value="DangerAvoidanceStrategy" />
<TGConnectingPoint num="0" id="206" />
<TGConnectingPoint num="1" id="207" />
@@ -914,14 +914,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="197" >
<father id="214" num="0" />
-<cdparam x="1125" y="555" />
+<cdparam x="1005" y="479" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="63" />
-<infoparam name="Primitive port" value="Event drivingPowerReduction" />
+<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
<TGConnectingPoint num="0" id="196" />
<extraparam>
-<Prop commName="drivingPowerReduction" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="sendEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -931,14 +931,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="199" >
<father id="214" num="1" />
-<cdparam x="1164" y="519" />
+<cdparam x="964" y="518" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="63" />
-<infoparam name="Primitive port" value="Event infoEmergencyBraking" />
+<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="198" />
<extraparam>
-<Prop commName="infoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -965,14 +965,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="203" >
<father id="214" num="3" />
-<cdparam x="964" y="518" />
+<cdparam x="1164" y="519" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="63" />
-<infoparam name="Primitive port" value="Event emergencyBrake" />
+<infoparam name="Primitive port" value="Event infoEmergencyBraking" />
<TGConnectingPoint num="0" id="202" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="infoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -982,14 +982,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="205" >
<father id="214" num="4" />
-<cdparam x="1005" y="479" />
+<cdparam x="1125" y="555" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="63" />
-<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
+<infoparam name="Primitive port" value="Event drivingPowerReduction" />
<TGConnectingPoint num="0" id="204" />
<extraparam>
-<Prop commName="sendEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="drivingPowerReduction" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -1002,7 +1002,7 @@
<cdparam x="37" y="72" />
<sizeparam width="158" height="149" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Primitive component" value="DSRCRxTx" />
<TGConnectingPoint num="0" id="221" />
<TGConnectingPoint num="1" id="222" />
@@ -1017,14 +1017,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="216" >
<father id="229" num="0" />
-<cdparam x="182" y="125" />
+<cdparam x="182" y="81" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="145" minY="-13" maxY="136" />
-<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
+<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
<TGConnectingPoint num="0" id="215" />
<extraparam>
-<Prop commName="DSRCEmergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -1051,14 +1051,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="220" >
<father id="229" num="2" />
-<cdparam x="182" y="81" />
+<cdparam x="182" y="125" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="145" minY="-13" maxY="136" />
-<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
+<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
<TGConnectingPoint num="0" id="219" />
<extraparam>
-<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="DSRCEmergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -1071,7 +1071,7 @@
<cdparam x="30" y="44" />
<sizeparam width="498" height="184" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="1412" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="1415" />
<infoparam name="Composite component" value="DSRCTask" />
<TGConnectingPoint num="0" id="230" />
<TGConnectingPoint num="1" id="231" />
@@ -1419,11 +1419,11 @@
</COMPONENT>
<SUBCOMPONENT type="1101" id="336" >
<father id="370" num="0" />
-<cdparam x="1463" y="1073" />
-<sizeparam width="231" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1416" y="1017" />
+<sizeparam width="278" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="31" minY="0" maxY="122" />
-<infoparam name="TGComponent" value="Braking - FV::BrakeManagement" />
+<cdrectangleparam minX="0" maxX="-16" minY="0" maxY="122" />
+<infoparam name="TGComponent" value="Braking - FV::DangerAvoidanceStrategy" />
<TGConnectingPoint num="0" id="328" />
<TGConnectingPoint num="1" id="329" />
<TGConnectingPoint num="2" id="330" />
@@ -1433,16 +1433,16 @@
<TGConnectingPoint num="6" id="334" />
<TGConnectingPoint num="7" id="335" />
<extraparam>
-<info value="Braking - FV::BrakeManagement" taskName="BrakeManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::DangerAvoidanceStrategy" taskName="DangerAvoidanceStrategy" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="345" >
<father id="370" num="1" />
-<cdparam x="1416" y="1017" />
-<sizeparam width="278" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1463" y="1073" />
+<sizeparam width="231" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-16" minY="0" maxY="122" />
-<infoparam name="TGComponent" value="Braking - FV::DangerAvoidanceStrategy" />
+<cdrectangleparam minX="0" maxX="31" minY="0" maxY="122" />
+<infoparam name="TGComponent" value="Braking - FV::BrakeManagement" />
<TGConnectingPoint num="0" id="337" />
<TGConnectingPoint num="1" id="338" />
<TGConnectingPoint num="2" id="339" />
@@ -1452,7 +1452,7 @@
<TGConnectingPoint num="6" id="343" />
<TGConnectingPoint num="7" id="344" />
<extraparam>
-<info value="Braking - FV::DangerAvoidanceStrategy" taskName="DangerAvoidanceStrategy" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::BrakeManagement" taskName="BrakeManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
@@ -1711,11 +1711,11 @@
</COMPONENT>
<SUBCOMPONENT type="1101" id="522" >
<father id="565" num="0" />
-<cdparam x="670" y="1047" />
-<sizeparam width="298" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="711" y="927" />
+<sizeparam width="257" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-21" minY="0" maxY="171" />
-<infoparam name="TGComponent" value="Braking - FV::VehicleDynamicsManagement" />
+<cdrectangleparam minX="0" maxX="20" minY="0" maxY="171" />
+<infoparam name="TGComponent" value="Braking - FV::ObjectListManagement" />
<TGConnectingPoint num="0" id="514" />
<TGConnectingPoint num="1" id="515" />
<TGConnectingPoint num="2" id="516" />
@@ -1725,7 +1725,7 @@
<TGConnectingPoint num="6" id="520" />
<TGConnectingPoint num="7" id="521" />
<extraparam>
-<info value="Braking - FV::VehicleDynamicsManagement" taskName="VehicleDynamicsManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::ObjectListManagement" taskName="ObjectListManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="531" >
@@ -1749,11 +1749,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="540" >
<father id="565" num="2" />
-<cdparam x="711" y="927" />
-<sizeparam width="257" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="670" y="1047" />
+<sizeparam width="298" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="20" minY="0" maxY="171" />
-<infoparam name="TGComponent" value="Braking - FV::ObjectListManagement" />
+<cdrectangleparam minX="0" maxX="-21" minY="0" maxY="171" />
+<infoparam name="TGComponent" value="Braking - FV::VehicleDynamicsManagement" />
<TGConnectingPoint num="0" id="532" />
<TGConnectingPoint num="1" id="533" />
<TGConnectingPoint num="2" id="534" />
@@ -1763,7 +1763,7 @@
<TGConnectingPoint num="6" id="538" />
<TGConnectingPoint num="7" id="539" />
<extraparam>
-<info value="Braking - FV::ObjectListManagement" taskName="ObjectListManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::VehicleDynamicsManagement" taskName="VehicleDynamicsManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
@@ -2528,11 +2528,11 @@
</COMPONENT>
<SUBCOMPONENT type="1101" id="1060" >
<father id="1103" num="0" />
-<cdparam x="179" y="230" />
-<sizeparam width="323" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="204" y="285" />
+<sizeparam width="230" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-17" minY="0" maxY="165" />
-<infoparam name="TGComponent" value="Braking - FV::NeighbourhoodTableManagement" />
+<cdrectangleparam minX="0" maxX="76" minY="0" maxY="165" />
+<infoparam name="TGComponent" value="Braking - FV::DSRCManagement" />
<TGConnectingPoint num="0" id="1052" />
<TGConnectingPoint num="1" id="1053" />
<TGConnectingPoint num="2" id="1054" />
@@ -2542,7 +2542,7 @@
<TGConnectingPoint num="6" id="1058" />
<TGConnectingPoint num="7" id="1059" />
<extraparam>
-<info value="Braking - FV::NeighbourhoodTableManagement" taskName="NeighbourhoodTableManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::DSRCManagement" taskName="DSRCManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="1069" >
@@ -2566,11 +2566,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="1078" >
<father id="1103" num="2" />
-<cdparam x="204" y="285" />
-<sizeparam width="230" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="179" y="230" />
+<sizeparam width="323" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="76" minY="0" maxY="165" />
-<infoparam name="TGComponent" value="Braking - FV::DSRCManagement" />
+<cdrectangleparam minX="0" maxX="-17" minY="0" maxY="165" />
+<infoparam name="TGComponent" value="Braking - FV::NeighbourhoodTableManagement" />
<TGConnectingPoint num="0" id="1070" />
<TGConnectingPoint num="1" id="1071" />
<TGConnectingPoint num="2" id="1072" />
@@ -2580,7 +2580,7 @@
<TGConnectingPoint num="6" id="1076" />
<TGConnectingPoint num="7" id="1077" />
<extraparam>
-<info value="Braking - FV::DSRCManagement" taskName="DSRCManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::NeighbourhoodTableManagement" taskName="NeighbourhoodTableManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
@@ -2890,12 +2890,12 @@
<Modeling type="Requirement" nameTab="General Requirements" >
-<TRequirementDiagramPanel name="AvailabilityRequirements" minX="10" maxX="1912" minY="10" maxY="912" zoom="1.0000000000000002" >
+<TRequirementDiagramPanel name="AvailabilityRequirements" minX="10" maxX="1915" minY="10" maxY="915" zoom="1.0000000000000002" >
<COMPONENT type="900" id="1162" >
<cdparam x="470" y="532" />
<sizeparam width="333" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="317" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="912" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="915" />
<infoparam name="Requirement" value="EnsureHighestAvalabilityForHighestPriorityFunctions" />
<TGConnectingPoint num="0" id="1131" />
<TGConnectingPoint num="1" id="1132" />
@@ -2946,7 +2946,7 @@
<cdparam x="196" y="535" />
<sizeparam width="213" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="196" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="912" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="915" />
<infoparam name="Requirement" value="EnsureAvailabilityRadioMedium" />
<TGConnectingPoint num="0" id="1163" />
<TGConnectingPoint num="1" id="1164" />
@@ -2997,7 +2997,7 @@
<cdparam x="764" y="331" />
<sizeparam width="310" height="102" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="288" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="912" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="915" />
<infoparam name="Requirement" value="EnsureExternalCommunicationDeviceAvailability" />
<TGConnectingPoint num="0" id="1195" />
<TGConnectingPoint num="1" id="1196" />
@@ -3047,7 +3047,7 @@
<cdparam x="527" y="329" />
<sizeparam width="181" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="144" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="912" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="915" />
<infoparam name="Requirement" value="EnsureRAMAvailability" />
<TGConnectingPoint num="0" id="1227" />
<TGConnectingPoint num="1" id="1228" />
@@ -3098,7 +3098,7 @@
<cdparam x="303" y="331" />
<sizeparam width="181" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="145" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="912" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="915" />
<infoparam name="Requirement" value="EnsureCPUAvailability" />
<TGConnectingPoint num="0" id="1259" />
<TGConnectingPoint num="1" id="1260" />
@@ -3149,7 +3149,7 @@
<cdparam x="72" y="334" />
<sizeparam width="181" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="141" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="912" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="915" />
<infoparam name="Requirement" value="EnsureBusAvailability" />
<TGConnectingPoint num="0" id="1291" />
<TGConnectingPoint num="1" id="1292" />
@@ -3200,7 +3200,7 @@
<cdparam x="467" y="123" />
<sizeparam width="181" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="164" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1912" minY="10" maxY="912" />
+<cdrectangleparam minX="10" maxX="1915" minY="10" maxY="915" />
<infoparam name="Requirement" value="EnsureAvailabilityOfECUs" />
<TGConnectingPoint num="0" id="1323" />
<TGConnectingPoint num="1" id="1324" />
@@ -5769,8 +5769,8 @@
<TGConnectingPoint num="0" id="2673" />
<TGConnectingPoint num="1" id="2674" />
<TGConnectingPoint num="2" id="2675" />
-<P1 x="168" y="553" id="2883" />
-<P2 x="465" y="1085" id="3037" />
+<P1 x="168" y="553" id="2933" />
+<P2 x="465" y="1085" id="3062" />
<Point x="367" y="632" />
<Point x="367" y="915" />
<AutomaticDrawing data="true" />
@@ -5815,7 +5815,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2679" />
-<P1 x="465" y="1210" id="3039" />
+<P1 x="465" y="1210" id="3064" />
<P2 x="362" y="1208" id="2990" />
<AutomaticDrawing data="true" />
<extraparam>
@@ -5829,8 +5829,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2681" />
-<P1 x="777" y="1148" id="3031" />
-<P2 x="825" y="1148" id="3055" />
+<P1 x="777" y="1148" id="3056" />
+<P2 x="825" y="1148" id="3030" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in brake(int value)" />
@@ -5843,7 +5843,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2683" />
-<P1 x="621" y="1023" id="3028" />
+<P1 x="621" y="1023" id="3053" />
<P2 x="527" y="862" id="3133" />
<AutomaticDrawing data="true" />
<extraparam>
@@ -5860,7 +5860,7 @@
<TGConnectingPoint num="1" id="2688" />
<TGConnectingPoint num="2" id="2689" />
<P1 x="587" y="862" id="3142" />
-<P2 x="973" y="855" id="3166" />
+<P2 x="973" y="855" id="3116" />
<Point x="587" y="895" />
<Point x="971" y="895" />
<AutomaticDrawing data="true" />
@@ -5891,8 +5891,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2691" />
-<P1 x="1057" y="276" id="2733" />
-<P2 x="973" y="707" id="3160" />
+<P1 x="1057" y="276" id="2833" />
+<P2 x="973" y="707" id="3110" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in updateOnSpeed(int speed)" />
@@ -5906,7 +5906,7 @@
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2693" />
<P1 x="648" y="820" id="3140" />
-<P2 x="670" y="821" id="3114" />
+<P2 x="670" y="821" id="3164" />
<AutomaticDrawing data="true" />
<extraparam>
<iso value="in getInfoOnObstacle(int obstacle)" />
@@ -5919,8 +5919,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2695" />
-<P1 x="883" y="276" id="2767" />
-<P2 x="835" y="704" id="3111" />
+<P1 x="883" y="276" id="2817" />
+<P2 x="835" y="704" id="3161" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in isObstacleAhead(int info)" />
@@ -5933,7 +5933,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2697" />
-<P1 x="749" y="555" id="2942" />
+<P1 x="749" y="555" id="2892" />
<P2 x="527" y="695" id="3128" />
<AutomaticDrawing data="true" />
<extraparam>
@@ -5947,8 +5947,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2699" />
-<P1 x="297" y="553" id="2884" />
-<P2 x="596" y="555" id="2932" />
+<P1 x="297" y="553" id="2934" />
+<P2 x="596" y="555" id="2882" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in getEmergencyBrakingMessage(int id, int position)" />
@@ -5961,7 +5961,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2701" />
-<P1 x="297" y="460" id="2881" />
+<P1 x="297" y="460" id="2931" />
<P2 x="329" y="464" id="2905" />
<AutomaticDrawing data="true" />
<extraparam>
@@ -5975,8 +5975,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2703" />
-<P1 x="128" y="282" id="2808" />
-<P2 x="168" y="368" id="2878" />
+<P1 x="128" y="282" id="2758" />
+<P2 x="168" y="368" id="2928" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in carPosition(int id, int position)" />
@@ -5989,8 +5989,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2705" />
-<P1 x="284" y="282" id="2841" />
-<P2 x="232" y="368" id="2886" />
+<P1 x="284" y="282" id="2741" />
+<P2 x="232" y="368" id="2936" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in obstacleDetected(int id, int position)" />
@@ -6097,11 +6097,11 @@
</COMPONENT>
<SUBCOMPONENT type="5000" id="2751" >
<father id="2876" num="0" />
-<cdparam x="959" y="98" />
-<sizeparam width="196" height="178" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="237" y="98" />
+<sizeparam width="190" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="950" minY="0" maxY="72" />
-<infoparam name="Block0" value="SpeedSensor" />
+<cdrectangleparam minX="0" maxX="956" minY="0" maxY="66" />
+<infoparam name="Block0" value="EmergencySimulator" />
<TGConnectingPoint num="0" id="2727" />
<TGConnectingPoint num="1" id="2728" />
<TGConnectingPoint num="2" id="2729" />
@@ -6128,20 +6128,21 @@
<TGConnectingPoint num="23" id="2750" />
<extraparam>
<CryptoBlock value="false" />
-<Attribute access="0" id="minSpeedUpdate" value="150" type="8" typeOther="" />
-<Attribute access="0" id="maxSpeedUpdate" value="150" type="8" typeOther="" />
-<Attribute access="0" id="speed" value="" type="8" typeOther="" />
-<Attribute access="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
-<Signal value="out updateOnSpeed(int speed)" />
+<Attribute access="0" id="minEmergencyInterval" value="1000" type="8" typeOther="" />
+<Attribute access="0" id="maxEmergencyInterval" value="1000" type="8" typeOther="" />
+<Attribute access="0" id="carid" value="" type="5" typeOther="CarInfo" />
+<Attribute access="0" id="id" value="" type="8" typeOther="" />
+<Attribute access="0" id="position" value="" type="8" typeOther="" />
+<Signal value="out obstacleDetected(int id, int position)" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="2776" >
<father id="2876" num="1" />
-<cdparam x="701" y="100" />
-<sizeparam width="243" height="176" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="32" y="98" />
+<sizeparam width="193" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="903" minY="0" maxY="74" />
-<infoparam name="Block0" value="RadarSensor" />
+<cdrectangleparam minX="0" maxX="953" minY="0" maxY="66" />
+<infoparam name="Block0" value="CarPositionSimulator" />
<TGConnectingPoint num="0" id="2752" />
<TGConnectingPoint num="1" id="2753" />
<TGConnectingPoint num="2" id="2754" />
@@ -6168,15 +6169,17 @@
<TGConnectingPoint num="23" id="2775" />
<extraparam>
<CryptoBlock value="false" />
-<Attribute access="0" id="minRadarUpdate" value="100" type="8" typeOther="" />
-<Attribute access="0" id="maxRadarUpdate" value="150" type="8" typeOther="" />
-<Attribute access="0" id="obstacleAhead" value="" type="8" typeOther="" />
-<Signal value="out obstacleAhead(int info)" />
-</extraparam>
-</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="2801" >
-<father id="2876" num="2" />
-<cdparam x="442" y="100" />
+<Attribute access="0" id="carid" value="" type="5" typeOther="CarInfo" />
+<Attribute access="0" id="minCarPositionInterval" value="200" type="8" typeOther="" />
+<Attribute access="0" id="maxCarPositionInterval" value="250" type="8" typeOther="" />
+<Attribute access="0" id="id" value="" type="8" typeOther="" />
+<Attribute access="0" id="position" value="" type="8" typeOther="" />
+<Signal value="out carPosition(int id, int position)" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="5000" id="2801" >
+<father id="2876" num="2" />
+<cdparam x="442" y="100" />
<sizeparam width="242" height="175" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="904" minY="0" maxY="75" />
@@ -6216,11 +6219,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="2826" >
<father id="2876" num="3" />
-<cdparam x="32" y="98" />
-<sizeparam width="193" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="701" y="100" />
+<sizeparam width="243" height="176" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="953" minY="0" maxY="66" />
-<infoparam name="Block0" value="CarPositionSimulator" />
+<cdrectangleparam minX="0" maxX="903" minY="0" maxY="74" />
+<infoparam name="Block0" value="RadarSensor" />
<TGConnectingPoint num="0" id="2802" />
<TGConnectingPoint num="1" id="2803" />
<TGConnectingPoint num="2" id="2804" />
@@ -6247,21 +6250,19 @@
<TGConnectingPoint num="23" id="2825" />
<extraparam>
<CryptoBlock value="false" />
-<Attribute access="0" id="carid" value="" type="5" typeOther="CarInfo" />
-<Attribute access="0" id="minCarPositionInterval" value="200" type="8" typeOther="" />
-<Attribute access="0" id="maxCarPositionInterval" value="250" type="8" typeOther="" />
-<Attribute access="0" id="id" value="" type="8" typeOther="" />
-<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Signal value="out carPosition(int id, int position)" />
+<Attribute access="0" id="minRadarUpdate" value="100" type="8" typeOther="" />
+<Attribute access="0" id="maxRadarUpdate" value="150" type="8" typeOther="" />
+<Attribute access="0" id="obstacleAhead" value="" type="8" typeOther="" />
+<Signal value="out obstacleAhead(int info)" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="2851" >
<father id="2876" num="4" />
-<cdparam x="237" y="98" />
-<sizeparam width="190" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="959" y="98" />
+<sizeparam width="196" height="178" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="956" minY="0" maxY="66" />
-<infoparam name="Block0" value="EmergencySimulator" />
+<cdrectangleparam minX="0" maxX="950" minY="0" maxY="72" />
+<infoparam name="Block0" value="SpeedSensor" />
<TGConnectingPoint num="0" id="2827" />
<TGConnectingPoint num="1" id="2828" />
<TGConnectingPoint num="2" id="2829" />
@@ -6288,12 +6289,11 @@
<TGConnectingPoint num="23" id="2850" />
<extraparam>
<CryptoBlock value="false" />
-<Attribute access="0" id="minEmergencyInterval" value="1000" type="8" typeOther="" />
-<Attribute access="0" id="maxEmergencyInterval" value="1000" type="8" typeOther="" />
-<Attribute access="0" id="carid" value="" type="5" typeOther="CarInfo" />
-<Attribute access="0" id="id" value="" type="8" typeOther="" />
-<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Signal value="out obstacleDetected(int id, int position)" />
+<Attribute access="0" id="minSpeedUpdate" value="150" type="8" typeOther="" />
+<Attribute access="0" id="maxSpeedUpdate" value="150" type="8" typeOther="" />
+<Attribute access="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
+<Signal value="out updateOnSpeed(int speed)" />
</extraparam>
</SUBCOMPONENT>
@@ -6333,11 +6333,11 @@
</COMPONENT>
<SUBCOMPONENT type="5000" id="2901" >
<father id="2976" num="0" />
-<cdparam x="40" y="368" />
-<sizeparam width="257" height="185" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="596" y="371" />
+<sizeparam width="204" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="533" minY="0" maxY="83" />
-<infoparam name="Block0" value="DSRSC_Management" />
+<cdrectangleparam minX="0" maxX="586" minY="0" maxY="84" />
+<infoparam name="Block0" value="CorrectnessChecking" />
<TGConnectingPoint num="0" id="2877" />
<TGConnectingPoint num="1" id="2878" />
<TGConnectingPoint num="2" id="2879" />
@@ -6366,12 +6366,12 @@
<CryptoBlock value="false" />
<Attribute access="0" id="id" value="" type="8" typeOther="" />
<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Method value="sendMessage(int id, int position)" />
-<Signal value="in obstacleDetected(int id, int position)" />
-<Signal value="in carPosition(int id, int position)" />
-<Signal value="out setCarPosition(int id, int position)" />
-<Signal value="out forwardEmergencyBrakingMessage(int id, int position)" />
-<Signal value="in broadcastEmergencyBrakingMessage(int id, int position)" />
+<Attribute access="0" id="canHaveInvalid" value="false" type="4" typeOther="" />
+<Method value="checkingMessage()" />
+<Method value="invalidMessage()" />
+<Method value="validMessage()" />
+<Signal value="in getEmergencyBrakingMessage(int id, int position)" />
+<Signal value="out toPlausibityCheckMessage(int id, int position)" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="2926" >
@@ -6419,11 +6419,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="2951" >
<father id="2976" num="2" />
-<cdparam x="596" y="371" />
-<sizeparam width="204" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="40" y="368" />
+<sizeparam width="257" height="185" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="586" minY="0" maxY="84" />
-<infoparam name="Block0" value="CorrectnessChecking" />
+<cdrectangleparam minX="0" maxX="533" minY="0" maxY="83" />
+<infoparam name="Block0" value="DSRSC_Management" />
<TGConnectingPoint num="0" id="2927" />
<TGConnectingPoint num="1" id="2928" />
<TGConnectingPoint num="2" id="2929" />
@@ -6452,12 +6452,12 @@
<CryptoBlock value="false" />
<Attribute access="0" id="id" value="" type="8" typeOther="" />
<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Attribute access="0" id="canHaveInvalid" value="false" type="4" typeOther="" />
-<Method value="checkingMessage()" />
-<Method value="invalidMessage()" />
-<Method value="validMessage()" />
-<Signal value="in getEmergencyBrakingMessage(int id, int position)" />
-<Signal value="out toPlausibityCheckMessage(int id, int position)" />
+<Method value="sendMessage(int id, int position)" />
+<Signal value="in obstacleDetected(int id, int position)" />
+<Signal value="in carPosition(int id, int position)" />
+<Signal value="out setCarPosition(int id, int position)" />
+<Signal value="out forwardEmergencyBrakingMessage(int id, int position)" />
+<Signal value="in broadcastEmergencyBrakingMessage(int id, int position)" />
</extraparam>
</SUBCOMPONENT>
@@ -6573,11 +6573,11 @@
</COMPONENT>
<SUBCOMPONENT type="5000" id="3051" >
<father id="3101" num="0" />
-<cdparam x="465" y="1023" />
+<cdparam x="825" y="1023" />
<sizeparam width="312" height="250" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="392" minY="0" maxY="60" />
-<infoparam name="Block0" value="DangerAvoidanceStrategy" />
+<infoparam name="Block0" value="BrakeManagement" />
<TGConnectingPoint num="0" id="3027" />
<TGConnectingPoint num="1" id="3028" />
<TGConnectingPoint num="2" id="3029" />
@@ -6604,24 +6604,21 @@
<TGConnectingPoint num="23" id="3050" />
<extraparam>
<CryptoBlock value="false" />
-<Attribute access="0" id="speed" value="" type="8" typeOther="" />
-<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Attribute access="0" id="currentPosition" value="" type="8" typeOther="" />
-<Attribute access="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
<Attribute access="0" id="value" value="" type="8" typeOther="" />
-<Signal value="in brake(int speed, int currentPosition, int position)" />
-<Signal value="out reducePower(int value)" />
-<Signal value="out brakePower(int value)" />
-<Signal value="out forwardEmergency(int myID, int currentPosition)" />
+<Attribute access="0" id="deltaBrake" value="0" type="8" typeOther="" />
+<Attribute access="0" id="brakeMaxDuration" value="" type="8" typeOther="" />
+<Method value="applyBraking(int value)" />
+<Method value="brakingDone()" />
+<Signal value="in brake(int value)" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="3076" >
<father id="3101" num="1" />
-<cdparam x="825" y="1023" />
+<cdparam x="465" y="1023" />
<sizeparam width="312" height="250" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="392" minY="0" maxY="60" />
-<infoparam name="Block0" value="BrakeManagement" />
+<infoparam name="Block0" value="DangerAvoidanceStrategy" />
<TGConnectingPoint num="0" id="3052" />
<TGConnectingPoint num="1" id="3053" />
<TGConnectingPoint num="2" id="3054" />
@@ -6648,12 +6645,15 @@
<TGConnectingPoint num="23" id="3075" />
<extraparam>
<CryptoBlock value="false" />
+<Attribute access="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" id="position" value="" type="8" typeOther="" />
+<Attribute access="0" id="currentPosition" value="" type="8" typeOther="" />
+<Attribute access="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
<Attribute access="0" id="value" value="" type="8" typeOther="" />
-<Attribute access="0" id="deltaBrake" value="0" type="8" typeOther="" />
-<Attribute access="0" id="brakeMaxDuration" value="" type="8" typeOther="" />
-<Method value="applyBraking(int value)" />
-<Method value="brakingDone()" />
-<Signal value="in brake(int value)" />
+<Signal value="in brake(int speed, int currentPosition, int position)" />
+<Signal value="out reducePower(int value)" />
+<Signal value="out brakePower(int value)" />
+<Signal value="out forwardEmergency(int myID, int currentPosition)" />
</extraparam>
</SUBCOMPONENT>
@@ -6693,11 +6693,11 @@
</COMPONENT>
<SUBCOMPONENT type="5000" id="3126" >
<father id="3201" num="0" />
-<cdparam x="670" y="704" />
-<sizeparam width="220" height="156" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="903" y="707" />
+<sizeparam width="281" height="148" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="578" minY="0" maxY="133" />
-<infoparam name="Block0" value="ObjectListManagement" />
+<cdrectangleparam minX="0" maxX="517" minY="0" maxY="141" />
+<infoparam name="Block0" value="VehiculeDynamicsManagement" />
<TGConnectingPoint num="0" id="3102" />
<TGConnectingPoint num="1" id="3103" />
<TGConnectingPoint num="2" id="3104" />
@@ -6724,9 +6724,9 @@
<TGConnectingPoint num="23" id="3125" />
<extraparam>
<CryptoBlock value="false" />
-<Attribute access="0" id="obstacle" value="0" type="8" typeOther="" />
-<Signal value="in isObstacleAhead(int info)" />
-<Signal value="out getInfoOnObstacle(int info)" />
+<Attribute access="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in updateOnSpeed(int speed)" />
+<Signal value="out getInfoOnSpeed(int speed)" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="3151" >
@@ -6780,11 +6780,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="3176" >
<father id="3201" num="2" />
-<cdparam x="903" y="707" />
-<sizeparam width="281" height="148" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="670" y="704" />
+<sizeparam width="220" height="156" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="517" minY="0" maxY="141" />
-<infoparam name="Block0" value="VehiculeDynamicsManagement" />
+<cdrectangleparam minX="0" maxX="578" minY="0" maxY="133" />
+<infoparam name="Block0" value="ObjectListManagement" />
<TGConnectingPoint num="0" id="3152" />
<TGConnectingPoint num="1" id="3153" />
<TGConnectingPoint num="2" id="3154" />
@@ -6811,9 +6811,9 @@
<TGConnectingPoint num="23" id="3175" />
<extraparam>
<CryptoBlock value="false" />
-<Attribute access="0" id="speed" value="" type="8" typeOther="" />
-<Signal value="in updateOnSpeed(int speed)" />
-<Signal value="out getInfoOnSpeed(int speed)" />
+<Attribute access="0" id="obstacle" value="0" type="8" typeOther="" />
+<Signal value="in isObstacleAhead(int info)" />
+<Signal value="out getInfoOnObstacle(int info)" />
</extraparam>
</SUBCOMPONENT>
@@ -6885,84 +6885,56 @@
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="EmergencySimulator" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3218" >
-<cdparam x="524" y="259" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3217" />
-<P1 x="399" y="256" id="3308" />
-<P2 x="399" y="265" id="3253" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3216" >
-<father id="3218" num="0" />
-<cdparam x="524" y="299" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3212" />
-<TGConnectingPoint num="1" id="3213" />
-<TGConnectingPoint num="2" id="3214" />
-<TGConnectingPoint num="3" id="3215" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3231" >
-<cdparam x="400" y="271" />
+<AVATARStateMachineDiagramPanel name="SpeedSensor" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="3224" >
+<cdparam x="390" y="331" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3227" />
-<TGConnectingPoint num="1" id="3228" />
-<TGConnectingPoint num="2" id="3229" />
-<TGConnectingPoint num="3" id="3230" />
-<P1 x="399" y="295" id="3254" />
-<P2 x="307" y="112" id="3267" />
-<Point x="399" y="314" />
-<Point x="169" y="313" />
-<Point x="156" y="111" />
+<TGConnectingPoint num="0" id="3220" />
+<TGConnectingPoint num="1" id="3221" />
+<TGConnectingPoint num="2" id="3222" />
+<TGConnectingPoint num="3" id="3223" />
+<P1 x="390" y="355" id="3250" />
+<P2 x="306" y="133" id="3281" />
+<Point x="390" y="376" />
+<Point x="209" y="376" />
+<Point x="209" y="133" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3219" >
-<father id="3231" num="0" />
-<cdparam x="399" y="314" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3212" >
+<father id="3224" num="0" />
+<cdparam x="390" y="376" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3220" >
-<father id="3231" num="1" />
-<cdparam x="169" y="313" />
+<SUBCOMPONENT type="-1" id="3213" >
+<father id="3224" num="1" />
+<cdparam x="209" y="376" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3221" >
-<father id="3231" num="2" />
-<cdparam x="156" y="111" />
+<SUBCOMPONENT type="-1" id="3214" >
+<father id="3224" num="2" />
+<cdparam x="209" y="133" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3226" >
-<father id="3231" num="3" />
-<cdparam x="400" y="311" />
+<SUBCOMPONENT type="-1" id="3219" >
+<father id="3224" num="3" />
+<cdparam x="390" y="371" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3222" />
-<TGConnectingPoint num="1" id="3223" />
-<TGConnectingPoint num="2" id="3224" />
-<TGConnectingPoint num="3" id="3225" />
+<TGConnectingPoint num="0" id="3215" />
+<TGConnectingPoint num="1" id="3216" />
+<TGConnectingPoint num="2" id="3217" />
+<TGConnectingPoint num="3" id="3218" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -6972,17 +6944,45 @@
</extraparam>
</SUBCOMPONENT>
+<CONNECTOR type="5102" id="3231" >
+<cdparam x="410" y="165" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3230" />
+<P1 x="390" y="165" id="3266" />
+<P2 x="390" y="242" id="3246" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3229" >
+<father id="3231" num="0" />
+<cdparam x="404" y="195" />
+<sizeparam width="245" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="3225" />
+<TGConnectingPoint num="1" id="3226" />
+<TGConnectingPoint num="2" id="3227" />
+<TGConnectingPoint num="3" id="3228" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="minSpeedUpdate" />
+<afterMax value="maxSpeedUpdate" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
<CONNECTOR type="5102" id="3238" >
-<cdparam x="400" y="211" />
+<cdparam x="390" y="81" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from TGComponent to Send signal" value="null" />
+<infoparam name="connector from start state to state0" value="null" />
<TGConnectingPoint num="0" id="3237" />
-<P1 x="400" y="211" id="3311" />
-<P2 x="399" y="226" id="3307" />
+<P1 x="390" y="81" id="3301" />
+<P2 x="390" y="115" id="3261" />
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="3236" >
<father id="3238" num="0" />
-<cdparam x="400" y="251" />
+<cdparam x="390" y="121" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -7001,17 +7001,17 @@
</SUBCOMPONENT>
<CONNECTOR type="5102" id="3245" >
-<cdparam x="407" y="70" />
+<cdparam x="390" y="272" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from start state to state0" value="null" />
+<infoparam name="connector from TGComponent to Send signal" value="null" />
<TGConnectingPoint num="0" id="3244" />
-<P1 x="407" y="70" id="3305" />
-<P2 x="400" y="87" id="3265" />
+<P1 x="390" y="272" id="3247" />
+<P2 x="390" y="325" id="3249" />
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="3243" >
<father id="3245" num="0" />
-<cdparam x="407" y="110" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="404" y="300" />
+<sizeparam width="158" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
@@ -7025,219 +7025,190 @@
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
+<actions value="speed = carinfo.maxSpeed" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3252" >
-<cdparam x="493" y="137" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3251" />
-<P1 x="400" y="137" id="3270" />
-<P2 x="400" y="181" id="3310" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3250" >
-<father id="3252" num="0" />
-<cdparam x="493" y="177" />
-<sizeparam width="299" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5108" id="3248" >
+<cdparam x="218" y="247" />
+<sizeparam width="345" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<infoparam name="TGComponent" value="null" />
<TGConnectingPoint num="0" id="3246" />
<TGConnectingPoint num="1" id="3247" />
-<TGConnectingPoint num="2" id="3248" />
-<TGConnectingPoint num="3" id="3249" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="minEmergencyInterval" />
-<afterMax value="maxEmergencyInterval" />
-<computeMin value="" />
-<computeMax value="" />
+<Data variable="speed" minValue="carinfo.minSpeed" maxValue="carinfo.maxSpeed" functionId="0" />
</extraparam>
-</SUBCOMPONENT>
+</COMPONENT>
-<COMPONENT type="5103" id="3263" >
-<cdparam x="308" y="270" />
-<sizeparam width="182" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="3259" >
+<cdparam x="317" y="330" />
+<sizeparam width="147" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="obstacleDetected(id, position)" />
-<TGConnectingPoint num="0" id="3253" />
-<TGConnectingPoint num="1" id="3254" />
-<TGConnectingPoint num="2" id="3255" />
-<TGConnectingPoint num="3" id="3256" />
-<TGConnectingPoint num="4" id="3257" />
-<TGConnectingPoint num="5" id="3258" />
-<TGConnectingPoint num="6" id="3259" />
-<TGConnectingPoint num="7" id="3260" />
-<TGConnectingPoint num="8" id="3261" />
-<TGConnectingPoint num="9" id="3262" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3304" >
-<cdparam x="307" y="87" />
-<sizeparam width="186" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Send signal" value="updateOnSpeed(speed)" />
+<TGConnectingPoint num="0" id="3249" />
+<TGConnectingPoint num="1" id="3250" />
+<TGConnectingPoint num="2" id="3251" />
+<TGConnectingPoint num="3" id="3252" />
+<TGConnectingPoint num="4" id="3253" />
+<TGConnectingPoint num="5" id="3254" />
+<TGConnectingPoint num="6" id="3255" />
+<TGConnectingPoint num="7" id="3256" />
+<TGConnectingPoint num="8" id="3257" />
+<TGConnectingPoint num="9" id="3258" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="3300" >
+<cdparam x="306" y="115" />
+<sizeparam width="169" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingforEmergency" />
-<TGConnectingPoint num="0" id="3264" />
-<TGConnectingPoint num="1" id="3265" />
-<TGConnectingPoint num="2" id="3266" />
-<TGConnectingPoint num="3" id="3267" />
-<TGConnectingPoint num="4" id="3268" />
-<TGConnectingPoint num="5" id="3269" />
-<TGConnectingPoint num="6" id="3270" />
-<TGConnectingPoint num="7" id="3271" />
-<TGConnectingPoint num="8" id="3272" />
-<TGConnectingPoint num="9" id="3273" />
-<TGConnectingPoint num="10" id="3274" />
-<TGConnectingPoint num="11" id="3275" />
-<TGConnectingPoint num="12" id="3276" />
-<TGConnectingPoint num="13" id="3277" />
-<TGConnectingPoint num="14" id="3278" />
-<TGConnectingPoint num="15" id="3279" />
-<TGConnectingPoint num="16" id="3280" />
-<TGConnectingPoint num="17" id="3281" />
-<TGConnectingPoint num="18" id="3282" />
-<TGConnectingPoint num="19" id="3283" />
-<TGConnectingPoint num="20" id="3284" />
-<TGConnectingPoint num="21" id="3285" />
-<TGConnectingPoint num="22" id="3286" />
-<TGConnectingPoint num="23" id="3287" />
-<TGConnectingPoint num="24" id="3288" />
-<TGConnectingPoint num="25" id="3289" />
-<TGConnectingPoint num="26" id="3290" />
-<TGConnectingPoint num="27" id="3291" />
-<TGConnectingPoint num="28" id="3292" />
-<TGConnectingPoint num="29" id="3293" />
-<TGConnectingPoint num="30" id="3294" />
-<TGConnectingPoint num="31" id="3295" />
-<TGConnectingPoint num="32" id="3296" />
-<TGConnectingPoint num="33" id="3297" />
-<TGConnectingPoint num="34" id="3298" />
-<TGConnectingPoint num="35" id="3299" />
-<TGConnectingPoint num="36" id="3300" />
-<TGConnectingPoint num="37" id="3301" />
-<TGConnectingPoint num="38" id="3302" />
-<TGConnectingPoint num="39" id="3303" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3306" >
-<cdparam x="400" y="50" />
+<infoparam name="state0" value="WaitingForSpeedUpdate" />
+<TGConnectingPoint num="0" id="3260" />
+<TGConnectingPoint num="1" id="3261" />
+<TGConnectingPoint num="2" id="3262" />
+<TGConnectingPoint num="3" id="3263" />
+<TGConnectingPoint num="4" id="3264" />
+<TGConnectingPoint num="5" id="3265" />
+<TGConnectingPoint num="6" id="3266" />
+<TGConnectingPoint num="7" id="3267" />
+<TGConnectingPoint num="8" id="3268" />
+<TGConnectingPoint num="9" id="3269" />
+<TGConnectingPoint num="10" id="3270" />
+<TGConnectingPoint num="11" id="3271" />
+<TGConnectingPoint num="12" id="3272" />
+<TGConnectingPoint num="13" id="3273" />
+<TGConnectingPoint num="14" id="3274" />
+<TGConnectingPoint num="15" id="3275" />
+<TGConnectingPoint num="16" id="3276" />
+<TGConnectingPoint num="17" id="3277" />
+<TGConnectingPoint num="18" id="3278" />
+<TGConnectingPoint num="19" id="3279" />
+<TGConnectingPoint num="20" id="3280" />
+<TGConnectingPoint num="21" id="3281" />
+<TGConnectingPoint num="22" id="3282" />
+<TGConnectingPoint num="23" id="3283" />
+<TGConnectingPoint num="24" id="3284" />
+<TGConnectingPoint num="25" id="3285" />
+<TGConnectingPoint num="26" id="3286" />
+<TGConnectingPoint num="27" id="3287" />
+<TGConnectingPoint num="28" id="3288" />
+<TGConnectingPoint num="29" id="3289" />
+<TGConnectingPoint num="30" id="3290" />
+<TGConnectingPoint num="31" id="3291" />
+<TGConnectingPoint num="32" id="3292" />
+<TGConnectingPoint num="33" id="3293" />
+<TGConnectingPoint num="34" id="3294" />
+<TGConnectingPoint num="35" id="3295" />
+<TGConnectingPoint num="36" id="3296" />
+<TGConnectingPoint num="37" id="3297" />
+<TGConnectingPoint num="38" id="3298" />
+<TGConnectingPoint num="39" id="3299" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="3302" >
+<cdparam x="383" y="61" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3305" />
-</COMPONENT>
-
-<COMPONENT type="5108" id="3309" >
-<cdparam x="224" y="231" />
-<sizeparam width="350" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3307" />
-<TGConnectingPoint num="1" id="3308" />
-<extraparam>
-<Data variable="position" minValue="carid.minPosition" maxValue="carid.maxPosition" functionId="0" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5108" id="3312" >
-<cdparam x="274" y="186" />
-<sizeparam width="252" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3310" />
-<TGConnectingPoint num="1" id="3311" />
-<extraparam>
-<Data variable="id" minValue="carid.minID" maxValue="carid.maxID" functionId="0" />
-</extraparam>
+<TGConnectingPoint num="0" id="3301" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="CarPositionSimulator" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3319" >
-<cdparam x="424" y="254" />
+<AVATARStateMachineDiagramPanel name="RadarSensor" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="3311" >
+<cdparam x="492" y="329" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3318" />
-<P1 x="424" y="254" id="3355" />
-<P2 x="422" y="274" id="3360" />
+<infoparam name="connector from choice to state0" value="null" />
+<TGConnectingPoint num="0" id="3309" />
+<TGConnectingPoint num="1" id="3310" />
+<P1 x="492" y="329" id="3398" />
+<P2 x="513" y="410" id="3374" />
+<Point x="536" y="357" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3317" >
-<father id="3319" num="0" />
-<cdparam x="424" y="294" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3303" >
+<father id="3311" num="0" />
+<cdparam x="536" y="357" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="3308" >
+<father id="3311" num="1" />
+<cdparam x="492" y="369" />
+<sizeparam width="111" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3313" />
-<TGConnectingPoint num="1" id="3314" />
-<TGConnectingPoint num="2" id="3315" />
-<TGConnectingPoint num="3" id="3316" />
+<TGConnectingPoint num="0" id="3304" />
+<TGConnectingPoint num="1" id="3305" />
+<TGConnectingPoint num="2" id="3306" />
+<TGConnectingPoint num="3" id="3307" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
+<actions value="obstacleAhead = 1" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3326" >
-<cdparam x="517" y="144" />
+<CONNECTOR type="5102" id="3318" >
+<cdparam x="459" y="192" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3325" />
-<P1 x="424" y="144" id="3377" />
-<P2 x="424" y="188" id="3357" />
+<infoparam name="connector from state0 to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3317" />
+<P1 x="439" y="192" id="3429" />
+<P2 x="467" y="304" id="3396" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3324" >
-<father id="3326" num="0" />
-<cdparam x="517" y="184" />
-<sizeparam width="301" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3316" >
+<father id="3318" num="0" />
+<cdparam x="453" y="222" />
+<sizeparam width="243" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3320" />
-<TGConnectingPoint num="1" id="3321" />
-<TGConnectingPoint num="2" id="3322" />
-<TGConnectingPoint num="3" id="3323" />
+<TGConnectingPoint num="0" id="3312" />
+<TGConnectingPoint num="1" id="3313" />
+<TGConnectingPoint num="2" id="3314" />
+<TGConnectingPoint num="3" id="3315" />
<extraparam>
<guard value="[ ]" />
-<afterMin value="minCarPositionInterval" />
-<afterMax value="maxCarPositionInterval" />
+<afterMin value="minRadarUpdate" />
+<afterMax value="maxRadarUpdate" />
<computeMin value="" />
<computeMax value="" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3333" >
-<cdparam x="431" y="77" />
+<CONNECTOR type="5102" id="3325" >
+<cdparam x="439" y="108" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3332" />
-<P1 x="431" y="77" id="3412" />
-<P2 x="424" y="94" id="3372" />
+<TGConnectingPoint num="0" id="3324" />
+<P1 x="439" y="108" id="3464" />
+<P2 x="439" y="142" id="3424" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3331" >
-<father id="3333" num="0" />
-<cdparam x="431" y="117" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3323" >
+<father id="3325" num="0" />
+<cdparam x="439" y="148" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3327" />
-<TGConnectingPoint num="1" id="3328" />
-<TGConnectingPoint num="2" id="3329" />
-<TGConnectingPoint num="3" id="3330" />
+<TGConnectingPoint num="0" id="3319" />
+<TGConnectingPoint num="1" id="3320" />
+<TGConnectingPoint num="2" id="3321" />
+<TGConnectingPoint num="3" id="3322" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -7247,83 +7218,55 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3340" >
-<cdparam x="424" y="218" />
+<CONNECTOR type="5102" id="3338" >
+<cdparam x="439" y="358" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3339" />
-<P1 x="424" y="218" id="3358" />
-<P2 x="424" y="224" id="3354" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3338" >
-<father id="3340" num="0" />
-<cdparam x="424" y="258" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<infoparam name="connector from Send signal to state0" value="null" />
<TGConnectingPoint num="0" id="3334" />
<TGConnectingPoint num="1" id="3335" />
<TGConnectingPoint num="2" id="3336" />
<TGConnectingPoint num="3" id="3337" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3353" >
-<cdparam x="424" y="278" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3349" />
-<TGConnectingPoint num="1" id="3350" />
-<TGConnectingPoint num="2" id="3351" />
-<TGConnectingPoint num="3" id="3352" />
-<P1 x="422" y="304" id="3361" />
-<P2 x="331" y="119" id="3374" />
-<Point x="423" y="321" />
-<Point x="293" y="320" />
-<Point x="280" y="118" />
+<P1 x="440" y="531" id="3413" />
+<P2 x="355" y="167" id="3426" />
+<Point x="436" y="572" />
+<Point x="308" y="582" />
+<Point x="318" y="171" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3341" >
-<father id="3353" num="0" />
-<cdparam x="423" y="321" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3326" >
+<father id="3338" num="0" />
+<cdparam x="436" y="572" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3342" >
-<father id="3353" num="1" />
-<cdparam x="293" y="320" />
+<SUBCOMPONENT type="-1" id="3327" >
+<father id="3338" num="1" />
+<cdparam x="308" y="582" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3343" >
-<father id="3353" num="2" />
-<cdparam x="280" y="118" />
+<SUBCOMPONENT type="-1" id="3328" >
+<father id="3338" num="2" />
+<cdparam x="318" y="171" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3348" >
-<father id="3353" num="3" />
-<cdparam x="424" y="318" />
+<SUBCOMPONENT type="-1" id="3333" >
+<father id="3338" num="3" />
+<cdparam x="439" y="398" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3344" />
-<TGConnectingPoint num="1" id="3345" />
-<TGConnectingPoint num="2" id="3346" />
-<TGConnectingPoint num="3" id="3347" />
+<TGConnectingPoint num="0" id="3329" />
+<TGConnectingPoint num="1" id="3330" />
+<TGConnectingPoint num="2" id="3331" />
+<TGConnectingPoint num="3" id="3332" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -7333,162 +7276,276 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5108" id="3356" >
-<cdparam x="249" y="229" />
-<sizeparam width="350" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="5102" id="3347" >
+<cdparam x="467" y="354" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from choice to state0" value="null" />
+<TGConnectingPoint num="0" id="3345" />
+<TGConnectingPoint num="1" id="3346" />
+<P1 x="442" y="329" id="3397" />
+<P2 x="463" y="410" id="3372" />
+<Point x="413" y="359" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3339" >
+<father id="3347" num="0" />
+<cdparam x="413" y="359" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3354" />
-<TGConnectingPoint num="1" id="3355" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="3344" >
+<father id="3347" num="1" />
+<cdparam x="350" y="390" />
+<sizeparam width="111" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="3340" />
+<TGConnectingPoint num="1" id="3341" />
+<TGConnectingPoint num="2" id="3342" />
+<TGConnectingPoint num="3" id="3343" />
<extraparam>
-<Data variable="position" minValue="carid.minPosition" maxValue="carid.maxPosition" functionId="0" />
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<actions value="obstacleAhead = 1" />
</extraparam>
-</COMPONENT>
+</SUBCOMPONENT>
-<COMPONENT type="5108" id="3359" >
-<cdparam x="298" y="193" />
-<sizeparam width="252" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="5102" id="3354" >
+<cdparam x="445" y="483" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3353" />
+<P1 x="438" y="460" id="3383" />
+<P2 x="440" y="501" id="3412" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3352" >
+<father id="3354" num="0" />
+<cdparam x="445" y="523" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3357" />
-<TGConnectingPoint num="1" id="3358" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="3348" />
+<TGConnectingPoint num="1" id="3349" />
+<TGConnectingPoint num="2" id="3350" />
+<TGConnectingPoint num="3" id="3351" />
<extraparam>
-<Data variable="id" minValue="carid.minID" maxValue="carid.maxID" functionId="0" />
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
</extraparam>
-</COMPONENT>
+</SUBCOMPONENT>
-<COMPONENT type="5103" id="3370" >
-<cdparam x="350" y="279" />
-<sizeparam width="144" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5106" id="3395" >
+<cdparam x="426" y="410" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="carPosition(id, position)" />
-<TGConnectingPoint num="0" id="3360" />
-<TGConnectingPoint num="1" id="3361" />
-<TGConnectingPoint num="2" id="3362" />
-<TGConnectingPoint num="3" id="3363" />
-<TGConnectingPoint num="4" id="3364" />
-<TGConnectingPoint num="5" id="3365" />
-<TGConnectingPoint num="6" id="3366" />
-<TGConnectingPoint num="7" id="3367" />
-<TGConnectingPoint num="8" id="3368" />
-<TGConnectingPoint num="9" id="3369" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3411" >
-<cdparam x="331" y="94" />
-<sizeparam width="186" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="state0" value="sendingUpdate" />
+<TGConnectingPoint num="0" id="3355" />
+<TGConnectingPoint num="1" id="3356" />
+<TGConnectingPoint num="2" id="3357" />
+<TGConnectingPoint num="3" id="3358" />
+<TGConnectingPoint num="4" id="3359" />
+<TGConnectingPoint num="5" id="3360" />
+<TGConnectingPoint num="6" id="3361" />
+<TGConnectingPoint num="7" id="3362" />
+<TGConnectingPoint num="8" id="3363" />
+<TGConnectingPoint num="9" id="3364" />
+<TGConnectingPoint num="10" id="3365" />
+<TGConnectingPoint num="11" id="3366" />
+<TGConnectingPoint num="12" id="3367" />
+<TGConnectingPoint num="13" id="3368" />
+<TGConnectingPoint num="14" id="3369" />
+<TGConnectingPoint num="15" id="3370" />
+<TGConnectingPoint num="16" id="3371" />
+<TGConnectingPoint num="17" id="3372" />
+<TGConnectingPoint num="18" id="3373" />
+<TGConnectingPoint num="19" id="3374" />
+<TGConnectingPoint num="20" id="3375" />
+<TGConnectingPoint num="21" id="3376" />
+<TGConnectingPoint num="22" id="3377" />
+<TGConnectingPoint num="23" id="3378" />
+<TGConnectingPoint num="24" id="3379" />
+<TGConnectingPoint num="25" id="3380" />
+<TGConnectingPoint num="26" id="3381" />
+<TGConnectingPoint num="27" id="3382" />
+<TGConnectingPoint num="28" id="3383" />
+<TGConnectingPoint num="29" id="3384" />
+<TGConnectingPoint num="30" id="3385" />
+<TGConnectingPoint num="31" id="3386" />
+<TGConnectingPoint num="32" id="3387" />
+<TGConnectingPoint num="33" id="3388" />
+<TGConnectingPoint num="34" id="3389" />
+<TGConnectingPoint num="35" id="3390" />
+<TGConnectingPoint num="36" id="3391" />
+<TGConnectingPoint num="37" id="3392" />
+<TGConnectingPoint num="38" id="3393" />
+<TGConnectingPoint num="39" id="3394" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5107" id="3411" >
+<cdparam x="452" y="314" />
+<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingforNewCarPosition" />
-<TGConnectingPoint num="0" id="3371" />
-<TGConnectingPoint num="1" id="3372" />
-<TGConnectingPoint num="2" id="3373" />
-<TGConnectingPoint num="3" id="3374" />
-<TGConnectingPoint num="4" id="3375" />
-<TGConnectingPoint num="5" id="3376" />
-<TGConnectingPoint num="6" id="3377" />
-<TGConnectingPoint num="7" id="3378" />
-<TGConnectingPoint num="8" id="3379" />
-<TGConnectingPoint num="9" id="3380" />
-<TGConnectingPoint num="10" id="3381" />
-<TGConnectingPoint num="11" id="3382" />
-<TGConnectingPoint num="12" id="3383" />
-<TGConnectingPoint num="13" id="3384" />
-<TGConnectingPoint num="14" id="3385" />
-<TGConnectingPoint num="15" id="3386" />
-<TGConnectingPoint num="16" id="3387" />
-<TGConnectingPoint num="17" id="3388" />
-<TGConnectingPoint num="18" id="3389" />
-<TGConnectingPoint num="19" id="3390" />
-<TGConnectingPoint num="20" id="3391" />
-<TGConnectingPoint num="21" id="3392" />
-<TGConnectingPoint num="22" id="3393" />
-<TGConnectingPoint num="23" id="3394" />
-<TGConnectingPoint num="24" id="3395" />
-<TGConnectingPoint num="25" id="3396" />
-<TGConnectingPoint num="26" id="3397" />
-<TGConnectingPoint num="27" id="3398" />
-<TGConnectingPoint num="28" id="3399" />
-<TGConnectingPoint num="29" id="3400" />
-<TGConnectingPoint num="30" id="3401" />
-<TGConnectingPoint num="31" id="3402" />
-<TGConnectingPoint num="32" id="3403" />
-<TGConnectingPoint num="33" id="3404" />
-<TGConnectingPoint num="34" id="3405" />
-<TGConnectingPoint num="35" id="3406" />
-<TGConnectingPoint num="36" id="3407" />
-<TGConnectingPoint num="37" id="3408" />
-<TGConnectingPoint num="38" id="3409" />
-<TGConnectingPoint num="39" id="3410" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3413" >
-<cdparam x="424" y="57" />
+<infoparam name="choice" value="null" />
+<TGConnectingPoint num="0" id="3396" />
+<TGConnectingPoint num="1" id="3397" />
+<TGConnectingPoint num="2" id="3398" />
+<TGConnectingPoint num="3" id="3399" />
+<TGConnectingPoint num="4" id="3400" />
+<TGConnectingPoint num="5" id="3401" />
+<TGConnectingPoint num="6" id="3402" />
+<TGConnectingPoint num="7" id="3403" />
+<TGConnectingPoint num="8" id="3404" />
+<TGConnectingPoint num="9" id="3405" />
+<TGConnectingPoint num="10" id="3406" />
+<TGConnectingPoint num="11" id="3407" />
+<TGConnectingPoint num="12" id="3408" />
+<TGConnectingPoint num="13" id="3409" />
+<TGConnectingPoint num="14" id="3410" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="3422" >
+<cdparam x="346" y="506" />
+<sizeparam width="188" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Send signal" value="obstacleAhead(obstacleAhead)" />
+<TGConnectingPoint num="0" id="3412" />
+<TGConnectingPoint num="1" id="3413" />
+<TGConnectingPoint num="2" id="3414" />
+<TGConnectingPoint num="3" id="3415" />
+<TGConnectingPoint num="4" id="3416" />
+<TGConnectingPoint num="5" id="3417" />
+<TGConnectingPoint num="6" id="3418" />
+<TGConnectingPoint num="7" id="3419" />
+<TGConnectingPoint num="8" id="3420" />
+<TGConnectingPoint num="9" id="3421" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="3463" >
+<cdparam x="355" y="142" />
+<sizeparam width="169" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="state0" value="WaitingForRadarInfo" />
+<TGConnectingPoint num="0" id="3423" />
+<TGConnectingPoint num="1" id="3424" />
+<TGConnectingPoint num="2" id="3425" />
+<TGConnectingPoint num="3" id="3426" />
+<TGConnectingPoint num="4" id="3427" />
+<TGConnectingPoint num="5" id="3428" />
+<TGConnectingPoint num="6" id="3429" />
+<TGConnectingPoint num="7" id="3430" />
+<TGConnectingPoint num="8" id="3431" />
+<TGConnectingPoint num="9" id="3432" />
+<TGConnectingPoint num="10" id="3433" />
+<TGConnectingPoint num="11" id="3434" />
+<TGConnectingPoint num="12" id="3435" />
+<TGConnectingPoint num="13" id="3436" />
+<TGConnectingPoint num="14" id="3437" />
+<TGConnectingPoint num="15" id="3438" />
+<TGConnectingPoint num="16" id="3439" />
+<TGConnectingPoint num="17" id="3440" />
+<TGConnectingPoint num="18" id="3441" />
+<TGConnectingPoint num="19" id="3442" />
+<TGConnectingPoint num="20" id="3443" />
+<TGConnectingPoint num="21" id="3444" />
+<TGConnectingPoint num="22" id="3445" />
+<TGConnectingPoint num="23" id="3446" />
+<TGConnectingPoint num="24" id="3447" />
+<TGConnectingPoint num="25" id="3448" />
+<TGConnectingPoint num="26" id="3449" />
+<TGConnectingPoint num="27" id="3450" />
+<TGConnectingPoint num="28" id="3451" />
+<TGConnectingPoint num="29" id="3452" />
+<TGConnectingPoint num="30" id="3453" />
+<TGConnectingPoint num="31" id="3454" />
+<TGConnectingPoint num="32" id="3455" />
+<TGConnectingPoint num="33" id="3456" />
+<TGConnectingPoint num="34" id="3457" />
+<TGConnectingPoint num="35" id="3458" />
+<TGConnectingPoint num="36" id="3459" />
+<TGConnectingPoint num="37" id="3460" />
+<TGConnectingPoint num="38" id="3461" />
+<TGConnectingPoint num="39" id="3462" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="3465" >
+<cdparam x="432" y="88" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3412" />
+<TGConnectingPoint num="0" id="3464" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
<AVATARStateMachineDiagramPanel name="GPSSensor" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3426" >
+<CONNECTOR type="5102" id="3478" >
<cdparam x="408" y="353" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3422" />
-<TGConnectingPoint num="1" id="3423" />
-<TGConnectingPoint num="2" id="3424" />
-<TGConnectingPoint num="3" id="3425" />
-<P1 x="408" y="353" id="3452" />
-<P2 x="324" y="162" id="3465" />
+<TGConnectingPoint num="0" id="3474" />
+<TGConnectingPoint num="1" id="3475" />
+<TGConnectingPoint num="2" id="3476" />
+<TGConnectingPoint num="3" id="3477" />
+<P1 x="408" y="353" id="3504" />
+<P2 x="324" y="162" id="3517" />
<Point x="408" y="382" />
<Point x="287" y="382" />
<Point x="287" y="162" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3414" >
-<father id="3426" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3466" >
+<father id="3478" num="0" />
<cdparam x="408" y="382" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3415" >
-<father id="3426" num="1" />
+<SUBCOMPONENT type="-1" id="3467" >
+<father id="3478" num="1" />
<cdparam x="287" y="382" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3416" >
-<father id="3426" num="2" />
+<SUBCOMPONENT type="-1" id="3468" >
+<father id="3478" num="2" />
<cdparam x="287" y="162" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3421" >
-<father id="3426" num="3" />
+<SUBCOMPONENT type="-1" id="3473" >
+<father id="3478" num="3" />
<cdparam x="408" y="393" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3417" />
-<TGConnectingPoint num="1" id="3418" />
-<TGConnectingPoint num="2" id="3419" />
-<TGConnectingPoint num="3" id="3420" />
+<TGConnectingPoint num="0" id="3469" />
+<TGConnectingPoint num="1" id="3470" />
+<TGConnectingPoint num="2" id="3471" />
+<TGConnectingPoint num="3" id="3472" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -7498,25 +7555,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3433" >
+<CONNECTOR type="5102" id="3485" >
<cdparam x="408" y="294" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3432" />
-<P1 x="408" y="294" id="3449" />
-<P2 x="408" y="323" id="3451" />
+<TGConnectingPoint num="0" id="3484" />
+<P1 x="408" y="294" id="3501" />
+<P2 x="408" y="323" id="3503" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3431" >
-<father id="3433" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3483" >
+<father id="3485" num="0" />
<cdparam x="428" y="312" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3427" />
-<TGConnectingPoint num="1" id="3428" />
-<TGConnectingPoint num="2" id="3429" />
-<TGConnectingPoint num="3" id="3430" />
+<TGConnectingPoint num="0" id="3479" />
+<TGConnectingPoint num="1" id="3480" />
+<TGConnectingPoint num="2" id="3481" />
+<TGConnectingPoint num="3" id="3482" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -7526,25 +7583,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3440" >
+<CONNECTOR type="5102" id="3492" >
<cdparam x="408" y="103" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3439" />
-<P1 x="408" y="103" id="3503" />
-<P2 x="408" y="137" id="3463" />
+<TGConnectingPoint num="0" id="3491" />
+<P1 x="408" y="103" id="3555" />
+<P2 x="408" y="137" id="3515" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3438" >
-<father id="3440" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3490" >
+<father id="3492" num="0" />
<cdparam x="408" y="143" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3434" />
-<TGConnectingPoint num="1" id="3435" />
-<TGConnectingPoint num="2" id="3436" />
-<TGConnectingPoint num="3" id="3437" />
+<TGConnectingPoint num="0" id="3486" />
+<TGConnectingPoint num="1" id="3487" />
+<TGConnectingPoint num="2" id="3488" />
+<TGConnectingPoint num="3" id="3489" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -7554,25 +7611,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3447" >
+<CONNECTOR type="5102" id="3499" >
<cdparam x="428" y="187" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3446" />
-<P1 x="408" y="187" id="3468" />
-<P2 x="408" y="264" id="3448" />
+<TGConnectingPoint num="0" id="3498" />
+<P1 x="408" y="187" id="3520" />
+<P2 x="408" y="264" id="3500" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3445" >
-<father id="3447" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3497" >
+<father id="3499" num="0" />
<cdparam x="422" y="217" />
<sizeparam width="217" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3441" />
-<TGConnectingPoint num="1" id="3442" />
-<TGConnectingPoint num="2" id="3443" />
-<TGConnectingPoint num="3" id="3444" />
+<TGConnectingPoint num="0" id="3493" />
+<TGConnectingPoint num="1" id="3494" />
+<TGConnectingPoint num="2" id="3495" />
+<TGConnectingPoint num="3" id="3496" />
<extraparam>
<guard value="[ ]" />
<afterMin value="minGPSUpdate" />
@@ -7582,186 +7639,175 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5108" id="3450" >
+<COMPONENT type="5108" id="3502" >
<cdparam x="223" y="269" />
<sizeparam width="370" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3448" />
-<TGConnectingPoint num="1" id="3449" />
+<TGConnectingPoint num="0" id="3500" />
+<TGConnectingPoint num="1" id="3501" />
<extraparam>
<Data variable="position" minValue="carinfo.minPosition" maxValue="carinfo.maxPosition" functionId="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5103" id="3461" >
+<COMPONENT type="5103" id="3513" >
<cdparam x="346" y="328" />
<sizeparam width="124" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Send signal" value="setPosition(position)" />
-<TGConnectingPoint num="0" id="3451" />
-<TGConnectingPoint num="1" id="3452" />
-<TGConnectingPoint num="2" id="3453" />
-<TGConnectingPoint num="3" id="3454" />
-<TGConnectingPoint num="4" id="3455" />
-<TGConnectingPoint num="5" id="3456" />
-<TGConnectingPoint num="6" id="3457" />
-<TGConnectingPoint num="7" id="3458" />
-<TGConnectingPoint num="8" id="3459" />
-<TGConnectingPoint num="9" id="3460" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3502" >
+<TGConnectingPoint num="0" id="3503" />
+<TGConnectingPoint num="1" id="3504" />
+<TGConnectingPoint num="2" id="3505" />
+<TGConnectingPoint num="3" id="3506" />
+<TGConnectingPoint num="4" id="3507" />
+<TGConnectingPoint num="5" id="3508" />
+<TGConnectingPoint num="6" id="3509" />
+<TGConnectingPoint num="7" id="3510" />
+<TGConnectingPoint num="8" id="3511" />
+<TGConnectingPoint num="9" id="3512" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="3554" >
<cdparam x="324" y="137" />
<sizeparam width="169" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="state0" value="WaitingForGPSInfo" />
-<TGConnectingPoint num="0" id="3462" />
-<TGConnectingPoint num="1" id="3463" />
-<TGConnectingPoint num="2" id="3464" />
-<TGConnectingPoint num="3" id="3465" />
-<TGConnectingPoint num="4" id="3466" />
-<TGConnectingPoint num="5" id="3467" />
-<TGConnectingPoint num="6" id="3468" />
-<TGConnectingPoint num="7" id="3469" />
-<TGConnectingPoint num="8" id="3470" />
-<TGConnectingPoint num="9" id="3471" />
-<TGConnectingPoint num="10" id="3472" />
-<TGConnectingPoint num="11" id="3473" />
-<TGConnectingPoint num="12" id="3474" />
-<TGConnectingPoint num="13" id="3475" />
-<TGConnectingPoint num="14" id="3476" />
-<TGConnectingPoint num="15" id="3477" />
-<TGConnectingPoint num="16" id="3478" />
-<TGConnectingPoint num="17" id="3479" />
-<TGConnectingPoint num="18" id="3480" />
-<TGConnectingPoint num="19" id="3481" />
-<TGConnectingPoint num="20" id="3482" />
-<TGConnectingPoint num="21" id="3483" />
-<TGConnectingPoint num="22" id="3484" />
-<TGConnectingPoint num="23" id="3485" />
-<TGConnectingPoint num="24" id="3486" />
-<TGConnectingPoint num="25" id="3487" />
-<TGConnectingPoint num="26" id="3488" />
-<TGConnectingPoint num="27" id="3489" />
-<TGConnectingPoint num="28" id="3490" />
-<TGConnectingPoint num="29" id="3491" />
-<TGConnectingPoint num="30" id="3492" />
-<TGConnectingPoint num="31" id="3493" />
-<TGConnectingPoint num="32" id="3494" />
-<TGConnectingPoint num="33" id="3495" />
-<TGConnectingPoint num="34" id="3496" />
-<TGConnectingPoint num="35" id="3497" />
-<TGConnectingPoint num="36" id="3498" />
-<TGConnectingPoint num="37" id="3499" />
-<TGConnectingPoint num="38" id="3500" />
-<TGConnectingPoint num="39" id="3501" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3504" >
+<TGConnectingPoint num="0" id="3514" />
+<TGConnectingPoint num="1" id="3515" />
+<TGConnectingPoint num="2" id="3516" />
+<TGConnectingPoint num="3" id="3517" />
+<TGConnectingPoint num="4" id="3518" />
+<TGConnectingPoint num="5" id="3519" />
+<TGConnectingPoint num="6" id="3520" />
+<TGConnectingPoint num="7" id="3521" />
+<TGConnectingPoint num="8" id="3522" />
+<TGConnectingPoint num="9" id="3523" />
+<TGConnectingPoint num="10" id="3524" />
+<TGConnectingPoint num="11" id="3525" />
+<TGConnectingPoint num="12" id="3526" />
+<TGConnectingPoint num="13" id="3527" />
+<TGConnectingPoint num="14" id="3528" />
+<TGConnectingPoint num="15" id="3529" />
+<TGConnectingPoint num="16" id="3530" />
+<TGConnectingPoint num="17" id="3531" />
+<TGConnectingPoint num="18" id="3532" />
+<TGConnectingPoint num="19" id="3533" />
+<TGConnectingPoint num="20" id="3534" />
+<TGConnectingPoint num="21" id="3535" />
+<TGConnectingPoint num="22" id="3536" />
+<TGConnectingPoint num="23" id="3537" />
+<TGConnectingPoint num="24" id="3538" />
+<TGConnectingPoint num="25" id="3539" />
+<TGConnectingPoint num="26" id="3540" />
+<TGConnectingPoint num="27" id="3541" />
+<TGConnectingPoint num="28" id="3542" />
+<TGConnectingPoint num="29" id="3543" />
+<TGConnectingPoint num="30" id="3544" />
+<TGConnectingPoint num="31" id="3545" />
+<TGConnectingPoint num="32" id="3546" />
+<TGConnectingPoint num="33" id="3547" />
+<TGConnectingPoint num="34" id="3548" />
+<TGConnectingPoint num="35" id="3549" />
+<TGConnectingPoint num="36" id="3550" />
+<TGConnectingPoint num="37" id="3551" />
+<TGConnectingPoint num="38" id="3552" />
+<TGConnectingPoint num="39" id="3553" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="3556" >
<cdparam x="401" y="83" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3503" />
+<TGConnectingPoint num="0" id="3555" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="RadarSensor" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3513" >
-<cdparam x="492" y="329" />
+<AVATARStateMachineDiagramPanel name="CarPositionSimulator" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="3563" >
+<cdparam x="424" y="254" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3511" />
-<TGConnectingPoint num="1" id="3512" />
-<P1 x="492" y="329" id="3600" />
-<P2 x="513" y="410" id="3576" />
-<Point x="536" y="357" />
+<infoparam name="connector from TGComponent to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3562" />
+<P1 x="424" y="254" id="3599" />
+<P2 x="422" y="274" id="3604" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3505" >
-<father id="3513" num="0" />
-<cdparam x="536" y="357" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3510" >
-<father id="3513" num="1" />
-<cdparam x="492" y="369" />
-<sizeparam width="111" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3561" >
+<father id="3563" num="0" />
+<cdparam x="424" y="294" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3506" />
-<TGConnectingPoint num="1" id="3507" />
-<TGConnectingPoint num="2" id="3508" />
-<TGConnectingPoint num="3" id="3509" />
+<TGConnectingPoint num="0" id="3557" />
+<TGConnectingPoint num="1" id="3558" />
+<TGConnectingPoint num="2" id="3559" />
+<TGConnectingPoint num="3" id="3560" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
-<actions value="obstacleAhead = 1" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3520" >
-<cdparam x="459" y="192" />
+<CONNECTOR type="5102" id="3570" >
+<cdparam x="517" y="144" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3519" />
-<P1 x="439" y="192" id="3631" />
-<P2 x="467" y="304" id="3598" />
+<infoparam name="connector from state0 to TGComponent" value="null" />
+<TGConnectingPoint num="0" id="3569" />
+<P1 x="424" y="144" id="3621" />
+<P2 x="424" y="188" id="3601" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3518" >
-<father id="3520" num="0" />
-<cdparam x="453" y="222" />
-<sizeparam width="243" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3568" >
+<father id="3570" num="0" />
+<cdparam x="517" y="184" />
+<sizeparam width="301" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3514" />
-<TGConnectingPoint num="1" id="3515" />
-<TGConnectingPoint num="2" id="3516" />
-<TGConnectingPoint num="3" id="3517" />
+<TGConnectingPoint num="0" id="3564" />
+<TGConnectingPoint num="1" id="3565" />
+<TGConnectingPoint num="2" id="3566" />
+<TGConnectingPoint num="3" id="3567" />
<extraparam>
<guard value="[ ]" />
-<afterMin value="minRadarUpdate" />
-<afterMax value="maxRadarUpdate" />
+<afterMin value="minCarPositionInterval" />
+<afterMax value="maxCarPositionInterval" />
<computeMin value="" />
<computeMax value="" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3527" >
-<cdparam x="439" y="108" />
+<CONNECTOR type="5102" id="3577" >
+<cdparam x="431" y="77" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3526" />
-<P1 x="439" y="108" id="3666" />
-<P2 x="439" y="142" id="3626" />
+<TGConnectingPoint num="0" id="3576" />
+<P1 x="431" y="77" id="3656" />
+<P2 x="424" y="94" id="3616" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3525" >
-<father id="3527" num="0" />
-<cdparam x="439" y="148" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3575" >
+<father id="3577" num="0" />
+<cdparam x="431" y="117" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3521" />
-<TGConnectingPoint num="1" id="3522" />
-<TGConnectingPoint num="2" id="3523" />
-<TGConnectingPoint num="3" id="3524" />
+<TGConnectingPoint num="0" id="3571" />
+<TGConnectingPoint num="1" id="3572" />
+<TGConnectingPoint num="2" id="3573" />
+<TGConnectingPoint num="3" id="3574" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -7771,55 +7817,83 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3540" >
-<cdparam x="439" y="358" />
+<CONNECTOR type="5102" id="3584" >
+<cdparam x="424" y="218" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from TGComponent to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3583" />
+<P1 x="424" y="218" id="3602" />
+<P2 x="424" y="224" id="3598" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3582" >
+<father id="3584" num="0" />
+<cdparam x="424" y="258" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="3578" />
+<TGConnectingPoint num="1" id="3579" />
+<TGConnectingPoint num="2" id="3580" />
+<TGConnectingPoint num="3" id="3581" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="3597" >
+<cdparam x="424" y="278" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3536" />
-<TGConnectingPoint num="1" id="3537" />
-<TGConnectingPoint num="2" id="3538" />
-<TGConnectingPoint num="3" id="3539" />
-<P1 x="440" y="531" id="3615" />
-<P2 x="355" y="167" id="3628" />
-<Point x="436" y="572" />
-<Point x="308" y="582" />
-<Point x="318" y="171" />
+<TGConnectingPoint num="0" id="3593" />
+<TGConnectingPoint num="1" id="3594" />
+<TGConnectingPoint num="2" id="3595" />
+<TGConnectingPoint num="3" id="3596" />
+<P1 x="422" y="304" id="3605" />
+<P2 x="331" y="119" id="3618" />
+<Point x="423" y="321" />
+<Point x="293" y="320" />
+<Point x="280" y="118" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3528" >
-<father id="3540" num="0" />
-<cdparam x="436" y="572" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3585" >
+<father id="3597" num="0" />
+<cdparam x="423" y="321" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3529" >
-<father id="3540" num="1" />
-<cdparam x="308" y="582" />
+<SUBCOMPONENT type="-1" id="3586" >
+<father id="3597" num="1" />
+<cdparam x="293" y="320" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3530" >
-<father id="3540" num="2" />
-<cdparam x="318" y="171" />
+<SUBCOMPONENT type="-1" id="3587" >
+<father id="3597" num="2" />
+<cdparam x="280" y="118" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3535" >
-<father id="3540" num="3" />
-<cdparam x="439" y="398" />
+<SUBCOMPONENT type="-1" id="3592" >
+<father id="3597" num="3" />
+<cdparam x="424" y="318" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3531" />
-<TGConnectingPoint num="1" id="3532" />
-<TGConnectingPoint num="2" id="3533" />
-<TGConnectingPoint num="3" id="3534" />
+<TGConnectingPoint num="0" id="3588" />
+<TGConnectingPoint num="1" id="3589" />
+<TGConnectingPoint num="2" id="3590" />
+<TGConnectingPoint num="3" id="3591" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -7829,276 +7903,190 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3549" >
-<cdparam x="467" y="354" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3547" />
-<TGConnectingPoint num="1" id="3548" />
-<P1 x="442" y="329" id="3599" />
-<P2 x="463" y="410" id="3574" />
-<Point x="413" y="359" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3541" >
-<father id="3549" num="0" />
-<cdparam x="413" y="359" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5108" id="3600" >
+<cdparam x="249" y="229" />
+<sizeparam width="350" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3546" >
-<father id="3549" num="1" />
-<cdparam x="350" y="390" />
-<sizeparam width="111" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3542" />
-<TGConnectingPoint num="1" id="3543" />
-<TGConnectingPoint num="2" id="3544" />
-<TGConnectingPoint num="3" id="3545" />
+<infoparam name="TGComponent" value="null" />
+<TGConnectingPoint num="0" id="3598" />
+<TGConnectingPoint num="1" id="3599" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="obstacleAhead = 1" />
+<Data variable="position" minValue="carid.minPosition" maxValue="carid.maxPosition" functionId="0" />
</extraparam>
-</SUBCOMPONENT>
+</COMPONENT>
-<CONNECTOR type="5102" id="3556" >
-<cdparam x="445" y="483" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3555" />
-<P1 x="438" y="460" id="3585" />
-<P2 x="440" y="501" id="3614" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3554" >
-<father id="3556" num="0" />
-<cdparam x="445" y="523" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5108" id="3603" >
+<cdparam x="298" y="193" />
+<sizeparam width="252" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3550" />
-<TGConnectingPoint num="1" id="3551" />
-<TGConnectingPoint num="2" id="3552" />
-<TGConnectingPoint num="3" id="3553" />
+<infoparam name="TGComponent" value="null" />
+<TGConnectingPoint num="0" id="3601" />
+<TGConnectingPoint num="1" id="3602" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<Data variable="id" minValue="carid.minID" maxValue="carid.maxID" functionId="0" />
</extraparam>
-</SUBCOMPONENT>
+</COMPONENT>
-<COMPONENT type="5106" id="3597" >
-<cdparam x="426" y="410" />
-<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="sendingUpdate" />
-<TGConnectingPoint num="0" id="3557" />
-<TGConnectingPoint num="1" id="3558" />
-<TGConnectingPoint num="2" id="3559" />
-<TGConnectingPoint num="3" id="3560" />
-<TGConnectingPoint num="4" id="3561" />
-<TGConnectingPoint num="5" id="3562" />
-<TGConnectingPoint num="6" id="3563" />
-<TGConnectingPoint num="7" id="3564" />
-<TGConnectingPoint num="8" id="3565" />
-<TGConnectingPoint num="9" id="3566" />
-<TGConnectingPoint num="10" id="3567" />
-<TGConnectingPoint num="11" id="3568" />
-<TGConnectingPoint num="12" id="3569" />
-<TGConnectingPoint num="13" id="3570" />
-<TGConnectingPoint num="14" id="3571" />
-<TGConnectingPoint num="15" id="3572" />
-<TGConnectingPoint num="16" id="3573" />
-<TGConnectingPoint num="17" id="3574" />
-<TGConnectingPoint num="18" id="3575" />
-<TGConnectingPoint num="19" id="3576" />
-<TGConnectingPoint num="20" id="3577" />
-<TGConnectingPoint num="21" id="3578" />
-<TGConnectingPoint num="22" id="3579" />
-<TGConnectingPoint num="23" id="3580" />
-<TGConnectingPoint num="24" id="3581" />
-<TGConnectingPoint num="25" id="3582" />
-<TGConnectingPoint num="26" id="3583" />
-<TGConnectingPoint num="27" id="3584" />
-<TGConnectingPoint num="28" id="3585" />
-<TGConnectingPoint num="29" id="3586" />
-<TGConnectingPoint num="30" id="3587" />
-<TGConnectingPoint num="31" id="3588" />
-<TGConnectingPoint num="32" id="3589" />
-<TGConnectingPoint num="33" id="3590" />
-<TGConnectingPoint num="34" id="3591" />
-<TGConnectingPoint num="35" id="3592" />
-<TGConnectingPoint num="36" id="3593" />
-<TGConnectingPoint num="37" id="3594" />
-<TGConnectingPoint num="38" id="3595" />
-<TGConnectingPoint num="39" id="3596" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5107" id="3613" >
-<cdparam x="452" y="314" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="3598" />
-<TGConnectingPoint num="1" id="3599" />
-<TGConnectingPoint num="2" id="3600" />
-<TGConnectingPoint num="3" id="3601" />
-<TGConnectingPoint num="4" id="3602" />
-<TGConnectingPoint num="5" id="3603" />
-<TGConnectingPoint num="6" id="3604" />
-<TGConnectingPoint num="7" id="3605" />
-<TGConnectingPoint num="8" id="3606" />
-<TGConnectingPoint num="9" id="3607" />
-<TGConnectingPoint num="10" id="3608" />
-<TGConnectingPoint num="11" id="3609" />
-<TGConnectingPoint num="12" id="3610" />
-<TGConnectingPoint num="13" id="3611" />
-<TGConnectingPoint num="14" id="3612" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="3624" >
-<cdparam x="346" y="506" />
-<sizeparam width="188" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="3614" >
+<cdparam x="350" y="279" />
+<sizeparam width="144" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="obstacleAhead(obstacleAhead)" />
-<TGConnectingPoint num="0" id="3614" />
-<TGConnectingPoint num="1" id="3615" />
-<TGConnectingPoint num="2" id="3616" />
-<TGConnectingPoint num="3" id="3617" />
-<TGConnectingPoint num="4" id="3618" />
-<TGConnectingPoint num="5" id="3619" />
-<TGConnectingPoint num="6" id="3620" />
-<TGConnectingPoint num="7" id="3621" />
-<TGConnectingPoint num="8" id="3622" />
-<TGConnectingPoint num="9" id="3623" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3665" >
-<cdparam x="355" y="142" />
-<sizeparam width="169" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Send signal" value="carPosition(id, position)" />
+<TGConnectingPoint num="0" id="3604" />
+<TGConnectingPoint num="1" id="3605" />
+<TGConnectingPoint num="2" id="3606" />
+<TGConnectingPoint num="3" id="3607" />
+<TGConnectingPoint num="4" id="3608" />
+<TGConnectingPoint num="5" id="3609" />
+<TGConnectingPoint num="6" id="3610" />
+<TGConnectingPoint num="7" id="3611" />
+<TGConnectingPoint num="8" id="3612" />
+<TGConnectingPoint num="9" id="3613" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="3655" >
+<cdparam x="331" y="94" />
+<sizeparam width="186" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingForRadarInfo" />
-<TGConnectingPoint num="0" id="3625" />
-<TGConnectingPoint num="1" id="3626" />
-<TGConnectingPoint num="2" id="3627" />
-<TGConnectingPoint num="3" id="3628" />
-<TGConnectingPoint num="4" id="3629" />
-<TGConnectingPoint num="5" id="3630" />
-<TGConnectingPoint num="6" id="3631" />
-<TGConnectingPoint num="7" id="3632" />
-<TGConnectingPoint num="8" id="3633" />
-<TGConnectingPoint num="9" id="3634" />
-<TGConnectingPoint num="10" id="3635" />
-<TGConnectingPoint num="11" id="3636" />
-<TGConnectingPoint num="12" id="3637" />
-<TGConnectingPoint num="13" id="3638" />
-<TGConnectingPoint num="14" id="3639" />
-<TGConnectingPoint num="15" id="3640" />
-<TGConnectingPoint num="16" id="3641" />
-<TGConnectingPoint num="17" id="3642" />
-<TGConnectingPoint num="18" id="3643" />
-<TGConnectingPoint num="19" id="3644" />
-<TGConnectingPoint num="20" id="3645" />
-<TGConnectingPoint num="21" id="3646" />
-<TGConnectingPoint num="22" id="3647" />
-<TGConnectingPoint num="23" id="3648" />
-<TGConnectingPoint num="24" id="3649" />
-<TGConnectingPoint num="25" id="3650" />
-<TGConnectingPoint num="26" id="3651" />
-<TGConnectingPoint num="27" id="3652" />
-<TGConnectingPoint num="28" id="3653" />
-<TGConnectingPoint num="29" id="3654" />
-<TGConnectingPoint num="30" id="3655" />
-<TGConnectingPoint num="31" id="3656" />
-<TGConnectingPoint num="32" id="3657" />
-<TGConnectingPoint num="33" id="3658" />
-<TGConnectingPoint num="34" id="3659" />
-<TGConnectingPoint num="35" id="3660" />
-<TGConnectingPoint num="36" id="3661" />
-<TGConnectingPoint num="37" id="3662" />
-<TGConnectingPoint num="38" id="3663" />
-<TGConnectingPoint num="39" id="3664" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3667" >
-<cdparam x="432" y="88" />
+<infoparam name="state0" value="WaitingforNewCarPosition" />
+<TGConnectingPoint num="0" id="3615" />
+<TGConnectingPoint num="1" id="3616" />
+<TGConnectingPoint num="2" id="3617" />
+<TGConnectingPoint num="3" id="3618" />
+<TGConnectingPoint num="4" id="3619" />
+<TGConnectingPoint num="5" id="3620" />
+<TGConnectingPoint num="6" id="3621" />
+<TGConnectingPoint num="7" id="3622" />
+<TGConnectingPoint num="8" id="3623" />
+<TGConnectingPoint num="9" id="3624" />
+<TGConnectingPoint num="10" id="3625" />
+<TGConnectingPoint num="11" id="3626" />
+<TGConnectingPoint num="12" id="3627" />
+<TGConnectingPoint num="13" id="3628" />
+<TGConnectingPoint num="14" id="3629" />
+<TGConnectingPoint num="15" id="3630" />
+<TGConnectingPoint num="16" id="3631" />
+<TGConnectingPoint num="17" id="3632" />
+<TGConnectingPoint num="18" id="3633" />
+<TGConnectingPoint num="19" id="3634" />
+<TGConnectingPoint num="20" id="3635" />
+<TGConnectingPoint num="21" id="3636" />
+<TGConnectingPoint num="22" id="3637" />
+<TGConnectingPoint num="23" id="3638" />
+<TGConnectingPoint num="24" id="3639" />
+<TGConnectingPoint num="25" id="3640" />
+<TGConnectingPoint num="26" id="3641" />
+<TGConnectingPoint num="27" id="3642" />
+<TGConnectingPoint num="28" id="3643" />
+<TGConnectingPoint num="29" id="3644" />
+<TGConnectingPoint num="30" id="3645" />
+<TGConnectingPoint num="31" id="3646" />
+<TGConnectingPoint num="32" id="3647" />
+<TGConnectingPoint num="33" id="3648" />
+<TGConnectingPoint num="34" id="3649" />
+<TGConnectingPoint num="35" id="3650" />
+<TGConnectingPoint num="36" id="3651" />
+<TGConnectingPoint num="37" id="3652" />
+<TGConnectingPoint num="38" id="3653" />
+<TGConnectingPoint num="39" id="3654" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="3657" >
+<cdparam x="424" y="57" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3666" />
+<TGConnectingPoint num="0" id="3656" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="SpeedSensor" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3680" >
-<cdparam x="390" y="331" />
+<AVATARStateMachineDiagramPanel name="EmergencySimulator" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="3664" >
+<cdparam x="524" y="259" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from TGComponent to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3663" />
+<P1 x="399" y="256" id="3754" />
+<P2 x="399" y="265" id="3699" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3662" >
+<father id="3664" num="0" />
+<cdparam x="524" y="299" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="3658" />
+<TGConnectingPoint num="1" id="3659" />
+<TGConnectingPoint num="2" id="3660" />
+<TGConnectingPoint num="3" id="3661" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="3677" >
+<cdparam x="400" y="271" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3676" />
-<TGConnectingPoint num="1" id="3677" />
-<TGConnectingPoint num="2" id="3678" />
-<TGConnectingPoint num="3" id="3679" />
-<P1 x="390" y="355" id="3706" />
-<P2 x="306" y="133" id="3737" />
-<Point x="390" y="376" />
-<Point x="209" y="376" />
-<Point x="209" y="133" />
+<TGConnectingPoint num="0" id="3673" />
+<TGConnectingPoint num="1" id="3674" />
+<TGConnectingPoint num="2" id="3675" />
+<TGConnectingPoint num="3" id="3676" />
+<P1 x="399" y="295" id="3700" />
+<P2 x="307" y="112" id="3713" />
+<Point x="399" y="314" />
+<Point x="169" y="313" />
+<Point x="156" y="111" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3668" >
-<father id="3680" num="0" />
-<cdparam x="390" y="376" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3665" >
+<father id="3677" num="0" />
+<cdparam x="399" y="314" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3669" >
-<father id="3680" num="1" />
-<cdparam x="209" y="376" />
+<SUBCOMPONENT type="-1" id="3666" >
+<father id="3677" num="1" />
+<cdparam x="169" y="313" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3670" >
-<father id="3680" num="2" />
-<cdparam x="209" y="133" />
+<SUBCOMPONENT type="-1" id="3667" >
+<father id="3677" num="2" />
+<cdparam x="156" y="111" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3675" >
-<father id="3680" num="3" />
-<cdparam x="390" y="371" />
+<SUBCOMPONENT type="-1" id="3672" >
+<father id="3677" num="3" />
+<cdparam x="400" y="311" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3671" />
-<TGConnectingPoint num="1" id="3672" />
-<TGConnectingPoint num="2" id="3673" />
-<TGConnectingPoint num="3" id="3674" />
+<TGConnectingPoint num="0" id="3668" />
+<TGConnectingPoint num="1" id="3669" />
+<TGConnectingPoint num="2" id="3670" />
+<TGConnectingPoint num="3" id="3671" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -8108,53 +8096,53 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3687" >
-<cdparam x="410" y="165" />
+<CONNECTOR type="5102" id="3684" >
+<cdparam x="400" y="211" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3686" />
-<P1 x="390" y="165" id="3722" />
-<P2 x="390" y="242" id="3702" />
+<infoparam name="connector from TGComponent to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3683" />
+<P1 x="400" y="211" id="3757" />
+<P2 x="399" y="226" id="3753" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3685" >
-<father id="3687" num="0" />
-<cdparam x="404" y="195" />
-<sizeparam width="245" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3682" >
+<father id="3684" num="0" />
+<cdparam x="400" y="251" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3681" />
-<TGConnectingPoint num="1" id="3682" />
-<TGConnectingPoint num="2" id="3683" />
-<TGConnectingPoint num="3" id="3684" />
+<TGConnectingPoint num="0" id="3678" />
+<TGConnectingPoint num="1" id="3679" />
+<TGConnectingPoint num="2" id="3680" />
+<TGConnectingPoint num="3" id="3681" />
<extraparam>
<guard value="[ ]" />
-<afterMin value="minSpeedUpdate" />
-<afterMax value="maxSpeedUpdate" />
+<afterMin value="" />
+<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3694" >
-<cdparam x="390" y="81" />
+<CONNECTOR type="5102" id="3691" >
+<cdparam x="407" y="70" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3693" />
-<P1 x="390" y="81" id="3757" />
-<P2 x="390" y="115" id="3717" />
+<TGConnectingPoint num="0" id="3690" />
+<P1 x="407" y="70" id="3751" />
+<P2 x="400" y="87" id="3711" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3692" >
-<father id="3694" num="0" />
-<cdparam x="390" y="121" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3689" >
+<father id="3691" num="0" />
+<cdparam x="407" y="110" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3688" />
-<TGConnectingPoint num="1" id="3689" />
-<TGConnectingPoint num="2" id="3690" />
-<TGConnectingPoint num="3" id="3691" />
+<TGConnectingPoint num="0" id="3685" />
+<TGConnectingPoint num="1" id="3686" />
+<TGConnectingPoint num="2" id="3687" />
+<TGConnectingPoint num="3" id="3688" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -8164,237 +8152,363 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3701" >
-<cdparam x="390" y="272" />
+<CONNECTOR type="5102" id="3698" >
+<cdparam x="493" y="137" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3700" />
-<P1 x="390" y="272" id="3703" />
-<P2 x="390" y="325" id="3705" />
+<infoparam name="connector from state0 to TGComponent" value="null" />
+<TGConnectingPoint num="0" id="3697" />
+<P1 x="400" y="137" id="3716" />
+<P2 x="400" y="181" id="3756" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3699" >
-<father id="3701" num="0" />
-<cdparam x="404" y="300" />
-<sizeparam width="158" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3696" >
+<father id="3698" num="0" />
+<cdparam x="493" y="177" />
+<sizeparam width="299" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3695" />
-<TGConnectingPoint num="1" id="3696" />
-<TGConnectingPoint num="2" id="3697" />
-<TGConnectingPoint num="3" id="3698" />
+<TGConnectingPoint num="0" id="3692" />
+<TGConnectingPoint num="1" id="3693" />
+<TGConnectingPoint num="2" id="3694" />
+<TGConnectingPoint num="3" id="3695" />
<extraparam>
<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
+<afterMin value="minEmergencyInterval" />
+<afterMax value="maxEmergencyInterval" />
<computeMin value="" />
<computeMax value="" />
-<actions value="speed = carinfo.maxSpeed" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5108" id="3704" >
-<cdparam x="218" y="247" />
-<sizeparam width="345" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="3709" >
+<cdparam x="308" y="270" />
+<sizeparam width="182" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Send signal" value="obstacleDetected(id, position)" />
+<TGConnectingPoint num="0" id="3699" />
+<TGConnectingPoint num="1" id="3700" />
+<TGConnectingPoint num="2" id="3701" />
+<TGConnectingPoint num="3" id="3702" />
+<TGConnectingPoint num="4" id="3703" />
+<TGConnectingPoint num="5" id="3704" />
+<TGConnectingPoint num="6" id="3705" />
+<TGConnectingPoint num="7" id="3706" />
+<TGConnectingPoint num="8" id="3707" />
+<TGConnectingPoint num="9" id="3708" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="3750" >
+<cdparam x="307" y="87" />
+<sizeparam width="186" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="state0" value="WaitingforEmergency" />
+<TGConnectingPoint num="0" id="3710" />
+<TGConnectingPoint num="1" id="3711" />
+<TGConnectingPoint num="2" id="3712" />
+<TGConnectingPoint num="3" id="3713" />
+<TGConnectingPoint num="4" id="3714" />
+<TGConnectingPoint num="5" id="3715" />
+<TGConnectingPoint num="6" id="3716" />
+<TGConnectingPoint num="7" id="3717" />
+<TGConnectingPoint num="8" id="3718" />
+<TGConnectingPoint num="9" id="3719" />
+<TGConnectingPoint num="10" id="3720" />
+<TGConnectingPoint num="11" id="3721" />
+<TGConnectingPoint num="12" id="3722" />
+<TGConnectingPoint num="13" id="3723" />
+<TGConnectingPoint num="14" id="3724" />
+<TGConnectingPoint num="15" id="3725" />
+<TGConnectingPoint num="16" id="3726" />
+<TGConnectingPoint num="17" id="3727" />
+<TGConnectingPoint num="18" id="3728" />
+<TGConnectingPoint num="19" id="3729" />
+<TGConnectingPoint num="20" id="3730" />
+<TGConnectingPoint num="21" id="3731" />
+<TGConnectingPoint num="22" id="3732" />
+<TGConnectingPoint num="23" id="3733" />
+<TGConnectingPoint num="24" id="3734" />
+<TGConnectingPoint num="25" id="3735" />
+<TGConnectingPoint num="26" id="3736" />
+<TGConnectingPoint num="27" id="3737" />
+<TGConnectingPoint num="28" id="3738" />
+<TGConnectingPoint num="29" id="3739" />
+<TGConnectingPoint num="30" id="3740" />
+<TGConnectingPoint num="31" id="3741" />
+<TGConnectingPoint num="32" id="3742" />
+<TGConnectingPoint num="33" id="3743" />
+<TGConnectingPoint num="34" id="3744" />
+<TGConnectingPoint num="35" id="3745" />
+<TGConnectingPoint num="36" id="3746" />
+<TGConnectingPoint num="37" id="3747" />
+<TGConnectingPoint num="38" id="3748" />
+<TGConnectingPoint num="39" id="3749" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="3752" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="start state" value="null" />
+<TGConnectingPoint num="0" id="3751" />
+</COMPONENT>
+
+<COMPONENT type="5108" id="3755" >
+<cdparam x="224" y="231" />
+<sizeparam width="350" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3702" />
-<TGConnectingPoint num="1" id="3703" />
+<TGConnectingPoint num="0" id="3753" />
+<TGConnectingPoint num="1" id="3754" />
<extraparam>
-<Data variable="speed" minValue="carinfo.minSpeed" maxValue="carinfo.maxSpeed" functionId="0" />
+<Data variable="position" minValue="carid.minPosition" maxValue="carid.maxPosition" functionId="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5103" id="3715" >
-<cdparam x="317" y="330" />
-<sizeparam width="147" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5108" id="3758" >
+<cdparam x="274" y="186" />
+<sizeparam width="252" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="updateOnSpeed(speed)" />
-<TGConnectingPoint num="0" id="3705" />
-<TGConnectingPoint num="1" id="3706" />
-<TGConnectingPoint num="2" id="3707" />
-<TGConnectingPoint num="3" id="3708" />
-<TGConnectingPoint num="4" id="3709" />
-<TGConnectingPoint num="5" id="3710" />
-<TGConnectingPoint num="6" id="3711" />
-<TGConnectingPoint num="7" id="3712" />
-<TGConnectingPoint num="8" id="3713" />
-<TGConnectingPoint num="9" id="3714" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3756" >
-<cdparam x="306" y="115" />
-<sizeparam width="169" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="TGComponent" value="null" />
+<TGConnectingPoint num="0" id="3756" />
+<TGConnectingPoint num="1" id="3757" />
+<extraparam>
+<Data variable="id" minValue="carid.minID" maxValue="carid.maxID" functionId="0" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="DSRSC_Management" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="3765" >
+<cdparam x="507" y="267" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Receive signal to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3764" />
+<P1 x="507" y="267" id="3863" />
+<P2 x="631" y="277" id="3840" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3763" >
+<father id="3765" num="0" />
+<cdparam x="507" y="307" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingForSpeedUpdate" />
-<TGConnectingPoint num="0" id="3716" />
-<TGConnectingPoint num="1" id="3717" />
-<TGConnectingPoint num="2" id="3718" />
-<TGConnectingPoint num="3" id="3719" />
-<TGConnectingPoint num="4" id="3720" />
-<TGConnectingPoint num="5" id="3721" />
-<TGConnectingPoint num="6" id="3722" />
-<TGConnectingPoint num="7" id="3723" />
-<TGConnectingPoint num="8" id="3724" />
-<TGConnectingPoint num="9" id="3725" />
-<TGConnectingPoint num="10" id="3726" />
-<TGConnectingPoint num="11" id="3727" />
-<TGConnectingPoint num="12" id="3728" />
-<TGConnectingPoint num="13" id="3729" />
-<TGConnectingPoint num="14" id="3730" />
-<TGConnectingPoint num="15" id="3731" />
-<TGConnectingPoint num="16" id="3732" />
-<TGConnectingPoint num="17" id="3733" />
-<TGConnectingPoint num="18" id="3734" />
-<TGConnectingPoint num="19" id="3735" />
-<TGConnectingPoint num="20" id="3736" />
-<TGConnectingPoint num="21" id="3737" />
-<TGConnectingPoint num="22" id="3738" />
-<TGConnectingPoint num="23" id="3739" />
-<TGConnectingPoint num="24" id="3740" />
-<TGConnectingPoint num="25" id="3741" />
-<TGConnectingPoint num="26" id="3742" />
-<TGConnectingPoint num="27" id="3743" />
-<TGConnectingPoint num="28" id="3744" />
-<TGConnectingPoint num="29" id="3745" />
-<TGConnectingPoint num="30" id="3746" />
-<TGConnectingPoint num="31" id="3747" />
-<TGConnectingPoint num="32" id="3748" />
-<TGConnectingPoint num="33" id="3749" />
-<TGConnectingPoint num="34" id="3750" />
-<TGConnectingPoint num="35" id="3751" />
-<TGConnectingPoint num="36" id="3752" />
-<TGConnectingPoint num="37" id="3753" />
-<TGConnectingPoint num="38" id="3754" />
-<TGConnectingPoint num="39" id="3755" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3758" >
-<cdparam x="383" y="61" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="3759" />
+<TGConnectingPoint num="1" id="3760" />
+<TGConnectingPoint num="2" id="3761" />
+<TGConnectingPoint num="3" id="3762" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="3778" >
+<cdparam x="440" y="432" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Receive signal to state0" value="null" />
+<TGConnectingPoint num="0" id="3774" />
+<TGConnectingPoint num="1" id="3775" />
+<TGConnectingPoint num="2" id="3776" />
+<TGConnectingPoint num="3" id="3777" />
+<P1 x="440" y="432" id="3852" />
+<P2 x="530" y="110" id="3917" />
+<Point x="442" y="479" />
+<Point x="974" y="511" />
+<Point x="957" y="129" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3766" >
+<father id="3778" num="0" />
+<cdparam x="442" y="479" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3757" />
-</COMPONENT>
-
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="3767" >
+<father id="3778" num="1" />
+<cdparam x="974" y="511" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="3768" >
+<father id="3778" num="2" />
+<cdparam x="957" y="129" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="3773" >
+<father id="3778" num="3" />
+<cdparam x="457" y="473" />
+<sizeparam width="150" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="3769" />
+<TGConnectingPoint num="1" id="3770" />
+<TGConnectingPoint num="2" id="3771" />
+<TGConnectingPoint num="3" id="3772" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<actions value="sendMessage(id, position)" />
+</extraparam>
+</SUBCOMPONENT>
-</AVATARStateMachineDiagramPanel>
+<CONNECTOR type="5102" id="3785" >
+<cdparam x="407" y="182" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to Receive signal" value="null" />
+<TGConnectingPoint num="0" id="3784" />
+<P1 x="407" y="182" id="3901" />
+<P2 x="440" y="402" id="3851" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3783" >
+<father id="3785" num="0" />
+<cdparam x="407" y="222" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="3779" />
+<TGConnectingPoint num="1" id="3780" />
+<TGConnectingPoint num="2" id="3781" />
+<TGConnectingPoint num="3" id="3782" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
-<AVATARStateMachineDiagramPanel name="CorrectnessChecking" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3771" >
-<cdparam x="432" y="279" />
+<CONNECTOR type="5102" id="3798" >
+<cdparam x="507" y="267" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3767" />
-<TGConnectingPoint num="1" id="3768" />
-<TGConnectingPoint num="2" id="3769" />
-<TGConnectingPoint num="3" id="3770" />
-<P1 x="432" y="279" id="3826" />
-<P2 x="517" y="124" id="3855" />
-<Point x="504" y="393" />
-<Point x="621" y="397" />
-<Point x="623" y="107" />
+<infoparam name="connector from Receive signal to state0" value="null" />
+<TGConnectingPoint num="0" id="3794" />
+<TGConnectingPoint num="1" id="3795" />
+<TGConnectingPoint num="2" id="3796" />
+<TGConnectingPoint num="3" id="3797" />
+<P1 x="631" y="307" id="3841" />
+<P2 x="530" y="141" id="3899" />
+<Point x="644" y="343" />
+<Point x="829" y="341" />
+<Point x="848" y="153" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3759" >
-<father id="3771" num="0" />
-<cdparam x="504" y="393" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3786" >
+<father id="3798" num="0" />
+<cdparam x="644" y="343" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3760" >
-<father id="3771" num="1" />
-<cdparam x="621" y="397" />
+<SUBCOMPONENT type="-1" id="3787" >
+<father id="3798" num="1" />
+<cdparam x="829" y="341" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3761" >
-<father id="3771" num="2" />
-<cdparam x="623" y="107" />
+<SUBCOMPONENT type="-1" id="3788" >
+<father id="3798" num="2" />
+<cdparam x="848" y="153" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3766" >
-<father id="3771" num="3" />
-<cdparam x="479" y="319" />
-<sizeparam width="98" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="3793" >
+<father id="3798" num="3" />
+<cdparam x="507" y="307" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3762" />
-<TGConnectingPoint num="1" id="3763" />
-<TGConnectingPoint num="2" id="3764" />
-<TGConnectingPoint num="3" id="3765" />
+<TGConnectingPoint num="0" id="3789" />
+<TGConnectingPoint num="1" id="3790" />
+<TGConnectingPoint num="2" id="3791" />
+<TGConnectingPoint num="3" id="3792" />
<extraparam>
-<guard value="[ canHaveInvalid]" />
+<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
-<actions value="invalidMessage()" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3784" >
-<cdparam x="290" y="387" />
+<CONNECTOR type="5102" id="3811" >
+<cdparam x="289" y="344" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3780" />
-<TGConnectingPoint num="1" id="3781" />
-<TGConnectingPoint num="2" id="3782" />
-<TGConnectingPoint num="3" id="3783" />
-<P1 x="290" y="387" id="3814" />
-<P2 x="298" y="117" id="3872" />
-<Point x="297" y="425" />
-<Point x="160" y="415" />
-<Point x="172" y="94" />
+<TGConnectingPoint num="0" id="3807" />
+<TGConnectingPoint num="1" id="3808" />
+<TGConnectingPoint num="2" id="3809" />
+<TGConnectingPoint num="3" id="3810" />
+<P1 x="289" y="344" id="3874" />
+<P2 x="285" y="141" id="3898" />
+<Point x="285" y="384" />
+<Point x="189" y="387" />
+<Point x="176" y="154" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3772" >
-<father id="3784" num="0" />
-<cdparam x="297" y="425" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3799" >
+<father id="3811" num="0" />
+<cdparam x="285" y="384" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3773" >
-<father id="3784" num="1" />
-<cdparam x="160" y="415" />
+<SUBCOMPONENT type="-1" id="3800" >
+<father id="3811" num="1" />
+<cdparam x="189" y="387" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3774" >
-<father id="3784" num="2" />
-<cdparam x="172" y="94" />
+<SUBCOMPONENT type="-1" id="3801" >
+<father id="3811" num="2" />
+<cdparam x="176" y="154" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3779" >
-<father id="3784" num="3" />
-<cdparam x="290" y="427" />
+<SUBCOMPONENT type="-1" id="3806" >
+<father id="3811" num="3" />
+<cdparam x="289" y="384" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3775" />
-<TGConnectingPoint num="1" id="3776" />
-<TGConnectingPoint num="2" id="3777" />
-<TGConnectingPoint num="3" id="3778" />
+<TGConnectingPoint num="0" id="3802" />
+<TGConnectingPoint num="1" id="3803" />
+<TGConnectingPoint num="2" id="3804" />
+<TGConnectingPoint num="3" id="3805" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -8404,25 +8518,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3791" >
+<CONNECTOR type="5102" id="3818" >
<cdparam x="407" y="70" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3790" />
-<P1 x="407" y="70" id="3892" />
-<P2 x="407" y="99" id="3852" />
+<TGConnectingPoint num="0" id="3817" />
+<P1 x="407" y="70" id="3936" />
+<P2 x="407" y="101" id="3896" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3789" >
-<father id="3791" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3816" >
+<father id="3818" num="0" />
<cdparam x="407" y="110" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3785" />
-<TGConnectingPoint num="1" id="3786" />
-<TGConnectingPoint num="2" id="3787" />
-<TGConnectingPoint num="3" id="3788" />
+<TGConnectingPoint num="0" id="3812" />
+<TGConnectingPoint num="1" id="3813" />
+<TGConnectingPoint num="2" id="3814" />
+<TGConnectingPoint num="3" id="3815" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -8432,25 +8546,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3798" >
-<cdparam x="407" y="149" />
+<CONNECTOR type="5102" id="3825" >
+<cdparam x="314" y="182" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="3797" />
-<P1 x="407" y="149" id="3857" />
-<P2 x="407" y="188" id="3840" />
+<TGConnectingPoint num="0" id="3824" />
+<P1 x="314" y="182" id="3923" />
+<P2 x="296" y="256" id="3884" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3796" >
-<father id="3798" num="0" />
-<cdparam x="407" y="189" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3823" >
+<father id="3825" num="0" />
+<cdparam x="314" y="222" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3792" />
-<TGConnectingPoint num="1" id="3793" />
-<TGConnectingPoint num="2" id="3794" />
-<TGConnectingPoint num="3" id="3795" />
+<TGConnectingPoint num="0" id="3819" />
+<TGConnectingPoint num="1" id="3820" />
+<TGConnectingPoint num="2" id="3821" />
+<TGConnectingPoint num="3" id="3822" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -8460,111 +8574,68 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3805" >
-<cdparam x="407" y="218" />
+<CONNECTOR type="5102" id="3832" >
+<cdparam x="296" y="286" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to choice" value="null" />
-<TGConnectingPoint num="0" id="3804" />
-<P1 x="407" y="218" id="3841" />
-<P2 x="407" y="254" id="3824" />
+<infoparam name="connector from Receive signal to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3831" />
+<P1 x="296" y="286" id="3885" />
+<P2 x="289" y="314" id="3873" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3803" >
-<father id="3805" num="0" />
-<cdparam x="419" y="243" />
-<sizeparam width="108" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3830" >
+<father id="3832" num="0" />
+<cdparam x="296" y="326" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3799" />
-<TGConnectingPoint num="1" id="3800" />
-<TGConnectingPoint num="2" id="3801" />
-<TGConnectingPoint num="3" id="3802" />
+<TGConnectingPoint num="0" id="3826" />
+<TGConnectingPoint num="1" id="3827" />
+<TGConnectingPoint num="2" id="3828" />
+<TGConnectingPoint num="3" id="3829" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
-<actions value="checkingMessage()" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3812" >
-<cdparam x="382" y="279" />
+<CONNECTOR type="5102" id="3839" >
+<cdparam x="498" y="182" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from choice to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3811" />
-<P1 x="382" y="279" id="3828" />
-<P2 x="290" y="357" id="3813" />
+<infoparam name="connector from state0 to Receive signal" value="null" />
+<TGConnectingPoint num="0" id="3838" />
+<P1 x="498" y="182" id="3926" />
+<P2 x="507" y="237" id="3862" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3810" >
-<father id="3812" num="0" />
-<cdparam x="259" y="312" />
-<sizeparam width="85" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3837" >
+<father id="3839" num="0" />
+<cdparam x="498" y="222" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3806" />
-<TGConnectingPoint num="1" id="3807" />
-<TGConnectingPoint num="2" id="3808" />
-<TGConnectingPoint num="3" id="3809" />
+<TGConnectingPoint num="0" id="3833" />
+<TGConnectingPoint num="1" id="3834" />
+<TGConnectingPoint num="2" id="3835" />
+<TGConnectingPoint num="3" id="3836" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
-<actions value="validMessage()" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5103" id="3823" >
-<cdparam x="174" y="362" />
-<sizeparam width="232" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="toPlausibityCheckMessage(id, position)" />
-<TGConnectingPoint num="0" id="3813" />
-<TGConnectingPoint num="1" id="3814" />
-<TGConnectingPoint num="2" id="3815" />
-<TGConnectingPoint num="3" id="3816" />
-<TGConnectingPoint num="4" id="3817" />
-<TGConnectingPoint num="5" id="3818" />
-<TGConnectingPoint num="6" id="3819" />
-<TGConnectingPoint num="7" id="3820" />
-<TGConnectingPoint num="8" id="3821" />
-<TGConnectingPoint num="9" id="3822" />
-</COMPONENT>
-
-<COMPONENT type="5107" id="3839" >
-<cdparam x="392" y="264" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="3824" />
-<TGConnectingPoint num="1" id="3825" />
-<TGConnectingPoint num="2" id="3826" />
-<TGConnectingPoint num="3" id="3827" />
-<TGConnectingPoint num="4" id="3828" />
-<TGConnectingPoint num="5" id="3829" />
-<TGConnectingPoint num="6" id="3830" />
-<TGConnectingPoint num="7" id="3831" />
-<TGConnectingPoint num="8" id="3832" />
-<TGConnectingPoint num="9" id="3833" />
-<TGConnectingPoint num="10" id="3834" />
-<TGConnectingPoint num="11" id="3835" />
-<TGConnectingPoint num="12" id="3836" />
-<TGConnectingPoint num="13" id="3837" />
-<TGConnectingPoint num="14" id="3838" />
-</COMPONENT>
-
-<COMPONENT type="5104" id="3850" >
-<cdparam x="275" y="193" />
-<sizeparam width="264" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="3850" >
+<cdparam x="490" y="282" />
+<sizeparam width="283" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="getEmergencyBrakingMessage(id, position)" />
+<infoparam name="Send signal" value="forwardEmergencyBrakingMessage(id, position)" />
<TGConnectingPoint num="0" id="3840" />
<TGConnectingPoint num="1" id="3841" />
<TGConnectingPoint num="2" id="3842" />
@@ -8577,12 +8648,12 @@
<TGConnectingPoint num="9" id="3849" />
</COMPONENT>
-<COMPONENT type="5106" id="3891" >
-<cdparam x="298" y="99" />
-<sizeparam width="219" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5104" id="3861" >
+<cdparam x="288" y="407" />
+<sizeparam width="304" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingForMessageToAnalyze" />
+<infoparam name="Receive signal" value="broadcastEmergencyBrakingMessage(id, position)" />
<TGConnectingPoint num="0" id="3851" />
<TGConnectingPoint num="1" id="3852" />
<TGConnectingPoint num="2" id="3853" />
@@ -8593,102 +8664,174 @@
<TGConnectingPoint num="7" id="3858" />
<TGConnectingPoint num="8" id="3859" />
<TGConnectingPoint num="9" id="3860" />
-<TGConnectingPoint num="10" id="3861" />
-<TGConnectingPoint num="11" id="3862" />
-<TGConnectingPoint num="12" id="3863" />
-<TGConnectingPoint num="13" id="3864" />
-<TGConnectingPoint num="14" id="3865" />
-<TGConnectingPoint num="15" id="3866" />
-<TGConnectingPoint num="16" id="3867" />
-<TGConnectingPoint num="17" id="3868" />
-<TGConnectingPoint num="18" id="3869" />
-<TGConnectingPoint num="19" id="3870" />
-<TGConnectingPoint num="20" id="3871" />
-<TGConnectingPoint num="21" id="3872" />
-<TGConnectingPoint num="22" id="3873" />
-<TGConnectingPoint num="23" id="3874" />
-<TGConnectingPoint num="24" id="3875" />
-<TGConnectingPoint num="25" id="3876" />
-<TGConnectingPoint num="26" id="3877" />
-<TGConnectingPoint num="27" id="3878" />
-<TGConnectingPoint num="28" id="3879" />
-<TGConnectingPoint num="29" id="3880" />
-<TGConnectingPoint num="30" id="3881" />
-<TGConnectingPoint num="31" id="3882" />
-<TGConnectingPoint num="32" id="3883" />
-<TGConnectingPoint num="33" id="3884" />
-<TGConnectingPoint num="34" id="3885" />
-<TGConnectingPoint num="35" id="3886" />
-<TGConnectingPoint num="36" id="3887" />
-<TGConnectingPoint num="37" id="3888" />
-<TGConnectingPoint num="38" id="3889" />
-<TGConnectingPoint num="39" id="3890" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3893" >
+</COMPONENT>
+
+<COMPONENT type="5104" id="3872" >
+<cdparam x="412" y="242" />
+<sizeparam width="190" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Receive signal" value="obstacleDetected(id, position)" />
+<TGConnectingPoint num="0" id="3862" />
+<TGConnectingPoint num="1" id="3863" />
+<TGConnectingPoint num="2" id="3864" />
+<TGConnectingPoint num="3" id="3865" />
+<TGConnectingPoint num="4" id="3866" />
+<TGConnectingPoint num="5" id="3867" />
+<TGConnectingPoint num="6" id="3868" />
+<TGConnectingPoint num="7" id="3869" />
+<TGConnectingPoint num="8" id="3870" />
+<TGConnectingPoint num="9" id="3871" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="3883" >
+<cdparam x="208" y="319" />
+<sizeparam width="163" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Send signal" value="setCarPosition(id, position)" />
+<TGConnectingPoint num="0" id="3873" />
+<TGConnectingPoint num="1" id="3874" />
+<TGConnectingPoint num="2" id="3875" />
+<TGConnectingPoint num="3" id="3876" />
+<TGConnectingPoint num="4" id="3877" />
+<TGConnectingPoint num="5" id="3878" />
+<TGConnectingPoint num="6" id="3879" />
+<TGConnectingPoint num="7" id="3880" />
+<TGConnectingPoint num="8" id="3881" />
+<TGConnectingPoint num="9" id="3882" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="3894" >
+<cdparam x="220" y="261" />
+<sizeparam width="152" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Receive signal" value="carPosition(id, position)" />
+<TGConnectingPoint num="0" id="3884" />
+<TGConnectingPoint num="1" id="3885" />
+<TGConnectingPoint num="2" id="3886" />
+<TGConnectingPoint num="3" id="3887" />
+<TGConnectingPoint num="4" id="3888" />
+<TGConnectingPoint num="5" id="3889" />
+<TGConnectingPoint num="6" id="3890" />
+<TGConnectingPoint num="7" id="3891" />
+<TGConnectingPoint num="8" id="3892" />
+<TGConnectingPoint num="9" id="3893" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="3935" >
+<cdparam x="285" y="101" />
+<sizeparam width="245" height="81" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="state0" value="WaitingForEnvironmentInput" />
+<TGConnectingPoint num="0" id="3895" />
+<TGConnectingPoint num="1" id="3896" />
+<TGConnectingPoint num="2" id="3897" />
+<TGConnectingPoint num="3" id="3898" />
+<TGConnectingPoint num="4" id="3899" />
+<TGConnectingPoint num="5" id="3900" />
+<TGConnectingPoint num="6" id="3901" />
+<TGConnectingPoint num="7" id="3902" />
+<TGConnectingPoint num="8" id="3903" />
+<TGConnectingPoint num="9" id="3904" />
+<TGConnectingPoint num="10" id="3905" />
+<TGConnectingPoint num="11" id="3906" />
+<TGConnectingPoint num="12" id="3907" />
+<TGConnectingPoint num="13" id="3908" />
+<TGConnectingPoint num="14" id="3909" />
+<TGConnectingPoint num="15" id="3910" />
+<TGConnectingPoint num="16" id="3911" />
+<TGConnectingPoint num="17" id="3912" />
+<TGConnectingPoint num="18" id="3913" />
+<TGConnectingPoint num="19" id="3914" />
+<TGConnectingPoint num="20" id="3915" />
+<TGConnectingPoint num="21" id="3916" />
+<TGConnectingPoint num="22" id="3917" />
+<TGConnectingPoint num="23" id="3918" />
+<TGConnectingPoint num="24" id="3919" />
+<TGConnectingPoint num="25" id="3920" />
+<TGConnectingPoint num="26" id="3921" />
+<TGConnectingPoint num="27" id="3922" />
+<TGConnectingPoint num="28" id="3923" />
+<TGConnectingPoint num="29" id="3924" />
+<TGConnectingPoint num="30" id="3925" />
+<TGConnectingPoint num="31" id="3926" />
+<TGConnectingPoint num="32" id="3927" />
+<TGConnectingPoint num="33" id="3928" />
+<TGConnectingPoint num="34" id="3929" />
+<TGConnectingPoint num="35" id="3930" />
+<TGConnectingPoint num="36" id="3931" />
+<TGConnectingPoint num="37" id="3932" />
+<TGConnectingPoint num="38" id="3933" />
+<TGConnectingPoint num="39" id="3934" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="3937" >
<cdparam x="400" y="50" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3892" />
+<TGConnectingPoint num="0" id="3936" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
<AVATARStateMachineDiagramPanel name="NeighbourhoodTableManagement" minX="10" maxX="1900" minY="10" maxY="1900" >
-<CONNECTOR type="5102" id="3906" >
+<CONNECTOR type="5102" id="3950" >
<cdparam x="371" y="281" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3902" />
-<TGConnectingPoint num="1" id="3903" />
-<TGConnectingPoint num="2" id="3904" />
-<TGConnectingPoint num="3" id="3905" />
-<P1 x="371" y="281" id="4148" />
-<P2 x="453" y="163" id="4540" />
+<TGConnectingPoint num="0" id="3946" />
+<TGConnectingPoint num="1" id="3947" />
+<TGConnectingPoint num="2" id="3948" />
+<TGConnectingPoint num="3" id="3949" />
+<P1 x="371" y="281" id="4192" />
+<P2 x="453" y="163" id="4584" />
<Point x="372" y="309" />
<Point x="272" y="313" />
<Point x="255" y="142" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3894" >
-<father id="3906" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3938" >
+<father id="3950" num="0" />
<cdparam x="372" y="309" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3895" >
-<father id="3906" num="1" />
+<SUBCOMPONENT type="-1" id="3939" >
+<father id="3950" num="1" />
<cdparam x="272" y="313" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3896" >
-<father id="3906" num="2" />
+<SUBCOMPONENT type="-1" id="3940" >
+<father id="3950" num="2" />
<cdparam x="255" y="142" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3901" >
-<father id="3906" num="3" />
+<SUBCOMPONENT type="-1" id="3945" >
+<father id="3950" num="3" />
<cdparam x="371" y="321" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3897" />
-<TGConnectingPoint num="1" id="3898" />
-<TGConnectingPoint num="2" id="3899" />
-<TGConnectingPoint num="3" id="3900" />
+<TGConnectingPoint num="0" id="3941" />
+<TGConnectingPoint num="1" id="3942" />
+<TGConnectingPoint num="2" id="3943" />
+<TGConnectingPoint num="3" id="3944" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -8698,25 +8841,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3913" >
+<CONNECTOR type="5102" id="3957" >
<cdparam x="862" y="884" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3912" />
-<P1 x="740" y="812" id="4161" />
-<P2 x="729" y="1182" id="4466" />
+<TGConnectingPoint num="0" id="3956" />
+<P1 x="740" y="812" id="4205" />
+<P2 x="729" y="1182" id="4510" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3911" >
-<father id="3913" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3955" >
+<father id="3957" num="0" />
<cdparam x="512" y="935" />
<sizeparam width="614" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3907" />
-<TGConnectingPoint num="1" id="3908" />
-<TGConnectingPoint num="2" id="3909" />
-<TGConnectingPoint num="3" id="3910" />
+<TGConnectingPoint num="0" id="3951" />
+<TGConnectingPoint num="1" id="3952" />
+<TGConnectingPoint num="2" id="3953" />
+<TGConnectingPoint num="3" id="3954" />
<extraparam>
<guard value="[ (listOfNodes.position2 >= listOfNodes.position1) and (listOfNodes.position2 >= listOfNodes.position1) ]" />
<afterMin value="" />
@@ -8727,25 +8870,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3920" >
+<CONNECTOR type="5102" id="3964" >
<cdparam x="765" y="787" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to choice" value="null" />
-<TGConnectingPoint num="0" id="3919" />
-<P1 x="765" y="787" id="4160" />
-<P2 x="793" y="1182" id="4457" />
+<TGConnectingPoint num="0" id="3963" />
+<P1 x="765" y="787" id="4204" />
+<P2 x="793" y="1182" id="4501" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3918" >
-<father id="3920" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3962" >
+<father id="3964" num="0" />
<cdparam x="653" y="869" />
<sizeparam width="614" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3914" />
-<TGConnectingPoint num="1" id="3915" />
-<TGConnectingPoint num="2" id="3916" />
-<TGConnectingPoint num="3" id="3917" />
+<TGConnectingPoint num="0" id="3958" />
+<TGConnectingPoint num="1" id="3959" />
+<TGConnectingPoint num="2" id="3960" />
+<TGConnectingPoint num="3" id="3961" />
<extraparam>
<guard value="[ (listOfNodes.position1 >= listOfNodes.position0) and (listOfNodes.position1 >= listOfNodes.position2) ]" />
<afterMin value="" />
@@ -8756,25 +8899,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3927" >
+<CONNECTOR type="5102" id="3971" >
<cdparam x="715" y="787" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3926" />
-<P1 x="715" y="787" id="4159" />
-<P2 x="607" y="1182" id="4465" />
+<TGConnectingPoint num="0" id="3970" />
+<P1 x="715" y="787" id="4203" />
+<P2 x="607" y="1182" id="4509" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3925" >
-<father id="3927" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3969" >
+<father id="3971" num="0" />
<cdparam x="347" y="830" />
<sizeparam width="614" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3921" />
-<TGConnectingPoint num="1" id="3922" />
-<TGConnectingPoint num="2" id="3923" />
-<TGConnectingPoint num="3" id="3924" />
+<TGConnectingPoint num="0" id="3965" />
+<TGConnectingPoint num="1" id="3966" />
+<TGConnectingPoint num="2" id="3967" />
+<TGConnectingPoint num="3" id="3968" />
<extraparam>
<guard value="[ (listOfNodes.position0 >= listOfNodes.position1) and (listOfNodes.position0 >= listOfNodes.position2) ]" />
<afterMin value="" />
@@ -8785,25 +8928,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3934" >
+<CONNECTOR type="5102" id="3978" >
<cdparam x="330" y="819" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3933" />
-<P1 x="330" y="819" id="4176" />
-<P2 x="485" y="1182" id="4464" />
+<TGConnectingPoint num="0" id="3977" />
+<P1 x="330" y="819" id="4220" />
+<P2 x="485" y="1182" id="4508" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3932" >
-<father id="3934" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3976" >
+<father id="3978" num="0" />
<cdparam x="339" y="869" />
<sizeparam width="250" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3928" />
-<TGConnectingPoint num="1" id="3929" />
-<TGConnectingPoint num="2" id="3930" />
-<TGConnectingPoint num="3" id="3931" />
+<TGConnectingPoint num="0" id="3972" />
+<TGConnectingPoint num="1" id="3973" />
+<TGConnectingPoint num="2" id="3974" />
+<TGConnectingPoint num="3" id="3975" />
<extraparam>
<guard value="[ (listOfNodes.position2 < currentPosition) ]" />
<afterMin value="" />
@@ -8814,25 +8957,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3941" >
+<CONNECTOR type="5102" id="3985" >
<cdparam x="305" y="844" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3940" />
-<P1 x="305" y="844" id="4177" />
-<P2 x="427" y="1207" id="4451" />
+<TGConnectingPoint num="0" id="3984" />
+<P1 x="305" y="844" id="4221" />
+<P2 x="427" y="1207" id="4495" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3939" >
-<father id="3941" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3983" >
+<father id="3985" num="0" />
<cdparam x="281" y="907" />
<sizeparam width="250" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3935" />
-<TGConnectingPoint num="1" id="3936" />
-<TGConnectingPoint num="2" id="3937" />
-<TGConnectingPoint num="3" id="3938" />
+<TGConnectingPoint num="0" id="3979" />
+<TGConnectingPoint num="1" id="3980" />
+<TGConnectingPoint num="2" id="3981" />
+<TGConnectingPoint num="3" id="3982" />
<extraparam>
<guard value="[ (listOfNodes.position1 < currentPosition) ]" />
<afterMin value="" />
@@ -8843,35 +8986,35 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3950" >
+<CONNECTOR type="5102" id="3994" >
<cdparam x="280" y="819" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3948" />
-<TGConnectingPoint num="1" id="3949" />
-<P1 x="280" y="819" id="4175" />
-<P2 x="427" y="1225" id="4473" />
+<TGConnectingPoint num="0" id="3992" />
+<TGConnectingPoint num="1" id="3993" />
+<P1 x="280" y="819" id="4219" />
+<P2 x="427" y="1225" id="4517" />
<Point x="245" y="990" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3942" >
-<father id="3950" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3986" >
+<father id="3994" num="0" />
<cdparam x="245" y="990" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3947" >
-<father id="3950" num="1" />
+<SUBCOMPONENT type="-1" id="3991" >
+<father id="3994" num="1" />
<cdparam x="28" y="885" />
<sizeparam width="250" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3943" />
-<TGConnectingPoint num="1" id="3944" />
-<TGConnectingPoint num="2" id="3945" />
-<TGConnectingPoint num="3" id="3946" />
+<TGConnectingPoint num="0" id="3987" />
+<TGConnectingPoint num="1" id="3988" />
+<TGConnectingPoint num="2" id="3989" />
+<TGConnectingPoint num="3" id="3990" />
<extraparam>
<guard value="[ (listOfNodes.position0 < currentPosition) ]" />
<afterMin value="" />
@@ -8882,35 +9025,35 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3959" >
+<CONNECTOR type="5102" id="4003" >
<cdparam x="535" y="705" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3957" />
-<TGConnectingPoint num="1" id="3958" />
-<P1 x="522" y="668" id="4400" />
-<P2 x="740" y="762" id="4158" />
+<TGConnectingPoint num="0" id="4001" />
+<TGConnectingPoint num="1" id="4002" />
+<P1 x="522" y="668" id="4444" />
+<P2 x="740" y="762" id="4202" />
<Point x="653" y="702" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3951" >
-<father id="3959" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3995" >
+<father id="4003" num="0" />
<cdparam x="653" y="702" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3956" >
-<father id="3959" num="1" />
+<SUBCOMPONENT type="-1" id="4000" >
+<father id="4003" num="1" />
<cdparam x="589" y="673" />
<sizeparam width="39" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3952" />
-<TGConnectingPoint num="1" id="3953" />
-<TGConnectingPoint num="2" id="3954" />
-<TGConnectingPoint num="3" id="3955" />
+<TGConnectingPoint num="0" id="3996" />
+<TGConnectingPoint num="1" id="3997" />
+<TGConnectingPoint num="2" id="3998" />
+<TGConnectingPoint num="3" id="3999" />
<extraparam>
<guard value="[ else ]" />
<afterMin value="" />
@@ -8920,25 +9063,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3966" >
+<CONNECTOR type="5102" id="4010" >
<cdparam x="851" y="1232" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="3965" />
-<P1 x="851" y="1232" id="4479" />
-<P2 x="759" y="1409" id="4209" />
+<TGConnectingPoint num="0" id="4009" />
+<P1 x="851" y="1232" id="4523" />
+<P2 x="759" y="1409" id="4253" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3964" >
-<father id="3966" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4008" >
+<father id="4010" num="0" />
<cdparam x="829" y="1296" />
<sizeparam width="186" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3960" />
-<TGConnectingPoint num="1" id="3961" />
-<TGConnectingPoint num="2" id="3962" />
-<TGConnectingPoint num="3" id="3963" />
+<TGConnectingPoint num="0" id="4004" />
+<TGConnectingPoint num="1" id="4005" />
+<TGConnectingPoint num="2" id="4006" />
+<TGConnectingPoint num="3" id="4007" />
<extraparam>
<guard value="[ listOfNodes.id2 == 0]" />
<afterMin value="" />
@@ -8950,25 +9093,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3973" >
+<CONNECTOR type="5102" id="4017" >
<cdparam x="671" y="1232" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="3972" />
-<P1 x="671" y="1232" id="4454" />
-<P2 x="640" y="1409" id="4191" />
+<TGConnectingPoint num="0" id="4016" />
+<P1 x="671" y="1232" id="4498" />
+<P2 x="640" y="1409" id="4235" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3971" >
-<father id="3973" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4015" >
+<father id="4017" num="0" />
<cdparam x="570" y="1299" />
<sizeparam width="186" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3967" />
-<TGConnectingPoint num="1" id="3968" />
-<TGConnectingPoint num="2" id="3969" />
-<TGConnectingPoint num="3" id="3970" />
+<TGConnectingPoint num="0" id="4011" />
+<TGConnectingPoint num="1" id="4012" />
+<TGConnectingPoint num="2" id="4013" />
+<TGConnectingPoint num="3" id="4014" />
<extraparam>
<guard value="[ listOfNodes.id1 == 0]" />
<afterMin value="" />
@@ -8980,25 +9123,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3980" >
+<CONNECTOR type="5102" id="4024" >
<cdparam x="549" y="1232" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="3979" />
-<P1 x="485" y="1232" id="4476" />
-<P2 x="517" y="1409" id="4206" />
+<TGConnectingPoint num="0" id="4023" />
+<P1 x="485" y="1232" id="4520" />
+<P2 x="517" y="1409" id="4250" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3978" >
-<father id="3980" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4022" >
+<father id="4024" num="0" />
<cdparam x="293" y="1279" />
<sizeparam width="186" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3974" />
-<TGConnectingPoint num="1" id="3975" />
-<TGConnectingPoint num="2" id="3976" />
-<TGConnectingPoint num="3" id="3977" />
+<TGConnectingPoint num="0" id="4018" />
+<TGConnectingPoint num="1" id="4019" />
+<TGConnectingPoint num="2" id="4020" />
+<TGConnectingPoint num="3" id="4021" />
<extraparam>
<guard value="[ listOfNodes.id0 == 0]" />
<afterMin value="" />
@@ -9010,45 +9153,45 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3991" >
+<CONNECTOR type="5102" id="4035" >
<cdparam x="820" y="1233" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="3988" />
-<TGConnectingPoint num="1" id="3989" />
-<TGConnectingPoint num="2" id="3990" />
-<P1 x="801" y="1434" id="4194" />
-<P2 x="710" y="145" id="4532" />
+<TGConnectingPoint num="0" id="4032" />
+<TGConnectingPoint num="1" id="4033" />
+<TGConnectingPoint num="2" id="4034" />
+<P1 x="801" y="1434" id="4238" />
+<P2 x="710" y="145" id="4576" />
<Point x="1377" y="1228" />
<Point x="1356" y="105" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3981" >
-<father id="3991" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4025" >
+<father id="4035" num="0" />
<cdparam x="1377" y="1228" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3982" >
-<father id="3991" num="1" />
+<SUBCOMPONENT type="-1" id="4026" >
+<father id="4035" num="1" />
<cdparam x="1356" y="105" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3987" >
-<father id="3991" num="2" />
+<SUBCOMPONENT type="-1" id="4031" >
+<father id="4035" num="2" />
<cdparam x="820" y="1273" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3983" />
-<TGConnectingPoint num="1" id="3984" />
-<TGConnectingPoint num="2" id="3985" />
-<TGConnectingPoint num="3" id="3986" />
+<TGConnectingPoint num="0" id="4027" />
+<TGConnectingPoint num="1" id="4028" />
+<TGConnectingPoint num="2" id="4029" />
+<TGConnectingPoint num="3" id="4030" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9058,35 +9201,35 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4000" >
+<CONNECTOR type="5102" id="4044" >
<cdparam x="1056" y="524" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3998" />
-<TGConnectingPoint num="1" id="3999" />
-<P1 x="1170" y="495" id="4133" />
-<P2 x="1082" y="649" id="4242" />
+<TGConnectingPoint num="0" id="4042" />
+<TGConnectingPoint num="1" id="4043" />
+<P1 x="1170" y="495" id="4177" />
+<P2 x="1082" y="649" id="4286" />
<Point x="1204" y="597" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3992" >
-<father id="4000" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4036" >
+<father id="4044" num="0" />
<cdparam x="1204" y="597" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3997" >
-<father id="4000" num="1" />
+<SUBCOMPONENT type="-1" id="4041" >
+<father id="4044" num="1" />
<cdparam x="1198" y="537" />
<sizeparam width="186" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3993" />
-<TGConnectingPoint num="1" id="3994" />
-<TGConnectingPoint num="2" id="3995" />
-<TGConnectingPoint num="3" id="3996" />
+<TGConnectingPoint num="0" id="4037" />
+<TGConnectingPoint num="1" id="4038" />
+<TGConnectingPoint num="2" id="4039" />
+<TGConnectingPoint num="3" id="4040" />
<extraparam>
<guard value="[ else]" />
<afterMin value="" />
@@ -9097,35 +9240,35 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4009" >
+<CONNECTOR type="5102" id="4053" >
<cdparam x="1006" y="524" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4007" />
-<TGConnectingPoint num="1" id="4008" />
-<P1 x="1002" y="448" id="4273" />
-<P2 x="982" y="637" id="4231" />
+<TGConnectingPoint num="0" id="4051" />
+<TGConnectingPoint num="1" id="4052" />
+<P1 x="1002" y="448" id="4317" />
+<P2 x="982" y="637" id="4275" />
<Point x="946" y="594" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4001" >
-<father id="4009" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4045" >
+<father id="4053" num="0" />
<cdparam x="946" y="594" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4006" >
-<father id="4009" num="1" />
+<SUBCOMPONENT type="-1" id="4050" >
+<father id="4053" num="1" />
<cdparam x="797" y="485" />
<sizeparam width="186" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4002" />
-<TGConnectingPoint num="1" id="4003" />
-<TGConnectingPoint num="2" id="4004" />
-<TGConnectingPoint num="3" id="4005" />
+<TGConnectingPoint num="0" id="4046" />
+<TGConnectingPoint num="1" id="4047" />
+<TGConnectingPoint num="2" id="4048" />
+<TGConnectingPoint num="3" id="4049" />
<extraparam>
<guard value="[ listOfNodes.id0 == id]" />
<afterMin value="" />
@@ -9136,55 +9279,55 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4022" >
+<CONNECTOR type="5102" id="4066" >
<cdparam x="1032" y="687" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4018" />
-<TGConnectingPoint num="1" id="4019" />
-<TGConnectingPoint num="2" id="4020" />
-<TGConnectingPoint num="3" id="4021" />
-<P1 x="1032" y="687" id="4237" />
-<P2 x="710" y="163" id="4541" />
+<TGConnectingPoint num="0" id="4062" />
+<TGConnectingPoint num="1" id="4063" />
+<TGConnectingPoint num="2" id="4064" />
+<TGConnectingPoint num="3" id="4065" />
+<P1 x="1032" y="687" id="4281" />
+<P2 x="710" y="163" id="4585" />
<Point x="1038" y="721" />
<Point x="1296" y="719" />
<Point x="1226" y="164" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4010" >
-<father id="4022" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4054" >
+<father id="4066" num="0" />
<cdparam x="1038" y="721" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4011" >
-<father id="4022" num="1" />
+<SUBCOMPONENT type="-1" id="4055" >
+<father id="4066" num="1" />
<cdparam x="1296" y="719" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4012" >
-<father id="4022" num="2" />
+<SUBCOMPONENT type="-1" id="4056" >
+<father id="4066" num="2" />
<cdparam x="1226" y="164" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4017" >
-<father id="4022" num="3" />
+<SUBCOMPONENT type="-1" id="4061" >
+<father id="4066" num="3" />
<cdparam x="1032" y="727" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4013" />
-<TGConnectingPoint num="1" id="4014" />
-<TGConnectingPoint num="2" id="4015" />
-<TGConnectingPoint num="3" id="4016" />
+<TGConnectingPoint num="0" id="4057" />
+<TGConnectingPoint num="1" id="4058" />
+<TGConnectingPoint num="2" id="4059" />
+<TGConnectingPoint num="3" id="4060" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9194,25 +9337,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4029" >
+<CONNECTOR type="5102" id="4073" >
<cdparam x="556" y="347" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4028" />
-<P1 x="556" y="347" id="4343" />
-<P2 x="556" y="435" id="4497" />
+<TGConnectingPoint num="0" id="4072" />
+<P1 x="556" y="347" id="4387" />
+<P2 x="556" y="435" id="4541" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4027" >
-<father id="4029" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4071" >
+<father id="4073" num="0" />
<cdparam x="463" y="415" />
<sizeparam width="450" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4023" />
-<TGConnectingPoint num="1" id="4024" />
-<TGConnectingPoint num="2" id="4025" />
-<TGConnectingPoint num="3" id="4026" />
+<TGConnectingPoint num="0" id="4067" />
+<TGConnectingPoint num="1" id="4068" />
+<TGConnectingPoint num="2" id="4069" />
+<TGConnectingPoint num="3" id="4070" />
<extraparam>
<guard value="[ else ]" />
<afterMin value="" />
@@ -9222,55 +9365,55 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4042" >
+<CONNECTOR type="5102" id="4086" >
<cdparam x="782" y="281" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Receive signal to state0" value="null" />
-<TGConnectingPoint num="0" id="4038" />
-<TGConnectingPoint num="1" id="4039" />
-<TGConnectingPoint num="2" id="4040" />
-<TGConnectingPoint num="3" id="4041" />
-<P1 x="782" y="281" id="4371" />
-<P2 x="710" y="199" id="4543" />
+<TGConnectingPoint num="0" id="4082" />
+<TGConnectingPoint num="1" id="4083" />
+<TGConnectingPoint num="2" id="4084" />
+<TGConnectingPoint num="3" id="4085" />
+<P1 x="782" y="281" id="4415" />
+<P2 x="710" y="199" id="4587" />
<Point x="782" y="307" />
<Point x="916" y="307" />
<Point x="916" y="199" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4030" >
-<father id="4042" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4074" >
+<father id="4086" num="0" />
<cdparam x="782" y="307" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4031" >
-<father id="4042" num="1" />
+<SUBCOMPONENT type="-1" id="4075" >
+<father id="4086" num="1" />
<cdparam x="916" y="307" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4032" >
-<father id="4042" num="2" />
+<SUBCOMPONENT type="-1" id="4076" >
+<father id="4086" num="2" />
<cdparam x="916" y="199" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4037" >
-<father id="4042" num="3" />
+<SUBCOMPONENT type="-1" id="4081" >
+<father id="4086" num="3" />
<cdparam x="921" y="264" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4033" />
-<TGConnectingPoint num="1" id="4034" />
-<TGConnectingPoint num="2" id="4035" />
-<TGConnectingPoint num="3" id="4036" />
+<TGConnectingPoint num="0" id="4077" />
+<TGConnectingPoint num="1" id="4078" />
+<TGConnectingPoint num="2" id="4079" />
+<TGConnectingPoint num="3" id="4080" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9280,25 +9423,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4049" >
+<CONNECTOR type="5102" id="4093" >
<cdparam x="663" y="216" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="4048" />
-<P1 x="710" y="217" id="4537" />
-<P2 x="782" y="251" id="4370" />
+<TGConnectingPoint num="0" id="4092" />
+<P1 x="710" y="217" id="4581" />
+<P2 x="782" y="251" id="4414" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4047" >
-<father id="4049" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4091" >
+<father id="4093" num="0" />
<cdparam x="663" y="256" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4043" />
-<TGConnectingPoint num="1" id="4044" />
-<TGConnectingPoint num="2" id="4045" />
-<TGConnectingPoint num="3" id="4046" />
+<TGConnectingPoint num="0" id="4087" />
+<TGConnectingPoint num="1" id="4088" />
+<TGConnectingPoint num="2" id="4089" />
+<TGConnectingPoint num="3" id="4090" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9308,45 +9451,45 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4060" >
+<CONNECTOR type="5102" id="4104" >
<cdparam x="618" y="592" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4057" />
-<TGConnectingPoint num="1" id="4058" />
-<TGConnectingPoint num="2" id="4059" />
-<P1 x="618" y="485" id="4520" />
-<P2 x="851" y="1182" id="4467" />
+<TGConnectingPoint num="0" id="4101" />
+<TGConnectingPoint num="1" id="4102" />
+<TGConnectingPoint num="2" id="4103" />
+<P1 x="618" y="485" id="4564" />
+<P2 x="851" y="1182" id="4511" />
<Point x="939" y="640" />
<Point x="1080" y="938" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4050" >
-<father id="4060" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4094" >
+<father id="4104" num="0" />
<cdparam x="939" y="640" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4051" >
-<father id="4060" num="1" />
+<SUBCOMPONENT type="-1" id="4095" >
+<father id="4104" num="1" />
<cdparam x="1080" y="938" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4056" >
-<father id="4060" num="2" />
+<SUBCOMPONENT type="-1" id="4100" >
+<father id="4104" num="2" />
<cdparam x="679" y="584" />
<sizeparam width="39" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4052" />
-<TGConnectingPoint num="1" id="4053" />
-<TGConnectingPoint num="2" id="4054" />
-<TGConnectingPoint num="3" id="4055" />
+<TGConnectingPoint num="0" id="4096" />
+<TGConnectingPoint num="1" id="4097" />
+<TGConnectingPoint num="2" id="4098" />
+<TGConnectingPoint num="3" id="4099" />
<extraparam>
<guard value="[ else ]" />
<afterMin value="" />
@@ -9356,25 +9499,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4067" >
+<CONNECTOR type="5102" id="4111" >
<cdparam x="581" y="216" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="4066" />
-<P1 x="581" y="217" id="4536" />
-<P2 x="581" y="249" id="4571" />
+<TGConnectingPoint num="0" id="4110" />
+<P1 x="581" y="217" id="4580" />
+<P2 x="581" y="249" id="4615" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4065" >
-<father id="4067" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4109" >
+<father id="4111" num="0" />
<cdparam x="581" y="256" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4061" />
-<TGConnectingPoint num="1" id="4062" />
-<TGConnectingPoint num="2" id="4063" />
-<TGConnectingPoint num="3" id="4064" />
+<TGConnectingPoint num="0" id="4105" />
+<TGConnectingPoint num="1" id="4106" />
+<TGConnectingPoint num="2" id="4107" />
+<TGConnectingPoint num="3" id="4108" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9384,25 +9527,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4074" >
+<CONNECTOR type="5102" id="4118" >
<cdparam x="582" y="125" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="4073" />
-<P1 x="581" y="100" id="4582" />
-<P2 x="581" y="145" id="4531" />
+<TGConnectingPoint num="0" id="4117" />
+<P1 x="581" y="100" id="4626" />
+<P2 x="581" y="145" id="4575" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4072" >
-<father id="4074" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4116" >
+<father id="4118" num="0" />
<cdparam x="608" y="98" />
<sizeparam width="115" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4068" />
-<TGConnectingPoint num="1" id="4069" />
-<TGConnectingPoint num="2" id="4070" />
-<TGConnectingPoint num="3" id="4071" />
+<TGConnectingPoint num="0" id="4112" />
+<TGConnectingPoint num="1" id="4113" />
+<TGConnectingPoint num="2" id="4114" />
+<TGConnectingPoint num="3" id="4115" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9415,25 +9558,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4081" >
+<CONNECTOR type="5102" id="4125" >
<cdparam x="581" y="279" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Receive signal to choice" value="null" />
-<TGConnectingPoint num="0" id="4080" />
-<P1 x="581" y="279" id="4572" />
-<P2 x="581" y="297" id="4330" />
+<TGConnectingPoint num="0" id="4124" />
+<P1 x="581" y="279" id="4616" />
+<P2 x="581" y="297" id="4374" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4079" >
-<father id="4081" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4123" >
+<father id="4125" num="0" />
<cdparam x="581" y="319" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4075" />
-<TGConnectingPoint num="1" id="4076" />
-<TGConnectingPoint num="2" id="4077" />
-<TGConnectingPoint num="3" id="4078" />
+<TGConnectingPoint num="0" id="4119" />
+<TGConnectingPoint num="1" id="4120" />
+<TGConnectingPoint num="2" id="4121" />
+<TGConnectingPoint num="3" id="4122" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9443,25 +9586,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4088" >
+<CONNECTOR type="5102" id="4132" >
<cdparam x="631" y="592" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4087" />
-<P1 x="543" y="485" id="4517" />
-<P2 x="497" y="643" id="4398" />
+<TGConnectingPoint num="0" id="4131" />
+<P1 x="543" y="485" id="4561" />
+<P2 x="497" y="643" id="4442" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4086" >
-<father id="4088" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4130" >
+<father id="4132" num="0" />
<cdparam x="177" y="619" />
<sizeparam width="437" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4082" />
-<TGConnectingPoint num="1" id="4083" />
-<TGConnectingPoint num="2" id="4084" />
-<TGConnectingPoint num="3" id="4085" />
+<TGConnectingPoint num="0" id="4126" />
+<TGConnectingPoint num="1" id="4127" />
+<TGConnectingPoint num="2" id="4128" />
+<TGConnectingPoint num="3" id="4129" />
<extraparam>
<guard value="[(listOfNodes.id0 > 0) and (listOfNodes.id1 > 0) and (listOfNodes.id2 > 0)]" />
<afterMin value="" />
@@ -9471,25 +9614,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4095" >
+<CONNECTOR type="5102" id="4139" >
<cdparam x="331" y="732" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4094" />
-<P1 x="472" y="668" id="4399" />
-<P2 x="305" y="794" id="4174" />
+<TGConnectingPoint num="0" id="4138" />
+<P1 x="472" y="668" id="4443" />
+<P2 x="305" y="794" id="4218" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4093" >
-<father id="4095" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4137" >
+<father id="4139" num="0" />
<cdparam x="10" y="771" />
<sizeparam width="754" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4089" />
-<TGConnectingPoint num="1" id="4090" />
-<TGConnectingPoint num="2" id="4091" />
-<TGConnectingPoint num="3" id="4092" />
+<TGConnectingPoint num="0" id="4133" />
+<TGConnectingPoint num="1" id="4134" />
+<TGConnectingPoint num="2" id="4135" />
+<TGConnectingPoint num="3" id="4136" />
<extraparam>
<guard value="[ (listOfNodes.position0 < currentPosition) or (listOfNodes.position1 < currentPosition) or (listOfNodes.position2 < currentPosition)]" />
<afterMin value="" />
@@ -9499,25 +9642,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4102" >
+<CONNECTOR type="5102" id="4146" >
<cdparam x="664" y="390" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4101" />
-<P1 x="581" y="347" id="4335" />
-<P2 x="971" y="369" id="4298" />
+<TGConnectingPoint num="0" id="4145" />
+<P1 x="581" y="347" id="4379" />
+<P2 x="971" y="369" id="4342" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4100" >
-<father id="4102" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4144" >
+<father id="4146" num="0" />
<cdparam x="780" y="351" />
<sizeparam width="456" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4096" />
-<TGConnectingPoint num="1" id="4097" />
-<TGConnectingPoint num="2" id="4098" />
-<TGConnectingPoint num="3" id="4099" />
+<TGConnectingPoint num="0" id="4140" />
+<TGConnectingPoint num="1" id="4141" />
+<TGConnectingPoint num="2" id="4142" />
+<TGConnectingPoint num="3" id="4143" />
<extraparam>
<guard value="[(listOfNodes.id0 == id) or (listOfNodes.id1 == id) or (listOfNodes.id2 == id)]" />
<afterMin value="" />
@@ -9527,25 +9670,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4109" >
+<CONNECTOR type="5102" id="4153" >
<cdparam x="1019" y="473" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to choice" value="null" />
-<TGConnectingPoint num="0" id="4108" />
-<P1 x="1021" y="407" id="4294" />
-<P2 x="1027" y="423" id="4272" />
+<TGConnectingPoint num="0" id="4152" />
+<P1 x="1021" y="407" id="4338" />
+<P2 x="1027" y="423" id="4316" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4107" >
-<father id="4109" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4151" >
+<father id="4153" num="0" />
<cdparam x="1019" y="513" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4103" />
-<TGConnectingPoint num="1" id="4104" />
-<TGConnectingPoint num="2" id="4105" />
-<TGConnectingPoint num="3" id="4106" />
+<TGConnectingPoint num="0" id="4147" />
+<TGConnectingPoint num="1" id="4148" />
+<TGConnectingPoint num="2" id="4149" />
+<TGConnectingPoint num="3" id="4150" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9555,25 +9698,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4116" >
+<CONNECTOR type="5102" id="4160" >
<cdparam x="1031" y="549" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4115" />
-<P1 x="1120" y="495" id="4132" />
-<P2 x="1032" y="637" id="4232" />
+<TGConnectingPoint num="0" id="4159" />
+<P1 x="1120" y="495" id="4176" />
+<P2 x="1032" y="637" id="4276" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4114" >
-<father id="4116" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4158" >
+<father id="4160" num="0" />
<cdparam x="971" y="536" />
<sizeparam width="186" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4110" />
-<TGConnectingPoint num="1" id="4111" />
-<TGConnectingPoint num="2" id="4112" />
-<TGConnectingPoint num="3" id="4113" />
+<TGConnectingPoint num="0" id="4154" />
+<TGConnectingPoint num="1" id="4155" />
+<TGConnectingPoint num="2" id="4156" />
+<TGConnectingPoint num="3" id="4157" />
<extraparam>
<guard value="[ listOfNodes.id1 == id]" />
<afterMin value="" />
@@ -9584,25 +9727,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4123" >
+<CONNECTOR type="5102" id="4167" >
<cdparam x="453" y="217" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="4122" />
-<P1 x="453" y="217" id="4535" />
-<P2 x="371" y="251" id="4147" />
+<TGConnectingPoint num="0" id="4166" />
+<P1 x="453" y="217" id="4579" />
+<P2 x="371" y="251" id="4191" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4121" >
-<father id="4123" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4165" >
+<father id="4167" num="0" />
<cdparam x="453" y="257" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4117" />
-<TGConnectingPoint num="1" id="4118" />
-<TGConnectingPoint num="2" id="4119" />
-<TGConnectingPoint num="3" id="4120" />
+<TGConnectingPoint num="0" id="4161" />
+<TGConnectingPoint num="1" id="4162" />
+<TGConnectingPoint num="2" id="4163" />
+<TGConnectingPoint num="3" id="4164" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9612,25 +9755,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4130" >
+<CONNECTOR type="5102" id="4174" >
<cdparam x="1052" y="448" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to choice" value="null" />
-<TGConnectingPoint num="0" id="4129" />
-<P1 x="1052" y="448" id="4277" />
-<P2 x="1145" y="470" id="4131" />
+<TGConnectingPoint num="0" id="4173" />
+<P1 x="1052" y="448" id="4321" />
+<P2 x="1145" y="470" id="4175" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4128" >
-<father id="4130" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4172" >
+<father id="4174" num="0" />
<cdparam x="1107" y="440" />
<sizeparam width="39" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4124" />
-<TGConnectingPoint num="1" id="4125" />
-<TGConnectingPoint num="2" id="4126" />
-<TGConnectingPoint num="3" id="4127" />
+<TGConnectingPoint num="0" id="4168" />
+<TGConnectingPoint num="1" id="4169" />
+<TGConnectingPoint num="2" id="4170" />
+<TGConnectingPoint num="3" id="4171" />
<extraparam>
<guard value="[ else ]" />
<afterMin value="" />
@@ -9640,335 +9783,335 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5107" id="4146" >
+<COMPONENT type="5107" id="4190" >
<cdparam x="1130" y="480" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="4131" />
-<TGConnectingPoint num="1" id="4132" />
-<TGConnectingPoint num="2" id="4133" />
-<TGConnectingPoint num="3" id="4134" />
-<TGConnectingPoint num="4" id="4135" />
-<TGConnectingPoint num="5" id="4136" />
-<TGConnectingPoint num="6" id="4137" />
-<TGConnectingPoint num="7" id="4138" />
-<TGConnectingPoint num="8" id="4139" />
-<TGConnectingPoint num="9" id="4140" />
-<TGConnectingPoint num="10" id="4141" />
-<TGConnectingPoint num="11" id="4142" />
-<TGConnectingPoint num="12" id="4143" />
-<TGConnectingPoint num="13" id="4144" />
-<TGConnectingPoint num="14" id="4145" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="4157" >
+<TGConnectingPoint num="0" id="4175" />
+<TGConnectingPoint num="1" id="4176" />
+<TGConnectingPoint num="2" id="4177" />
+<TGConnectingPoint num="3" id="4178" />
+<TGConnectingPoint num="4" id="4179" />
+<TGConnectingPoint num="5" id="4180" />
+<TGConnectingPoint num="6" id="4181" />
+<TGConnectingPoint num="7" id="4182" />
+<TGConnectingPoint num="8" id="4183" />
+<TGConnectingPoint num="9" id="4184" />
+<TGConnectingPoint num="10" id="4185" />
+<TGConnectingPoint num="11" id="4186" />
+<TGConnectingPoint num="12" id="4187" />
+<TGConnectingPoint num="13" id="4188" />
+<TGConnectingPoint num="14" id="4189" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="4201" >
<cdparam x="252" y="256" />
<sizeparam width="238" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="Send signal" value="sendTable(currentPosition, listOfNodes)" />
-<TGConnectingPoint num="0" id="4147" />
-<TGConnectingPoint num="1" id="4148" />
-<TGConnectingPoint num="2" id="4149" />
-<TGConnectingPoint num="3" id="4150" />
-<TGConnectingPoint num="4" id="4151" />
-<TGConnectingPoint num="5" id="4152" />
-<TGConnectingPoint num="6" id="4153" />
-<TGConnectingPoint num="7" id="4154" />
-<TGConnectingPoint num="8" id="4155" />
-<TGConnectingPoint num="9" id="4156" />
-</COMPONENT>
-
-<COMPONENT type="5107" id="4173" >
+<TGConnectingPoint num="0" id="4191" />
+<TGConnectingPoint num="1" id="4192" />
+<TGConnectingPoint num="2" id="4193" />
+<TGConnectingPoint num="3" id="4194" />
+<TGConnectingPoint num="4" id="4195" />
+<TGConnectingPoint num="5" id="4196" />
+<TGConnectingPoint num="6" id="4197" />
+<TGConnectingPoint num="7" id="4198" />
+<TGConnectingPoint num="8" id="4199" />
+<TGConnectingPoint num="9" id="4200" />
+</COMPONENT>
+
+<COMPONENT type="5107" id="4217" >
<cdparam x="725" y="772" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="4158" />
-<TGConnectingPoint num="1" id="4159" />
-<TGConnectingPoint num="2" id="4160" />
-<TGConnectingPoint num="3" id="4161" />
-<TGConnectingPoint num="4" id="4162" />
-<TGConnectingPoint num="5" id="4163" />
-<TGConnectingPoint num="6" id="4164" />
-<TGConnectingPoint num="7" id="4165" />
-<TGConnectingPoint num="8" id="4166" />
-<TGConnectingPoint num="9" id="4167" />
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-<TGConnectingPoint num="11" id="4169" />
-<TGConnectingPoint num="12" id="4170" />
-<TGConnectingPoint num="13" id="4171" />
-<TGConnectingPoint num="14" id="4172" />
-</COMPONENT>
-
-<COMPONENT type="5107" id="4189" >
+<TGConnectingPoint num="0" id="4202" />
+<TGConnectingPoint num="1" id="4203" />
+<TGConnectingPoint num="2" id="4204" />
+<TGConnectingPoint num="3" id="4205" />
+<TGConnectingPoint num="4" id="4206" />
+<TGConnectingPoint num="5" id="4207" />
+<TGConnectingPoint num="6" id="4208" />
+<TGConnectingPoint num="7" id="4209" />
+<TGConnectingPoint num="8" id="4210" />
+<TGConnectingPoint num="9" id="4211" />
+<TGConnectingPoint num="10" id="4212" />
+<TGConnectingPoint num="11" id="4213" />
+<TGConnectingPoint num="12" id="4214" />
+<TGConnectingPoint num="13" id="4215" />
+<TGConnectingPoint num="14" id="4216" />
+</COMPONENT>
+
+<COMPONENT type="5107" id="4233" >
<cdparam x="290" y="804" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="4174" />
-<TGConnectingPoint num="1" id="4175" />
-<TGConnectingPoint num="2" id="4176" />
-<TGConnectingPoint num="3" id="4177" />
-<TGConnectingPoint num="4" id="4178" />
-<TGConnectingPoint num="5" id="4179" />
-<TGConnectingPoint num="6" id="4180" />
-<TGConnectingPoint num="7" id="4181" />
-<TGConnectingPoint num="8" id="4182" />
-<TGConnectingPoint num="9" id="4183" />
-<TGConnectingPoint num="10" id="4184" />
-<TGConnectingPoint num="11" id="4185" />
-<TGConnectingPoint num="12" id="4186" />
-<TGConnectingPoint num="13" id="4187" />
-<TGConnectingPoint num="14" id="4188" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="4230" >
+<TGConnectingPoint num="0" id="4218" />
+<TGConnectingPoint num="1" id="4219" />
+<TGConnectingPoint num="2" id="4220" />
+<TGConnectingPoint num="3" id="4221" />
+<TGConnectingPoint num="4" id="4222" />
+<TGConnectingPoint num="5" id="4223" />
+<TGConnectingPoint num="6" id="4224" />
+<TGConnectingPoint num="7" id="4225" />
+<TGConnectingPoint num="8" id="4226" />
+<TGConnectingPoint num="9" id="4227" />
+<TGConnectingPoint num="10" id="4228" />
+<TGConnectingPoint num="11" id="4229" />
+<TGConnectingPoint num="12" id="4230" />
+<TGConnectingPoint num="13" id="4231" />
+<TGConnectingPoint num="14" id="4232" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="4274" >
<cdparam x="479" y="1409" />
<sizeparam width="322" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="state0" value="IDAdded" />
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-<TGConnectingPoint num="2" id="4192" />
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-<TGConnectingPoint num="5" id="4195" />
-<TGConnectingPoint num="6" id="4196" />
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-<TGConnectingPoint num="8" id="4198" />
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-<TGConnectingPoint num="10" id="4200" />
-<TGConnectingPoint num="11" id="4201" />
-<TGConnectingPoint num="12" id="4202" />
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-<TGConnectingPoint num="20" id="4210" />
-<TGConnectingPoint num="21" id="4211" />
-<TGConnectingPoint num="22" id="4212" />
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-<TGConnectingPoint num="24" id="4214" />
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-<TGConnectingPoint num="30" id="4220" />
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-<TGConnectingPoint num="35" id="4225" />
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-<TGConnectingPoint num="37" id="4227" />
-<TGConnectingPoint num="38" id="4228" />
-<TGConnectingPoint num="39" id="4229" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="4271" >
+<TGConnectingPoint num="0" id="4234" />
+<TGConnectingPoint num="1" id="4235" />
+<TGConnectingPoint num="2" id="4236" />
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+<TGConnectingPoint num="5" id="4239" />
+<TGConnectingPoint num="6" id="4240" />
+<TGConnectingPoint num="7" id="4241" />
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+<TGConnectingPoint num="31" id="4265" />
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+<TGConnectingPoint num="37" id="4271" />
+<TGConnectingPoint num="38" id="4272" />
+<TGConnectingPoint num="39" id="4273" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="4315" >
<cdparam x="982" y="637" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="state0" value="PositionUpdated" />
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-<TGConnectingPoint num="1" id="4232" />
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-<TGConnectingPoint num="39" id="4270" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5107" id="4287" >
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+<TGConnectingPoint num="1" id="4276" />
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+</extraparam>
+</COMPONENT>
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+<COMPONENT type="5107" id="4331" >
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<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
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<infoparam name="choice" value="null" />
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-<COMPONENT type="5106" id="4328" >
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+</COMPONENT>
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<hidden value="false" />
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<infoparam name="state0" value="UpdatingPosition" />
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-<TGConnectingPoint num="27" id="4315" />
-<TGConnectingPoint num="28" id="4316" />
-<TGConnectingPoint num="29" id="4317" />
-<TGConnectingPoint num="30" id="4318" />
-<TGConnectingPoint num="31" id="4319" />
-<TGConnectingPoint num="32" id="4320" />
-<TGConnectingPoint num="33" id="4321" />
-<TGConnectingPoint num="34" id="4322" />
-<TGConnectingPoint num="35" id="4323" />
-<TGConnectingPoint num="36" id="4324" />
-<TGConnectingPoint num="37" id="4325" />
-<TGConnectingPoint num="38" id="4326" />
-<TGConnectingPoint num="39" id="4327" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="4369" >
+<TGConnectingPoint num="0" id="4332" />
+<TGConnectingPoint num="1" id="4333" />
+<TGConnectingPoint num="2" id="4334" />
+<TGConnectingPoint num="3" id="4335" />
+<TGConnectingPoint num="4" id="4336" />
+<TGConnectingPoint num="5" id="4337" />
+<TGConnectingPoint num="6" id="4338" />
+<TGConnectingPoint num="7" id="4339" />
+<TGConnectingPoint num="8" id="4340" />
+<TGConnectingPoint num="9" id="4341" />
+<TGConnectingPoint num="10" id="4342" />
+<TGConnectingPoint num="11" id="4343" />
+<TGConnectingPoint num="12" id="4344" />
+<TGConnectingPoint num="13" id="4345" />
+<TGConnectingPoint num="14" id="4346" />
+<TGConnectingPoint num="15" id="4347" />
+<TGConnectingPoint num="16" id="4348" />
+<TGConnectingPoint num="17" id="4349" />
+<TGConnectingPoint num="18" id="4350" />
+<TGConnectingPoint num="19" id="4351" />
+<TGConnectingPoint num="20" id="4352" />
+<TGConnectingPoint num="21" id="4353" />
+<TGConnectingPoint num="22" id="4354" />
+<TGConnectingPoint num="23" id="4355" />
+<TGConnectingPoint num="24" id="4356" />
+<TGConnectingPoint num="25" id="4357" />
+<TGConnectingPoint num="26" id="4358" />
+<TGConnectingPoint num="27" id="4359" />
+<TGConnectingPoint num="28" id="4360" />
+<TGConnectingPoint num="29" id="4361" />
+<TGConnectingPoint num="30" id="4362" />
+<TGConnectingPoint num="31" id="4363" />
+<TGConnectingPoint num="32" id="4364" />
+<TGConnectingPoint num="33" id="4365" />
+<TGConnectingPoint num="34" id="4366" />
+<TGConnectingPoint num="35" id="4367" />
+<TGConnectingPoint num="36" id="4368" />
+<TGConnectingPoint num="37" id="4369" />
+<TGConnectingPoint num="38" id="4370" />
+<TGConnectingPoint num="39" id="4371" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="4413" >
<cdparam x="531" y="297" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="state0" value="IsKnownID" />
-<TGConnectingPoint num="0" id="4329" />
-<TGConnectingPoint num="1" id="4330" />
-<TGConnectingPoint num="2" id="4331" />
-<TGConnectingPoint num="3" id="4332" />
-<TGConnectingPoint num="4" id="4333" />
-<TGConnectingPoint num="5" id="4334" />
-<TGConnectingPoint num="6" id="4335" />
-<TGConnectingPoint num="7" id="4336" />
-<TGConnectingPoint num="8" id="4337" />
-<TGConnectingPoint num="9" id="4338" />
-<TGConnectingPoint num="10" id="4339" />
-<TGConnectingPoint num="11" id="4340" />
-<TGConnectingPoint num="12" id="4341" />
-<TGConnectingPoint num="13" id="4342" />
-<TGConnectingPoint num="14" id="4343" />
-<TGConnectingPoint num="15" id="4344" />
-<TGConnectingPoint num="16" id="4345" />
-<TGConnectingPoint num="17" id="4346" />
-<TGConnectingPoint num="18" id="4347" />
-<TGConnectingPoint num="19" id="4348" />
-<TGConnectingPoint num="20" id="4349" />
-<TGConnectingPoint num="21" id="4350" />
-<TGConnectingPoint num="22" id="4351" />
-<TGConnectingPoint num="23" id="4352" />
-<TGConnectingPoint num="24" id="4353" />
-<TGConnectingPoint num="25" id="4354" />
-<TGConnectingPoint num="26" id="4355" />
-<TGConnectingPoint num="27" id="4356" />
-<TGConnectingPoint num="28" id="4357" />
-<TGConnectingPoint num="29" id="4358" />
-<TGConnectingPoint num="30" id="4359" />
-<TGConnectingPoint num="31" id="4360" />
-<TGConnectingPoint num="32" id="4361" />
-<TGConnectingPoint num="33" id="4362" />
-<TGConnectingPoint num="34" id="4363" />
-<TGConnectingPoint num="35" id="4364" />
-<TGConnectingPoint num="36" id="4365" />
-<TGConnectingPoint num="37" id="4366" />
-<TGConnectingPoint num="38" id="4367" />
-<TGConnectingPoint num="39" id="4368" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5104" id="4380" >
+<TGConnectingPoint num="0" id="4373" />
+<TGConnectingPoint num="1" id="4374" />
+<TGConnectingPoint num="2" id="4375" />
+<TGConnectingPoint num="3" id="4376" />
+<TGConnectingPoint num="4" id="4377" />
+<TGConnectingPoint num="5" id="4378" />
+<TGConnectingPoint num="6" id="4379" />
+<TGConnectingPoint num="7" id="4380" />
+<TGConnectingPoint num="8" id="4381" />
+<TGConnectingPoint num="9" id="4382" />
+<TGConnectingPoint num="10" id="4383" />
+<TGConnectingPoint num="11" id="4384" />
+<TGConnectingPoint num="12" id="4385" />
+<TGConnectingPoint num="13" id="4386" />
+<TGConnectingPoint num="14" id="4387" />
+<TGConnectingPoint num="15" id="4388" />
+<TGConnectingPoint num="16" id="4389" />
+<TGConnectingPoint num="17" id="4390" />
+<TGConnectingPoint num="18" id="4391" />
+<TGConnectingPoint num="19" id="4392" />
+<TGConnectingPoint num="20" id="4393" />
+<TGConnectingPoint num="21" id="4394" />
+<TGConnectingPoint num="22" id="4395" />
+<TGConnectingPoint num="23" id="4396" />
+<TGConnectingPoint num="24" id="4397" />
+<TGConnectingPoint num="25" id="4398" />
+<TGConnectingPoint num="26" id="4399" />
+<TGConnectingPoint num="27" id="4400" />
+<TGConnectingPoint num="28" id="4401" />
+<TGConnectingPoint num="29" id="4402" />
+<TGConnectingPoint num="30" id="4403" />
+<TGConnectingPoint num="31" id="4404" />
+<TGConnectingPoint num="32" id="4405" />
+<TGConnectingPoint num="33" id="4406" />
+<TGConnectingPoint num="34" id="4407" />
+<TGConnectingPoint num="35" id="4408" />
+<TGConnectingPoint num="36" id="4409" />
+<TGConnectingPoint num="37" id="4410" />
+<TGConnectingPoint num="38" id="4411" />
+<TGConnectingPoint num="39" id="4412" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5104" id="4424" >
<cdparam x="696" y="256" />
<sizeparam width="172" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="Receive signal" value="setPosition(currentPosition)" />
-<TGConnectingPoint num="0" id="4370" />
-<TGConnectingPoint num="1" id="4371" />
-<TGConnectingPoint num="2" id="4372" />
-<TGConnectingPoint num="3" id="4373" />
-<TGConnectingPoint num="4" id="4374" />
-<TGConnectingPoint num="5" id="4375" />
-<TGConnectingPoint num="6" id="4376" />
-<TGConnectingPoint num="7" id="4377" />
-<TGConnectingPoint num="8" id="4378" />
-<TGConnectingPoint num="9" id="4379" />
-</COMPONENT>
-
-<COMPONENT type="301" id="4397" >
+<TGConnectingPoint num="0" id="4414" />
+<TGConnectingPoint num="1" id="4415" />
+<TGConnectingPoint num="2" id="4416" />
+<TGConnectingPoint num="3" id="4417" />
+<TGConnectingPoint num="4" id="4418" />
+<TGConnectingPoint num="5" id="4419" />
+<TGConnectingPoint num="6" id="4420" />
+<TGConnectingPoint num="7" id="4421" />
+<TGConnectingPoint num="8" id="4422" />
+<TGConnectingPoint num="9" id="4423" />
+</COMPONENT>
+
+<COMPONENT type="301" id="4441" >
<cdparam x="265" y="634" />
<sizeparam width="195" height="50" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
@@ -9976,510 +10119,396 @@
<infoparam name="UML Note" value="We first one behind if possible
Otherwise, the most far away
" />
-<TGConnectingPoint num="0" id="4381" />
-<TGConnectingPoint num="1" id="4382" />
-<TGConnectingPoint num="2" id="4383" />
-<TGConnectingPoint num="3" id="4384" />
-<TGConnectingPoint num="4" id="4385" />
-<TGConnectingPoint num="5" id="4386" />
-<TGConnectingPoint num="6" id="4387" />
-<TGConnectingPoint num="7" id="4388" />
-<TGConnectingPoint num="8" id="4389" />
-<TGConnectingPoint num="9" id="4390" />
-<TGConnectingPoint num="10" id="4391" />
-<TGConnectingPoint num="11" id="4392" />
-<TGConnectingPoint num="12" id="4393" />
-<TGConnectingPoint num="13" id="4394" />
-<TGConnectingPoint num="14" id="4395" />
-<TGConnectingPoint num="15" id="4396" />
+<TGConnectingPoint num="0" id="4425" />
+<TGConnectingPoint num="1" id="4426" />
+<TGConnectingPoint num="2" id="4427" />
+<TGConnectingPoint num="3" id="4428" />
+<TGConnectingPoint num="4" id="4429" />
+<TGConnectingPoint num="5" id="4430" />
+<TGConnectingPoint num="6" id="4431" />
+<TGConnectingPoint num="7" id="4432" />
+<TGConnectingPoint num="8" id="4433" />
+<TGConnectingPoint num="9" id="4434" />
+<TGConnectingPoint num="10" id="4435" />
+<TGConnectingPoint num="11" id="4436" />
+<TGConnectingPoint num="12" id="4437" />
+<TGConnectingPoint num="13" id="4438" />
+<TGConnectingPoint num="14" id="4439" />
+<TGConnectingPoint num="15" id="4440" />
<extraparam>
<Line value="We first one behind if possible" />
<Line value="Otherwise, the most far away" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5107" id="4413" >
+<COMPONENT type="5107" id="4457" >
<cdparam x="482" y="653" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="4398" />
-<TGConnectingPoint num="1" id="4399" />
-<TGConnectingPoint num="2" id="4400" />
-<TGConnectingPoint num="3" id="4401" />
-<TGConnectingPoint num="4" id="4402" />
-<TGConnectingPoint num="5" id="4403" />
-<TGConnectingPoint num="6" id="4404" />
-<TGConnectingPoint num="7" id="4405" />
-<TGConnectingPoint num="8" id="4406" />
-<TGConnectingPoint num="9" id="4407" />
-<TGConnectingPoint num="10" id="4408" />
-<TGConnectingPoint num="11" id="4409" />
-<TGConnectingPoint num="12" id="4410" />
-<TGConnectingPoint num="13" id="4411" />
-<TGConnectingPoint num="14" id="4412" />
-</COMPONENT>
-
-<COMPONENT type="301" id="4430" >
+<TGConnectingPoint num="0" id="4442" />
+<TGConnectingPoint num="1" id="4443" />
+<TGConnectingPoint num="2" id="4444" />
+<TGConnectingPoint num="3" id="4445" />
+<TGConnectingPoint num="4" id="4446" />
+<TGConnectingPoint num="5" id="4447" />
+<TGConnectingPoint num="6" id="4448" />
+<TGConnectingPoint num="7" id="4449" />
+<TGConnectingPoint num="8" id="4450" />
+<TGConnectingPoint num="9" id="4451" />
+<TGConnectingPoint num="10" id="4452" />
+<TGConnectingPoint num="11" id="4453" />
+<TGConnectingPoint num="12" id="4454" />
+<TGConnectingPoint num="13" id="4455" />
+<TGConnectingPoint num="14" id="4456" />
+</COMPONENT>
+
+<COMPONENT type="301" id="4474" >
<cdparam x="425" y="562" />
<sizeparam width="78" height="35" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="UML Note" value="No free id
" />
-<TGConnectingPoint num="0" id="4414" />
-<TGConnectingPoint num="1" id="4415" />
-<TGConnectingPoint num="2" id="4416" />
-<TGConnectingPoint num="3" id="4417" />
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-<TGConnectingPoint num="6" id="4420" />
-<TGConnectingPoint num="7" id="4421" />
-<TGConnectingPoint num="8" id="4422" />
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-<TGConnectingPoint num="10" id="4424" />
-<TGConnectingPoint num="11" id="4425" />
-<TGConnectingPoint num="12" id="4426" />
-<TGConnectingPoint num="13" id="4427" />
-<TGConnectingPoint num="14" id="4428" />
-<TGConnectingPoint num="15" id="4429" />
+<TGConnectingPoint num="0" id="4458" />
+<TGConnectingPoint num="1" id="4459" />
+<TGConnectingPoint num="2" id="4460" />
+<TGConnectingPoint num="3" id="4461" />
+<TGConnectingPoint num="4" id="4462" />
+<TGConnectingPoint num="5" id="4463" />
+<TGConnectingPoint num="6" id="4464" />
+<TGConnectingPoint num="7" id="4465" />
+<TGConnectingPoint num="8" id="4466" />
+<TGConnectingPoint num="9" id="4467" />
+<TGConnectingPoint num="10" id="4468" />
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+<TGConnectingPoint num="12" id="4470" />
+<TGConnectingPoint num="13" id="4471" />
+<TGConnectingPoint num="14" id="4472" />
+<TGConnectingPoint num="15" id="4473" />
<extraparam>
<Line value="No free id" />
</extraparam>
</COMPONENT>
-<COMPONENT type="301" id="4447" >
+<COMPONENT type="301" id="4491" >
<cdparam x="733" y="597" />
<sizeparam width="131" height="35" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="UML Note" value="One free id at least
" />
-<TGConnectingPoint num="0" id="4431" />
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-<TGConnectingPoint num="11" id="4442" />
-<TGConnectingPoint num="12" id="4443" />
-<TGConnectingPoint num="13" id="4444" />
-<TGConnectingPoint num="14" id="4445" />
-<TGConnectingPoint num="15" id="4446" />
+<TGConnectingPoint num="0" id="4475" />
+<TGConnectingPoint num="1" id="4476" />
+<TGConnectingPoint num="2" id="4477" />
+<TGConnectingPoint num="3" id="4478" />
+<TGConnectingPoint num="4" id="4479" />
+<TGConnectingPoint num="5" id="4480" />
+<TGConnectingPoint num="6" id="4481" />
+<TGConnectingPoint num="7" id="4482" />
+<TGConnectingPoint num="8" id="4483" />
+<TGConnectingPoint num="9" id="4484" />
+<TGConnectingPoint num="10" id="4485" />
+<TGConnectingPoint num="11" id="4486" />
+<TGConnectingPoint num="12" id="4487" />
+<TGConnectingPoint num="13" id="4488" />
+<TGConnectingPoint num="14" id="4489" />
+<TGConnectingPoint num="15" id="4490" />
<extraparam>
<Line value="One free id at least" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5106" id="4488" >
+<COMPONENT type="5106" id="4532" >
<cdparam x="427" y="1182" />
<sizeparam width="488" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="state0" value="AddingNewID" />
-<TGConnectingPoint num="0" id="4448" />
-<TGConnectingPoint num="1" id="4449" />
-<TGConnectingPoint num="2" id="4450" />
-<TGConnectingPoint num="3" id="4451" />
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-<TGConnectingPoint num="11" id="4459" />
-<TGConnectingPoint num="12" id="4460" />
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-<TGConnectingPoint num="17" id="4465" />
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-<TGConnectingPoint num="32" id="4480" />
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-<TGConnectingPoint num="37" id="4485" />
-<TGConnectingPoint num="38" id="4486" />
-<TGConnectingPoint num="39" id="4487" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="4529" >
+<TGConnectingPoint num="0" id="4492" />
+<TGConnectingPoint num="1" id="4493" />
+<TGConnectingPoint num="2" id="4494" />
+<TGConnectingPoint num="3" id="4495" />
+<TGConnectingPoint num="4" id="4496" />
+<TGConnectingPoint num="5" id="4497" />
+<TGConnectingPoint num="6" id="4498" />
+<TGConnectingPoint num="7" id="4499" />
+<TGConnectingPoint num="8" id="4500" />
+<TGConnectingPoint num="9" id="4501" />
+<TGConnectingPoint num="10" id="4502" />
+<TGConnectingPoint num="11" id="4503" />
+<TGConnectingPoint num="12" id="4504" />
+<TGConnectingPoint num="13" id="4505" />
+<TGConnectingPoint num="14" id="4506" />
+<TGConnectingPoint num="15" id="4507" />
+<TGConnectingPoint num="16" id="4508" />
+<TGConnectingPoint num="17" id="4509" />
+<TGConnectingPoint num="18" id="4510" />
+<TGConnectingPoint num="19" id="4511" />
+<TGConnectingPoint num="20" id="4512" />
+<TGConnectingPoint num="21" id="4513" />
+<TGConnectingPoint num="22" id="4514" />
+<TGConnectingPoint num="23" id="4515" />
+<TGConnectingPoint num="24" id="4516" />
+<TGConnectingPoint num="25" id="4517" />
+<TGConnectingPoint num="26" id="4518" />
+<TGConnectingPoint num="27" id="4519" />
+<TGConnectingPoint num="28" id="4520" />
+<TGConnectingPoint num="29" id="4521" />
+<TGConnectingPoint num="30" id="4522" />
+<TGConnectingPoint num="31" id="4523" />
+<TGConnectingPoint num="32" id="4524" />
+<TGConnectingPoint num="33" id="4525" />
+<TGConnectingPoint num="34" id="4526" />
+<TGConnectingPoint num="35" id="4527" />
+<TGConnectingPoint num="36" id="4528" />
+<TGConnectingPoint num="37" id="4529" />
+<TGConnectingPoint num="38" id="4530" />
+<TGConnectingPoint num="39" id="4531" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="4573" >
<cdparam x="531" y="435" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="state0" value="RemovingOldIDs" />
-<TGConnectingPoint num="0" id="4489" />
-<TGConnectingPoint num="1" id="4490" />
-<TGConnectingPoint num="2" id="4491" />
-<TGConnectingPoint num="3" id="4492" />
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<hidden value="false" />
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-</extraparam>
-</COMPONENT>
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<cdparam x="505" y="254" />
<sizeparam width="152" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="Receive signal" value="addANode(id, position)" />
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<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="start state" value="null" />
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</COMPONENT>
</AVATARStateMachineDiagramPanel>
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-<AutomaticDrawing data="true" />
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-<computeMin value="" />
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-<actions value="sendMessage(id, position)" />
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-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
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-<CONNECTOR type="5102" id="4623" >
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+<AVATARStateMachineDiagramPanel name="CorrectnessChecking" minX="10" maxX="1400" minY="10" maxY="900" >
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<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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-<Point x="829" y="341" />
-<Point x="848" y="153" />
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<hidden value="false" />
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</SUBCOMPONENT>
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</SUBCOMPONENT>
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</SUBCOMPONENT>
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="3" id="4634" />
<extraparam>
-<guard value="[ ]" />
+<guard value="[ canHaveInvalid]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
+<actions value="invalidMessage()" />
</extraparam>
</SUBCOMPONENT>
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-<Point x="189" y="387" />
-<Point x="176" y="154" />
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<AutomaticDrawing data="true" />
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-<cdparam x="285" y="384" />
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+<father id="4653" num="0" />
+<cdparam x="297" y="425" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4625" >
-<father id="4636" num="1" />
-<cdparam x="189" y="387" />
+<SUBCOMPONENT type="-1" id="4642" >
+<father id="4653" num="1" />
+<cdparam x="160" y="415" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4626" >
-<father id="4636" num="2" />
-<cdparam x="176" y="154" />
+<SUBCOMPONENT type="-1" id="4643" >
+<father id="4653" num="2" />
+<cdparam x="172" y="94" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4631" >
-<father id="4636" num="3" />
-<cdparam x="289" y="384" />
+<SUBCOMPONENT type="-1" id="4648" >
+<father id="4653" num="3" />
+<cdparam x="290" y="427" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4627" />
-<TGConnectingPoint num="1" id="4628" />
-<TGConnectingPoint num="2" id="4629" />
-<TGConnectingPoint num="3" id="4630" />
+<TGConnectingPoint num="0" id="4644" />
+<TGConnectingPoint num="1" id="4645" />
+<TGConnectingPoint num="2" id="4646" />
+<TGConnectingPoint num="3" id="4647" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -10489,25 +10518,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4643" >
+<CONNECTOR type="5102" id="4660" >
<cdparam x="407" y="70" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="4642" />
+<TGConnectingPoint num="0" id="4659" />
<P1 x="407" y="70" id="4761" />
-<P2 x="407" y="101" id="4721" />
+<P2 x="407" y="99" id="4721" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4641" >
-<father id="4643" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4658" >
+<father id="4660" num="0" />
<cdparam x="407" y="110" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4637" />
-<TGConnectingPoint num="1" id="4638" />
-<TGConnectingPoint num="2" id="4639" />
-<TGConnectingPoint num="3" id="4640" />
+<TGConnectingPoint num="0" id="4654" />
+<TGConnectingPoint num="1" id="4655" />
+<TGConnectingPoint num="2" id="4656" />
+<TGConnectingPoint num="3" id="4657" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -10517,25 +10546,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4650" >
-<cdparam x="314" y="182" />
+<CONNECTOR type="5102" id="4667" >
+<cdparam x="407" y="149" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="4649" />
-<P1 x="314" y="182" id="4748" />
-<P2 x="296" y="256" id="4709" />
+<TGConnectingPoint num="0" id="4666" />
+<P1 x="407" y="149" id="4726" />
+<P2 x="407" y="188" id="4709" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4648" >
-<father id="4650" num="0" />
-<cdparam x="314" y="222" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4665" >
+<father id="4667" num="0" />
+<cdparam x="407" y="189" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4644" />
-<TGConnectingPoint num="1" id="4645" />
-<TGConnectingPoint num="2" id="4646" />
-<TGConnectingPoint num="3" id="4647" />
+<TGConnectingPoint num="0" id="4661" />
+<TGConnectingPoint num="1" id="4662" />
+<TGConnectingPoint num="2" id="4663" />
+<TGConnectingPoint num="3" id="4664" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -10545,140 +10574,111 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4657" >
-<cdparam x="296" y="286" />
+<CONNECTOR type="5102" id="4674" >
+<cdparam x="407" y="218" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to Send signal" value="null" />
-<TGConnectingPoint num="0" id="4656" />
-<P1 x="296" y="286" id="4710" />
-<P2 x="289" y="314" id="4698" />
+<infoparam name="connector from Receive signal to choice" value="null" />
+<TGConnectingPoint num="0" id="4673" />
+<P1 x="407" y="218" id="4710" />
+<P2 x="407" y="254" id="4693" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4655" >
-<father id="4657" num="0" />
-<cdparam x="296" y="326" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4672" >
+<father id="4674" num="0" />
+<cdparam x="419" y="243" />
+<sizeparam width="108" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4651" />
-<TGConnectingPoint num="1" id="4652" />
-<TGConnectingPoint num="2" id="4653" />
-<TGConnectingPoint num="3" id="4654" />
+<TGConnectingPoint num="0" id="4668" />
+<TGConnectingPoint num="1" id="4669" />
+<TGConnectingPoint num="2" id="4670" />
+<TGConnectingPoint num="3" id="4671" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
+<actions value="checkingMessage()" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4664" >
-<cdparam x="498" y="182" />
+<CONNECTOR type="5102" id="4681" >
+<cdparam x="382" y="279" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="4663" />
-<P1 x="498" y="182" id="4751" />
-<P2 x="507" y="237" id="4687" />
+<infoparam name="connector from choice to Send signal" value="null" />
+<TGConnectingPoint num="0" id="4680" />
+<P1 x="382" y="279" id="4697" />
+<P2 x="290" y="357" id="4682" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4662" >
-<father id="4664" num="0" />
-<cdparam x="498" y="222" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4679" >
+<father id="4681" num="0" />
+<cdparam x="259" y="312" />
+<sizeparam width="85" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4658" />
-<TGConnectingPoint num="1" id="4659" />
-<TGConnectingPoint num="2" id="4660" />
-<TGConnectingPoint num="3" id="4661" />
+<TGConnectingPoint num="0" id="4675" />
+<TGConnectingPoint num="1" id="4676" />
+<TGConnectingPoint num="2" id="4677" />
+<TGConnectingPoint num="3" id="4678" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
+<actions value="validMessage()" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5103" id="4675" >
-<cdparam x="490" y="282" />
-<sizeparam width="283" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="forwardEmergencyBrakingMessage(id, position)" />
-<TGConnectingPoint num="0" id="4665" />
-<TGConnectingPoint num="1" id="4666" />
-<TGConnectingPoint num="2" id="4667" />
-<TGConnectingPoint num="3" id="4668" />
-<TGConnectingPoint num="4" id="4669" />
-<TGConnectingPoint num="5" id="4670" />
-<TGConnectingPoint num="6" id="4671" />
-<TGConnectingPoint num="7" id="4672" />
-<TGConnectingPoint num="8" id="4673" />
-<TGConnectingPoint num="9" id="4674" />
-</COMPONENT>
-
-<COMPONENT type="5104" id="4686" >
-<cdparam x="288" y="407" />
-<sizeparam width="304" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="broadcastEmergencyBrakingMessage(id, position)" />
-<TGConnectingPoint num="0" id="4676" />
-<TGConnectingPoint num="1" id="4677" />
-<TGConnectingPoint num="2" id="4678" />
-<TGConnectingPoint num="3" id="4679" />
-<TGConnectingPoint num="4" id="4680" />
-<TGConnectingPoint num="5" id="4681" />
-<TGConnectingPoint num="6" id="4682" />
-<TGConnectingPoint num="7" id="4683" />
-<TGConnectingPoint num="8" id="4684" />
-<TGConnectingPoint num="9" id="4685" />
-</COMPONENT>
-
-<COMPONENT type="5104" id="4697" >
-<cdparam x="412" y="242" />
-<sizeparam width="190" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="4692" >
+<cdparam x="174" y="362" />
+<sizeparam width="232" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="obstacleDetected(id, position)" />
-<TGConnectingPoint num="0" id="4687" />
-<TGConnectingPoint num="1" id="4688" />
-<TGConnectingPoint num="2" id="4689" />
-<TGConnectingPoint num="3" id="4690" />
-<TGConnectingPoint num="4" id="4691" />
-<TGConnectingPoint num="5" id="4692" />
-<TGConnectingPoint num="6" id="4693" />
-<TGConnectingPoint num="7" id="4694" />
-<TGConnectingPoint num="8" id="4695" />
-<TGConnectingPoint num="9" id="4696" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="4708" >
-<cdparam x="208" y="319" />
-<sizeparam width="163" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Send signal" value="toPlausibityCheckMessage(id, position)" />
+<TGConnectingPoint num="0" id="4682" />
+<TGConnectingPoint num="1" id="4683" />
+<TGConnectingPoint num="2" id="4684" />
+<TGConnectingPoint num="3" id="4685" />
+<TGConnectingPoint num="4" id="4686" />
+<TGConnectingPoint num="5" id="4687" />
+<TGConnectingPoint num="6" id="4688" />
+<TGConnectingPoint num="7" id="4689" />
+<TGConnectingPoint num="8" id="4690" />
+<TGConnectingPoint num="9" id="4691" />
+</COMPONENT>
+
+<COMPONENT type="5107" id="4708" >
+<cdparam x="392" y="264" />
+<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="setCarPosition(id, position)" />
-<TGConnectingPoint num="0" id="4698" />
-<TGConnectingPoint num="1" id="4699" />
-<TGConnectingPoint num="2" id="4700" />
-<TGConnectingPoint num="3" id="4701" />
-<TGConnectingPoint num="4" id="4702" />
-<TGConnectingPoint num="5" id="4703" />
-<TGConnectingPoint num="6" id="4704" />
-<TGConnectingPoint num="7" id="4705" />
-<TGConnectingPoint num="8" id="4706" />
-<TGConnectingPoint num="9" id="4707" />
+<infoparam name="choice" value="null" />
+<TGConnectingPoint num="0" id="4693" />
+<TGConnectingPoint num="1" id="4694" />
+<TGConnectingPoint num="2" id="4695" />
+<TGConnectingPoint num="3" id="4696" />
+<TGConnectingPoint num="4" id="4697" />
+<TGConnectingPoint num="5" id="4698" />
+<TGConnectingPoint num="6" id="4699" />
+<TGConnectingPoint num="7" id="4700" />
+<TGConnectingPoint num="8" id="4701" />
+<TGConnectingPoint num="9" id="4702" />
+<TGConnectingPoint num="10" id="4703" />
+<TGConnectingPoint num="11" id="4704" />
+<TGConnectingPoint num="12" id="4705" />
+<TGConnectingPoint num="13" id="4706" />
+<TGConnectingPoint num="14" id="4707" />
</COMPONENT>
<COMPONENT type="5104" id="4719" >
-<cdparam x="220" y="261" />
-<sizeparam width="152" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="275" y="193" />
+<sizeparam width="264" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="carPosition(id, position)" />
+<infoparam name="Receive signal" value="getEmergencyBrakingMessage(id, position)" />
<TGConnectingPoint num="0" id="4709" />
<TGConnectingPoint num="1" id="4710" />
<TGConnectingPoint num="2" id="4711" />
@@ -10692,11 +10692,11 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5106" id="4760" >
-<cdparam x="285" y="101" />
-<sizeparam width="245" height="81" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="298" y="99" />
+<sizeparam width="219" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingForEnvironmentInput" />
+<infoparam name="state0" value="WaitingForMessageToAnalyze" />
<TGConnectingPoint num="0" id="4720" />
<TGConnectingPoint num="1" id="4721" />
<TGConnectingPoint num="2" id="4722" />
@@ -11016,346 +11016,68 @@ Otherwise, the most far away
</extraparam>
</COMPONENT>
-<COMPONENT type="5100" id="4891" >
-<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="4890" />
-</COMPONENT>
-
-
-</AVATARStateMachineDiagramPanel>
-
-<AVATARStateMachineDiagramPanel name="BrakeManagement" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="4904" >
-<cdparam x="514" y="350" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4900" />
-<TGConnectingPoint num="1" id="4901" />
-<TGConnectingPoint num="2" id="4902" />
-<TGConnectingPoint num="3" id="4903" />
-<P1 x="497" y="343" id="4932" />
-<P2 x="570" y="148" id="4982" />
-<Point x="497" y="396" />
-<Point x="697" y="396" />
-<Point x="697" y="148" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4892" >
-<father id="4904" num="0" />
-<cdparam x="497" y="396" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4893" >
-<father id="4904" num="1" />
-<cdparam x="697" y="396" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4894" >
-<father id="4904" num="2" />
-<cdparam x="697" y="148" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4899" >
-<father id="4904" num="3" />
-<cdparam x="508" y="363" />
-<sizeparam width="180" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4895" />
-<TGConnectingPoint num="1" id="4896" />
-<TGConnectingPoint num="2" id="4897" />
-<TGConnectingPoint num="3" id="4898" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="value" />
-<afterMax value="brakeMaxDuration" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="brakingDone()" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="4911" >
-<cdparam x="407" y="70" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="4910" />
-<P1 x="475" y="89" id="5019" />
-<P2 x="484" y="124" id="4979" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4909" >
-<father id="4911" num="0" />
-<cdparam x="407" y="110" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4905" />
-<TGConnectingPoint num="1" id="4906" />
-<TGConnectingPoint num="2" id="4907" />
-<TGConnectingPoint num="3" id="4908" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="4918" >
-<cdparam x="484" y="172" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="4917" />
-<P1 x="441" y="172" id="4992" />
-<P2 x="441" y="195" id="4967" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4916" >
-<father id="4918" num="0" />
-<cdparam x="484" y="212" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4912" />
-<TGConnectingPoint num="1" id="4913" />
-<TGConnectingPoint num="2" id="4914" />
-<TGConnectingPoint num="3" id="4915" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="4925" >
-<cdparam x="485" y="230" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to state0" value="null" />
-<TGConnectingPoint num="0" id="4924" />
-<P1 x="441" y="225" id="4968" />
-<P2 x="441" y="293" id="4934" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4923" >
-<father id="4925" num="0" />
-<cdparam x="447" y="243" />
-<sizeparam width="235" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4919" />
-<TGConnectingPoint num="1" id="4920" />
-<TGConnectingPoint num="2" id="4921" />
-<TGConnectingPoint num="3" id="4922" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="applyBraking(value)" />
-<actions value="value = value * 10" />
-<actions value="brakeMaxDuration = value + deltaBrake" />
-</extraparam>
-</SUBCOMPONENT>
-
-<COMPONENT type="5106" id="4966" >
-<cdparam x="386" y="293" />
-<sizeparam width="223" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingforBrakingToBeCompleted" />
-<TGConnectingPoint num="0" id="4926" />
-<TGConnectingPoint num="1" id="4927" />
-<TGConnectingPoint num="2" id="4928" />
-<TGConnectingPoint num="3" id="4929" />
-<TGConnectingPoint num="4" id="4930" />
-<TGConnectingPoint num="5" id="4931" />
-<TGConnectingPoint num="6" id="4932" />
-<TGConnectingPoint num="7" id="4933" />
-<TGConnectingPoint num="8" id="4934" />
-<TGConnectingPoint num="9" id="4935" />
-<TGConnectingPoint num="10" id="4936" />
-<TGConnectingPoint num="11" id="4937" />
-<TGConnectingPoint num="12" id="4938" />
-<TGConnectingPoint num="13" id="4939" />
-<TGConnectingPoint num="14" id="4940" />
-<TGConnectingPoint num="15" id="4941" />
-<TGConnectingPoint num="16" id="4942" />
-<TGConnectingPoint num="17" id="4943" />
-<TGConnectingPoint num="18" id="4944" />
-<TGConnectingPoint num="19" id="4945" />
-<TGConnectingPoint num="20" id="4946" />
-<TGConnectingPoint num="21" id="4947" />
-<TGConnectingPoint num="22" id="4948" />
-<TGConnectingPoint num="23" id="4949" />
-<TGConnectingPoint num="24" id="4950" />
-<TGConnectingPoint num="25" id="4951" />
-<TGConnectingPoint num="26" id="4952" />
-<TGConnectingPoint num="27" id="4953" />
-<TGConnectingPoint num="28" id="4954" />
-<TGConnectingPoint num="29" id="4955" />
-<TGConnectingPoint num="30" id="4956" />
-<TGConnectingPoint num="31" id="4957" />
-<TGConnectingPoint num="32" id="4958" />
-<TGConnectingPoint num="33" id="4959" />
-<TGConnectingPoint num="34" id="4960" />
-<TGConnectingPoint num="35" id="4961" />
-<TGConnectingPoint num="36" id="4962" />
-<TGConnectingPoint num="37" id="4963" />
-<TGConnectingPoint num="38" id="4964" />
-<TGConnectingPoint num="39" id="4965" />
-<invariant />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5104" id="4977" >
-<cdparam x="396" y="200" />
-<sizeparam width="90" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="brake(value)" />
-<TGConnectingPoint num="0" id="4967" />
-<TGConnectingPoint num="1" id="4968" />
-<TGConnectingPoint num="2" id="4969" />
-<TGConnectingPoint num="3" id="4970" />
-<TGConnectingPoint num="4" id="4971" />
-<TGConnectingPoint num="5" id="4972" />
-<TGConnectingPoint num="6" id="4973" />
-<TGConnectingPoint num="7" id="4974" />
-<TGConnectingPoint num="8" id="4975" />
-<TGConnectingPoint num="9" id="4976" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="5018" >
-<cdparam x="398" y="124" />
-<sizeparam width="172" height="48" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitForBrakingOrder" />
-<TGConnectingPoint num="0" id="4978" />
-<TGConnectingPoint num="1" id="4979" />
-<TGConnectingPoint num="2" id="4980" />
-<TGConnectingPoint num="3" id="4981" />
-<TGConnectingPoint num="4" id="4982" />
-<TGConnectingPoint num="5" id="4983" />
-<TGConnectingPoint num="6" id="4984" />
-<TGConnectingPoint num="7" id="4985" />
-<TGConnectingPoint num="8" id="4986" />
-<TGConnectingPoint num="9" id="4987" />
-<TGConnectingPoint num="10" id="4988" />
-<TGConnectingPoint num="11" id="4989" />
-<TGConnectingPoint num="12" id="4990" />
-<TGConnectingPoint num="13" id="4991" />
-<TGConnectingPoint num="14" id="4992" />
-<TGConnectingPoint num="15" id="4993" />
-<TGConnectingPoint num="16" id="4994" />
-<TGConnectingPoint num="17" id="4995" />
-<TGConnectingPoint num="18" id="4996" />
-<TGConnectingPoint num="19" id="4997" />
-<TGConnectingPoint num="20" id="4998" />
-<TGConnectingPoint num="21" id="4999" />
-<TGConnectingPoint num="22" id="5000" />
-<TGConnectingPoint num="23" id="5001" />
-<TGConnectingPoint num="24" id="5002" />
-<TGConnectingPoint num="25" id="5003" />
-<TGConnectingPoint num="26" id="5004" />
-<TGConnectingPoint num="27" id="5005" />
-<TGConnectingPoint num="28" id="5006" />
-<TGConnectingPoint num="29" id="5007" />
-<TGConnectingPoint num="30" id="5008" />
-<TGConnectingPoint num="31" id="5009" />
-<TGConnectingPoint num="32" id="5010" />
-<TGConnectingPoint num="33" id="5011" />
-<TGConnectingPoint num="34" id="5012" />
-<TGConnectingPoint num="35" id="5013" />
-<TGConnectingPoint num="36" id="5014" />
-<TGConnectingPoint num="37" id="5015" />
-<TGConnectingPoint num="38" id="5016" />
-<TGConnectingPoint num="39" id="5017" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="5020" >
-<cdparam x="468" y="69" />
+<COMPONENT type="5100" id="4891" >
+<cdparam x="400" y="50" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="5019" />
+<TGConnectingPoint num="0" id="4890" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
<AVATARStateMachineDiagramPanel name="DangerAvoidanceStrategy" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="5033" >
+<CONNECTOR type="5102" id="4904" >
<cdparam x="512" y="766" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="5029" />
-<TGConnectingPoint num="1" id="5030" />
-<TGConnectingPoint num="2" id="5031" />
-<TGConnectingPoint num="3" id="5032" />
-<P1 x="512" y="766" id="5098" />
-<P2 x="636" y="162" id="5279" />
+<TGConnectingPoint num="0" id="4900" />
+<TGConnectingPoint num="1" id="4901" />
+<TGConnectingPoint num="2" id="4902" />
+<TGConnectingPoint num="3" id="4903" />
+<P1 x="512" y="766" id="4969" />
+<P2 x="636" y="162" id="5150" />
<Point x="516" y="826" />
<Point x="776" y="833" />
<Point x="781" y="165" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5021" >
-<father id="5033" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4892" >
+<father id="4904" num="0" />
<cdparam x="516" y="826" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5022" >
-<father id="5033" num="1" />
+<SUBCOMPONENT type="-1" id="4893" >
+<father id="4904" num="1" />
<cdparam x="776" y="833" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5023" >
-<father id="5033" num="2" />
+<SUBCOMPONENT type="-1" id="4894" >
+<father id="4904" num="2" />
<cdparam x="781" y="165" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5028" >
-<father id="5033" num="3" />
+<SUBCOMPONENT type="-1" id="4899" >
+<father id="4904" num="3" />
<cdparam x="512" y="806" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5024" />
-<TGConnectingPoint num="1" id="5025" />
-<TGConnectingPoint num="2" id="5026" />
-<TGConnectingPoint num="3" id="5027" />
+<TGConnectingPoint num="0" id="4895" />
+<TGConnectingPoint num="1" id="4896" />
+<TGConnectingPoint num="2" id="4897" />
+<TGConnectingPoint num="3" id="4898" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11365,25 +11087,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5040" >
+<CONNECTOR type="5102" id="4911" >
<cdparam x="518" y="602" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="5039" />
-<P1 x="510" y="605" id="5109" />
-<P2 x="511" y="642" id="5120" />
+<TGConnectingPoint num="0" id="4910" />
+<P1 x="510" y="605" id="4980" />
+<P2 x="511" y="642" id="4991" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5038" >
-<father id="5040" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4909" >
+<father id="4911" num="0" />
<cdparam x="518" y="642" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5034" />
-<TGConnectingPoint num="1" id="5035" />
-<TGConnectingPoint num="2" id="5036" />
-<TGConnectingPoint num="3" id="5037" />
+<TGConnectingPoint num="0" id="4905" />
+<TGConnectingPoint num="1" id="4906" />
+<TGConnectingPoint num="2" id="4907" />
+<TGConnectingPoint num="3" id="4908" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11393,25 +11115,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5047" >
+<CONNECTOR type="5102" id="4918" >
<cdparam x="586" y="530" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="5046" />
-<P1 x="510" y="530" id="5189" />
-<P2 x="510" y="575" id="5108" />
+<TGConnectingPoint num="0" id="4917" />
+<P1 x="510" y="530" id="5060" />
+<P2 x="510" y="575" id="4979" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5045" >
-<father id="5047" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4916" >
+<father id="4918" num="0" />
<cdparam x="523" y="558" />
<sizeparam width="244" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5041" />
-<TGConnectingPoint num="1" id="5042" />
-<TGConnectingPoint num="2" id="5043" />
-<TGConnectingPoint num="3" id="5044" />
+<TGConnectingPoint num="0" id="4912" />
+<TGConnectingPoint num="1" id="4913" />
+<TGConnectingPoint num="2" id="4914" />
+<TGConnectingPoint num="3" id="4915" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11422,25 +11144,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5054" >
+<CONNECTOR type="5102" id="4925" >
<cdparam x="524" y="331" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="5053" />
-<P1 x="524" y="331" id="5231" />
-<P2 x="560" y="480" id="5178" />
+<TGConnectingPoint num="0" id="4924" />
+<P1 x="524" y="331" id="5102" />
+<P2 x="560" y="480" id="5049" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5052" >
-<father id="5054" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4923" >
+<father id="4925" num="0" />
<cdparam x="548" y="369" />
<sizeparam width="44" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5048" />
-<TGConnectingPoint num="1" id="5049" />
-<TGConnectingPoint num="2" id="5050" />
-<TGConnectingPoint num="3" id="5051" />
+<TGConnectingPoint num="0" id="4919" />
+<TGConnectingPoint num="1" id="4920" />
+<TGConnectingPoint num="2" id="4921" />
+<TGConnectingPoint num="3" id="4922" />
<extraparam>
<guard value="[ else ]" />
<afterMin value="" />
@@ -11450,25 +11172,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5061" >
+<CONNECTOR type="5102" id="4932" >
<cdparam x="419" y="125" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="5060" />
-<P1 x="419" y="125" id="5297" />
-<P2 x="431" y="144" id="5264" />
+<TGConnectingPoint num="0" id="4931" />
+<P1 x="419" y="125" id="5168" />
+<P2 x="431" y="144" id="5135" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5059" >
-<father id="5061" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4930" >
+<father id="4932" num="0" />
<cdparam x="419" y="165" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5055" />
-<TGConnectingPoint num="1" id="5056" />
-<TGConnectingPoint num="2" id="5057" />
-<TGConnectingPoint num="3" id="5058" />
+<TGConnectingPoint num="0" id="4926" />
+<TGConnectingPoint num="1" id="4927" />
+<TGConnectingPoint num="2" id="4928" />
+<TGConnectingPoint num="3" id="4929" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11478,25 +11200,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5068" >
+<CONNECTOR type="5102" id="4939" >
<cdparam x="499" y="194" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="5067" />
-<P1 x="499" y="194" id="5262" />
-<P2 x="499" y="228" id="5245" />
+<TGConnectingPoint num="0" id="4938" />
+<P1 x="499" y="194" id="5133" />
+<P2 x="499" y="228" id="5116" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5066" >
-<father id="5068" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4937" >
+<father id="4939" num="0" />
<cdparam x="499" y="234" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5062" />
-<TGConnectingPoint num="1" id="5063" />
-<TGConnectingPoint num="2" id="5064" />
-<TGConnectingPoint num="3" id="5065" />
+<TGConnectingPoint num="0" id="4933" />
+<TGConnectingPoint num="1" id="4934" />
+<TGConnectingPoint num="2" id="4935" />
+<TGConnectingPoint num="3" id="4936" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11506,25 +11228,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5075" >
+<CONNECTOR type="5102" id="4946" >
<cdparam x="499" y="258" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Receive signal to choice" value="null" />
-<TGConnectingPoint num="0" id="5074" />
-<P1 x="499" y="258" id="5246" />
-<P2 x="499" y="306" id="5229" />
+<TGConnectingPoint num="0" id="4945" />
+<P1 x="499" y="258" id="5117" />
+<P2 x="499" y="306" id="5100" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5073" >
-<father id="5075" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4944" >
+<father id="4946" num="0" />
<cdparam x="499" y="298" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5069" />
-<TGConnectingPoint num="1" id="5070" />
-<TGConnectingPoint num="2" id="5071" />
-<TGConnectingPoint num="3" id="5072" />
+<TGConnectingPoint num="0" id="4940" />
+<TGConnectingPoint num="1" id="4941" />
+<TGConnectingPoint num="2" id="4942" />
+<TGConnectingPoint num="3" id="4943" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11534,25 +11256,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5082" >
+<CONNECTOR type="5102" id="4953" >
<cdparam x="474" y="331" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to Send signal" value="null" />
-<TGConnectingPoint num="0" id="5081" />
-<P1 x="474" y="331" id="5233" />
-<P2 x="393" y="394" id="5201" />
+<TGConnectingPoint num="0" id="4952" />
+<P1 x="474" y="331" id="5104" />
+<P2 x="393" y="394" id="5072" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5080" >
-<father id="5082" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4951" >
+<father id="4953" num="0" />
<cdparam x="356" y="357" />
<sizeparam width="78" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5076" />
-<TGConnectingPoint num="1" id="5077" />
-<TGConnectingPoint num="2" id="5078" />
-<TGConnectingPoint num="3" id="5079" />
+<TGConnectingPoint num="0" id="4947" />
+<TGConnectingPoint num="1" id="4948" />
+<TGConnectingPoint num="2" id="4949" />
+<TGConnectingPoint num="3" id="4950" />
<extraparam>
<guard value="[ speed > 5]" />
<afterMin value="" />
@@ -11562,25 +11284,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5089" >
+<CONNECTOR type="5102" id="4960" >
<cdparam x="390" y="432" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="5088" />
-<P1 x="393" y="424" id="5202" />
-<P2 x="436" y="480" id="5160" />
+<TGConnectingPoint num="0" id="4959" />
+<P1 x="393" y="424" id="5073" />
+<P2 x="436" y="480" id="5031" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5087" >
-<father id="5089" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4958" >
+<father id="4960" num="0" />
<cdparam x="390" y="472" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5083" />
-<TGConnectingPoint num="1" id="5084" />
-<TGConnectingPoint num="2" id="5085" />
-<TGConnectingPoint num="3" id="5086" />
+<TGConnectingPoint num="0" id="4954" />
+<TGConnectingPoint num="1" id="4955" />
+<TGConnectingPoint num="2" id="4956" />
+<TGConnectingPoint num="3" id="4957" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11590,25 +11312,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5096" >
+<CONNECTOR type="5102" id="4967" >
<cdparam x="537" y="692" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="5095" />
-<P1 x="511" y="692" id="5125" />
-<P2 x="512" y="736" id="5097" />
+<TGConnectingPoint num="0" id="4966" />
+<P1 x="511" y="692" id="4996" />
+<P2 x="512" y="736" id="4968" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5094" >
-<father id="5096" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4965" >
+<father id="4967" num="0" />
<cdparam x="534" y="724" />
<sizeparam width="126" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5090" />
-<TGConnectingPoint num="1" id="5091" />
-<TGConnectingPoint num="2" id="5092" />
-<TGConnectingPoint num="3" id="5093" />
+<TGConnectingPoint num="0" id="4961" />
+<TGConnectingPoint num="1" id="4962" />
+<TGConnectingPoint num="2" id="4963" />
+<TGConnectingPoint num="3" id="4964" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11619,217 +11341,495 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5103" id="5107" >
+<COMPONENT type="5103" id="4978" >
<cdparam x="378" y="741" />
<sizeparam width="269" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Send signal" value="forwardEmergency(value, currentPosition)" />
-<TGConnectingPoint num="0" id="5097" />
-<TGConnectingPoint num="1" id="5098" />
-<TGConnectingPoint num="2" id="5099" />
-<TGConnectingPoint num="3" id="5100" />
-<TGConnectingPoint num="4" id="5101" />
-<TGConnectingPoint num="5" id="5102" />
-<TGConnectingPoint num="6" id="5103" />
-<TGConnectingPoint num="7" id="5104" />
-<TGConnectingPoint num="8" id="5105" />
-<TGConnectingPoint num="9" id="5106" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="5118" >
+<TGConnectingPoint num="0" id="4968" />
+<TGConnectingPoint num="1" id="4969" />
+<TGConnectingPoint num="2" id="4970" />
+<TGConnectingPoint num="3" id="4971" />
+<TGConnectingPoint num="4" id="4972" />
+<TGConnectingPoint num="5" id="4973" />
+<TGConnectingPoint num="6" id="4974" />
+<TGConnectingPoint num="7" id="4975" />
+<TGConnectingPoint num="8" id="4976" />
+<TGConnectingPoint num="9" id="4977" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="4989" >
<cdparam x="446" y="580" />
<sizeparam width="128" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Send signal" value="brakePower(value)" />
-<TGConnectingPoint num="0" id="5108" />
-<TGConnectingPoint num="1" id="5109" />
-<TGConnectingPoint num="2" id="5110" />
-<TGConnectingPoint num="3" id="5111" />
-<TGConnectingPoint num="4" id="5112" />
-<TGConnectingPoint num="5" id="5113" />
-<TGConnectingPoint num="6" id="5114" />
-<TGConnectingPoint num="7" id="5115" />
-<TGConnectingPoint num="8" id="5116" />
-<TGConnectingPoint num="9" id="5117" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="5159" >
+<TGConnectingPoint num="0" id="4979" />
+<TGConnectingPoint num="1" id="4980" />
+<TGConnectingPoint num="2" id="4981" />
+<TGConnectingPoint num="3" id="4982" />
+<TGConnectingPoint num="4" id="4983" />
+<TGConnectingPoint num="5" id="4984" />
+<TGConnectingPoint num="6" id="4985" />
+<TGConnectingPoint num="7" id="4986" />
+<TGConnectingPoint num="8" id="4987" />
+<TGConnectingPoint num="9" id="4988" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="5030" >
<cdparam x="403" y="642" />
<sizeparam width="217" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="state0" value="ForwardManagement" />
-<TGConnectingPoint num="0" id="5119" />
-<TGConnectingPoint num="1" id="5120" />
-<TGConnectingPoint num="2" id="5121" />
-<TGConnectingPoint num="3" id="5122" />
-<TGConnectingPoint num="4" id="5123" />
-<TGConnectingPoint num="5" id="5124" />
-<TGConnectingPoint num="6" id="5125" />
-<TGConnectingPoint num="7" id="5126" />
-<TGConnectingPoint num="8" id="5127" />
-<TGConnectingPoint num="9" id="5128" />
-<TGConnectingPoint num="10" id="5129" />
-<TGConnectingPoint num="11" id="5130" />
-<TGConnectingPoint num="12" id="5131" />
-<TGConnectingPoint num="13" id="5132" />
-<TGConnectingPoint num="14" id="5133" />
-<TGConnectingPoint num="15" id="5134" />
-<TGConnectingPoint num="16" id="5135" />
-<TGConnectingPoint num="17" id="5136" />
-<TGConnectingPoint num="18" id="5137" />
-<TGConnectingPoint num="19" id="5138" />
-<TGConnectingPoint num="20" id="5139" />
-<TGConnectingPoint num="21" id="5140" />
-<TGConnectingPoint num="22" id="5141" />
-<TGConnectingPoint num="23" id="5142" />
-<TGConnectingPoint num="24" id="5143" />
-<TGConnectingPoint num="25" id="5144" />
-<TGConnectingPoint num="26" id="5145" />
-<TGConnectingPoint num="27" id="5146" />
-<TGConnectingPoint num="28" id="5147" />
-<TGConnectingPoint num="29" id="5148" />
-<TGConnectingPoint num="30" id="5149" />
-<TGConnectingPoint num="31" id="5150" />
-<TGConnectingPoint num="32" id="5151" />
-<TGConnectingPoint num="33" id="5152" />
-<TGConnectingPoint num="34" id="5153" />
-<TGConnectingPoint num="35" id="5154" />
-<TGConnectingPoint num="36" id="5155" />
-<TGConnectingPoint num="37" id="5156" />
-<TGConnectingPoint num="38" id="5157" />
-<TGConnectingPoint num="39" id="5158" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="5200" >
+<TGConnectingPoint num="0" id="4990" />
+<TGConnectingPoint num="1" id="4991" />
+<TGConnectingPoint num="2" id="4992" />
+<TGConnectingPoint num="3" id="4993" />
+<TGConnectingPoint num="4" id="4994" />
+<TGConnectingPoint num="5" id="4995" />
+<TGConnectingPoint num="6" id="4996" />
+<TGConnectingPoint num="7" id="4997" />
+<TGConnectingPoint num="8" id="4998" />
+<TGConnectingPoint num="9" id="4999" />
+<TGConnectingPoint num="10" id="5000" />
+<TGConnectingPoint num="11" id="5001" />
+<TGConnectingPoint num="12" id="5002" />
+<TGConnectingPoint num="13" id="5003" />
+<TGConnectingPoint num="14" id="5004" />
+<TGConnectingPoint num="15" id="5005" />
+<TGConnectingPoint num="16" id="5006" />
+<TGConnectingPoint num="17" id="5007" />
+<TGConnectingPoint num="18" id="5008" />
+<TGConnectingPoint num="19" id="5009" />
+<TGConnectingPoint num="20" id="5010" />
+<TGConnectingPoint num="21" id="5011" />
+<TGConnectingPoint num="22" id="5012" />
+<TGConnectingPoint num="23" id="5013" />
+<TGConnectingPoint num="24" id="5014" />
+<TGConnectingPoint num="25" id="5015" />
+<TGConnectingPoint num="26" id="5016" />
+<TGConnectingPoint num="27" id="5017" />
+<TGConnectingPoint num="28" id="5018" />
+<TGConnectingPoint num="29" id="5019" />
+<TGConnectingPoint num="30" id="5020" />
+<TGConnectingPoint num="31" id="5021" />
+<TGConnectingPoint num="32" id="5022" />
+<TGConnectingPoint num="33" id="5023" />
+<TGConnectingPoint num="34" id="5024" />
+<TGConnectingPoint num="35" id="5025" />
+<TGConnectingPoint num="36" id="5026" />
+<TGConnectingPoint num="37" id="5027" />
+<TGConnectingPoint num="38" id="5028" />
+<TGConnectingPoint num="39" id="5029" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="5071" >
<cdparam x="436" y="480" />
<sizeparam width="201" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="state0" value="BrakingManagement" />
-<TGConnectingPoint num="0" id="5160" />
-<TGConnectingPoint num="1" id="5161" />
-<TGConnectingPoint num="2" id="5162" />
-<TGConnectingPoint num="3" id="5163" />
-<TGConnectingPoint num="4" id="5164" />
-<TGConnectingPoint num="5" id="5165" />
-<TGConnectingPoint num="6" id="5166" />
-<TGConnectingPoint num="7" id="5167" />
-<TGConnectingPoint num="8" id="5168" />
-<TGConnectingPoint num="9" id="5169" />
-<TGConnectingPoint num="10" id="5170" />
-<TGConnectingPoint num="11" id="5171" />
-<TGConnectingPoint num="12" id="5172" />
-<TGConnectingPoint num="13" id="5173" />
-<TGConnectingPoint num="14" id="5174" />
-<TGConnectingPoint num="15" id="5175" />
-<TGConnectingPoint num="16" id="5176" />
-<TGConnectingPoint num="17" id="5177" />
-<TGConnectingPoint num="18" id="5178" />
-<TGConnectingPoint num="19" id="5179" />
-<TGConnectingPoint num="20" id="5180" />
-<TGConnectingPoint num="21" id="5181" />
-<TGConnectingPoint num="22" id="5182" />
-<TGConnectingPoint num="23" id="5183" />
-<TGConnectingPoint num="24" id="5184" />
-<TGConnectingPoint num="25" id="5185" />
-<TGConnectingPoint num="26" id="5186" />
-<TGConnectingPoint num="27" id="5187" />
-<TGConnectingPoint num="28" id="5188" />
-<TGConnectingPoint num="29" id="5189" />
-<TGConnectingPoint num="30" id="5190" />
-<TGConnectingPoint num="31" id="5191" />
-<TGConnectingPoint num="32" id="5192" />
-<TGConnectingPoint num="33" id="5193" />
-<TGConnectingPoint num="34" id="5194" />
-<TGConnectingPoint num="35" id="5195" />
-<TGConnectingPoint num="36" id="5196" />
-<TGConnectingPoint num="37" id="5197" />
-<TGConnectingPoint num="38" id="5198" />
-<TGConnectingPoint num="39" id="5199" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5103" id="5211" >
+<TGConnectingPoint num="0" id="5031" />
+<TGConnectingPoint num="1" id="5032" />
+<TGConnectingPoint num="2" id="5033" />
+<TGConnectingPoint num="3" id="5034" />
+<TGConnectingPoint num="4" id="5035" />
+<TGConnectingPoint num="5" id="5036" />
+<TGConnectingPoint num="6" id="5037" />
+<TGConnectingPoint num="7" id="5038" />
+<TGConnectingPoint num="8" id="5039" />
+<TGConnectingPoint num="9" id="5040" />
+<TGConnectingPoint num="10" id="5041" />
+<TGConnectingPoint num="11" id="5042" />
+<TGConnectingPoint num="12" id="5043" />
+<TGConnectingPoint num="13" id="5044" />
+<TGConnectingPoint num="14" id="5045" />
+<TGConnectingPoint num="15" id="5046" />
+<TGConnectingPoint num="16" id="5047" />
+<TGConnectingPoint num="17" id="5048" />
+<TGConnectingPoint num="18" id="5049" />
+<TGConnectingPoint num="19" id="5050" />
+<TGConnectingPoint num="20" id="5051" />
+<TGConnectingPoint num="21" id="5052" />
+<TGConnectingPoint num="22" id="5053" />
+<TGConnectingPoint num="23" id="5054" />
+<TGConnectingPoint num="24" id="5055" />
+<TGConnectingPoint num="25" id="5056" />
+<TGConnectingPoint num="26" id="5057" />
+<TGConnectingPoint num="27" id="5058" />
+<TGConnectingPoint num="28" id="5059" />
+<TGConnectingPoint num="29" id="5060" />
+<TGConnectingPoint num="30" id="5061" />
+<TGConnectingPoint num="31" id="5062" />
+<TGConnectingPoint num="32" id="5063" />
+<TGConnectingPoint num="33" id="5064" />
+<TGConnectingPoint num="34" id="5065" />
+<TGConnectingPoint num="35" id="5066" />
+<TGConnectingPoint num="36" id="5067" />
+<TGConnectingPoint num="37" id="5068" />
+<TGConnectingPoint num="38" id="5069" />
+<TGConnectingPoint num="39" id="5070" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5103" id="5082" >
<cdparam x="326" y="399" />
<sizeparam width="135" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Send signal" value="reducePower(value)" />
-<TGConnectingPoint num="0" id="5201" />
-<TGConnectingPoint num="1" id="5202" />
-<TGConnectingPoint num="2" id="5203" />
-<TGConnectingPoint num="3" id="5204" />
-<TGConnectingPoint num="4" id="5205" />
-<TGConnectingPoint num="5" id="5206" />
-<TGConnectingPoint num="6" id="5207" />
-<TGConnectingPoint num="7" id="5208" />
-<TGConnectingPoint num="8" id="5209" />
-<TGConnectingPoint num="9" id="5210" />
-</COMPONENT>
-
-<COMPONENT type="301" id="5228" >
+<TGConnectingPoint num="0" id="5072" />
+<TGConnectingPoint num="1" id="5073" />
+<TGConnectingPoint num="2" id="5074" />
+<TGConnectingPoint num="3" id="5075" />
+<TGConnectingPoint num="4" id="5076" />
+<TGConnectingPoint num="5" id="5077" />
+<TGConnectingPoint num="6" id="5078" />
+<TGConnectingPoint num="7" id="5079" />
+<TGConnectingPoint num="8" id="5080" />
+<TGConnectingPoint num="9" id="5081" />
+</COMPONENT>
+
+<COMPONENT type="301" id="5099" >
<cdparam x="561" y="301" />
<sizeparam width="169" height="35" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="UML Note" value="Have to reduce Power ?
" />
-<TGConnectingPoint num="0" id="5212" />
-<TGConnectingPoint num="1" id="5213" />
-<TGConnectingPoint num="2" id="5214" />
-<TGConnectingPoint num="3" id="5215" />
-<TGConnectingPoint num="4" id="5216" />
-<TGConnectingPoint num="5" id="5217" />
-<TGConnectingPoint num="6" id="5218" />
-<TGConnectingPoint num="7" id="5219" />
-<TGConnectingPoint num="8" id="5220" />
-<TGConnectingPoint num="9" id="5221" />
-<TGConnectingPoint num="10" id="5222" />
-<TGConnectingPoint num="11" id="5223" />
-<TGConnectingPoint num="12" id="5224" />
-<TGConnectingPoint num="13" id="5225" />
-<TGConnectingPoint num="14" id="5226" />
-<TGConnectingPoint num="15" id="5227" />
+<TGConnectingPoint num="0" id="5083" />
+<TGConnectingPoint num="1" id="5084" />
+<TGConnectingPoint num="2" id="5085" />
+<TGConnectingPoint num="3" id="5086" />
+<TGConnectingPoint num="4" id="5087" />
+<TGConnectingPoint num="5" id="5088" />
+<TGConnectingPoint num="6" id="5089" />
+<TGConnectingPoint num="7" id="5090" />
+<TGConnectingPoint num="8" id="5091" />
+<TGConnectingPoint num="9" id="5092" />
+<TGConnectingPoint num="10" id="5093" />
+<TGConnectingPoint num="11" id="5094" />
+<TGConnectingPoint num="12" id="5095" />
+<TGConnectingPoint num="13" id="5096" />
+<TGConnectingPoint num="14" id="5097" />
+<TGConnectingPoint num="15" id="5098" />
<extraparam>
<Line value="Have to reduce Power ?" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5107" id="5244" >
+<COMPONENT type="5107" id="5115" >
<cdparam x="484" y="316" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="5229" />
-<TGConnectingPoint num="1" id="5230" />
-<TGConnectingPoint num="2" id="5231" />
-<TGConnectingPoint num="3" id="5232" />
-<TGConnectingPoint num="4" id="5233" />
-<TGConnectingPoint num="5" id="5234" />
-<TGConnectingPoint num="6" id="5235" />
-<TGConnectingPoint num="7" id="5236" />
-<TGConnectingPoint num="8" id="5237" />
-<TGConnectingPoint num="9" id="5238" />
-<TGConnectingPoint num="10" id="5239" />
-<TGConnectingPoint num="11" id="5240" />
-<TGConnectingPoint num="12" id="5241" />
-<TGConnectingPoint num="13" id="5242" />
-<TGConnectingPoint num="14" id="5243" />
-</COMPONENT>
-
-<COMPONENT type="5104" id="5255" >
+<TGConnectingPoint num="0" id="5100" />
+<TGConnectingPoint num="1" id="5101" />
+<TGConnectingPoint num="2" id="5102" />
+<TGConnectingPoint num="3" id="5103" />
+<TGConnectingPoint num="4" id="5104" />
+<TGConnectingPoint num="5" id="5105" />
+<TGConnectingPoint num="6" id="5106" />
+<TGConnectingPoint num="7" id="5107" />
+<TGConnectingPoint num="8" id="5108" />
+<TGConnectingPoint num="9" id="5109" />
+<TGConnectingPoint num="10" id="5110" />
+<TGConnectingPoint num="11" id="5111" />
+<TGConnectingPoint num="12" id="5112" />
+<TGConnectingPoint num="13" id="5113" />
+<TGConnectingPoint num="14" id="5114" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="5126" >
<cdparam x="370" y="233" />
<sizeparam width="258" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Receive signal" value="brake(speed, currentPosition, position)" />
+<TGConnectingPoint num="0" id="5116" />
+<TGConnectingPoint num="1" id="5117" />
+<TGConnectingPoint num="2" id="5118" />
+<TGConnectingPoint num="3" id="5119" />
+<TGConnectingPoint num="4" id="5120" />
+<TGConnectingPoint num="5" id="5121" />
+<TGConnectingPoint num="6" id="5122" />
+<TGConnectingPoint num="7" id="5123" />
+<TGConnectingPoint num="8" id="5124" />
+<TGConnectingPoint num="9" id="5125" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="5167" >
+<cdparam x="363" y="144" />
+<sizeparam width="273" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="state0" value="WaitingForActionsToTake" />
+<TGConnectingPoint num="0" id="5127" />
+<TGConnectingPoint num="1" id="5128" />
+<TGConnectingPoint num="2" id="5129" />
+<TGConnectingPoint num="3" id="5130" />
+<TGConnectingPoint num="4" id="5131" />
+<TGConnectingPoint num="5" id="5132" />
+<TGConnectingPoint num="6" id="5133" />
+<TGConnectingPoint num="7" id="5134" />
+<TGConnectingPoint num="8" id="5135" />
+<TGConnectingPoint num="9" id="5136" />
+<TGConnectingPoint num="10" id="5137" />
+<TGConnectingPoint num="11" id="5138" />
+<TGConnectingPoint num="12" id="5139" />
+<TGConnectingPoint num="13" id="5140" />
+<TGConnectingPoint num="14" id="5141" />
+<TGConnectingPoint num="15" id="5142" />
+<TGConnectingPoint num="16" id="5143" />
+<TGConnectingPoint num="17" id="5144" />
+<TGConnectingPoint num="18" id="5145" />
+<TGConnectingPoint num="19" id="5146" />
+<TGConnectingPoint num="20" id="5147" />
+<TGConnectingPoint num="21" id="5148" />
+<TGConnectingPoint num="22" id="5149" />
+<TGConnectingPoint num="23" id="5150" />
+<TGConnectingPoint num="24" id="5151" />
+<TGConnectingPoint num="25" id="5152" />
+<TGConnectingPoint num="26" id="5153" />
+<TGConnectingPoint num="27" id="5154" />
+<TGConnectingPoint num="28" id="5155" />
+<TGConnectingPoint num="29" id="5156" />
+<TGConnectingPoint num="30" id="5157" />
+<TGConnectingPoint num="31" id="5158" />
+<TGConnectingPoint num="32" id="5159" />
+<TGConnectingPoint num="33" id="5160" />
+<TGConnectingPoint num="34" id="5161" />
+<TGConnectingPoint num="35" id="5162" />
+<TGConnectingPoint num="36" id="5163" />
+<TGConnectingPoint num="37" id="5164" />
+<TGConnectingPoint num="38" id="5165" />
+<TGConnectingPoint num="39" id="5166" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="5169" >
+<cdparam x="412" y="105" />
+<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="start state" value="null" />
+<TGConnectingPoint num="0" id="5168" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="BrakeManagement" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="5182" >
+<cdparam x="514" y="350" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to state0" value="null" />
+<TGConnectingPoint num="0" id="5178" />
+<TGConnectingPoint num="1" id="5179" />
+<TGConnectingPoint num="2" id="5180" />
+<TGConnectingPoint num="3" id="5181" />
+<P1 x="497" y="343" id="5210" />
+<P2 x="570" y="148" id="5260" />
+<Point x="497" y="396" />
+<Point x="697" y="396" />
+<Point x="697" y="148" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5170" >
+<father id="5182" num="0" />
+<cdparam x="497" y="396" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5171" >
+<father id="5182" num="1" />
+<cdparam x="697" y="396" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5172" >
+<father id="5182" num="2" />
+<cdparam x="697" y="148" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5177" >
+<father id="5182" num="3" />
+<cdparam x="508" y="363" />
+<sizeparam width="180" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5173" />
+<TGConnectingPoint num="1" id="5174" />
+<TGConnectingPoint num="2" id="5175" />
+<TGConnectingPoint num="3" id="5176" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="value" />
+<afterMax value="brakeMaxDuration" />
+<computeMin value="" />
+<computeMax value="" />
+<actions value="brakingDone()" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5189" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from start state to state0" value="null" />
+<TGConnectingPoint num="0" id="5188" />
+<P1 x="475" y="89" id="5297" />
+<P2 x="484" y="124" id="5257" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5187" >
+<father id="5189" num="0" />
+<cdparam x="407" y="110" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5183" />
+<TGConnectingPoint num="1" id="5184" />
+<TGConnectingPoint num="2" id="5185" />
+<TGConnectingPoint num="3" id="5186" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5196" >
+<cdparam x="484" y="172" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to Receive signal" value="null" />
+<TGConnectingPoint num="0" id="5195" />
+<P1 x="441" y="172" id="5270" />
+<P2 x="441" y="195" id="5245" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5194" >
+<father id="5196" num="0" />
+<cdparam x="484" y="212" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5190" />
+<TGConnectingPoint num="1" id="5191" />
+<TGConnectingPoint num="2" id="5192" />
+<TGConnectingPoint num="3" id="5193" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5203" >
+<cdparam x="485" y="230" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Receive signal to state0" value="null" />
+<TGConnectingPoint num="0" id="5202" />
+<P1 x="441" y="225" id="5246" />
+<P2 x="441" y="293" id="5212" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5201" >
+<father id="5203" num="0" />
+<cdparam x="447" y="243" />
+<sizeparam width="235" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5197" />
+<TGConnectingPoint num="1" id="5198" />
+<TGConnectingPoint num="2" id="5199" />
+<TGConnectingPoint num="3" id="5200" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<actions value="applyBraking(value)" />
+<actions value="value = value * 10" />
+<actions value="brakeMaxDuration = value + deltaBrake" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5106" id="5244" >
+<cdparam x="386" y="293" />
+<sizeparam width="223" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="state0" value="WaitingforBrakingToBeCompleted" />
+<TGConnectingPoint num="0" id="5204" />
+<TGConnectingPoint num="1" id="5205" />
+<TGConnectingPoint num="2" id="5206" />
+<TGConnectingPoint num="3" id="5207" />
+<TGConnectingPoint num="4" id="5208" />
+<TGConnectingPoint num="5" id="5209" />
+<TGConnectingPoint num="6" id="5210" />
+<TGConnectingPoint num="7" id="5211" />
+<TGConnectingPoint num="8" id="5212" />
+<TGConnectingPoint num="9" id="5213" />
+<TGConnectingPoint num="10" id="5214" />
+<TGConnectingPoint num="11" id="5215" />
+<TGConnectingPoint num="12" id="5216" />
+<TGConnectingPoint num="13" id="5217" />
+<TGConnectingPoint num="14" id="5218" />
+<TGConnectingPoint num="15" id="5219" />
+<TGConnectingPoint num="16" id="5220" />
+<TGConnectingPoint num="17" id="5221" />
+<TGConnectingPoint num="18" id="5222" />
+<TGConnectingPoint num="19" id="5223" />
+<TGConnectingPoint num="20" id="5224" />
+<TGConnectingPoint num="21" id="5225" />
+<TGConnectingPoint num="22" id="5226" />
+<TGConnectingPoint num="23" id="5227" />
+<TGConnectingPoint num="24" id="5228" />
+<TGConnectingPoint num="25" id="5229" />
+<TGConnectingPoint num="26" id="5230" />
+<TGConnectingPoint num="27" id="5231" />
+<TGConnectingPoint num="28" id="5232" />
+<TGConnectingPoint num="29" id="5233" />
+<TGConnectingPoint num="30" id="5234" />
+<TGConnectingPoint num="31" id="5235" />
+<TGConnectingPoint num="32" id="5236" />
+<TGConnectingPoint num="33" id="5237" />
+<TGConnectingPoint num="34" id="5238" />
+<TGConnectingPoint num="35" id="5239" />
+<TGConnectingPoint num="36" id="5240" />
+<TGConnectingPoint num="37" id="5241" />
+<TGConnectingPoint num="38" id="5242" />
+<TGConnectingPoint num="39" id="5243" />
+<invariant />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5104" id="5255" >
+<cdparam x="396" y="200" />
+<sizeparam width="90" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Receive signal" value="brake(value)" />
<TGConnectingPoint num="0" id="5245" />
<TGConnectingPoint num="1" id="5246" />
<TGConnectingPoint num="2" id="5247" />
@@ -11843,11 +11843,11 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5106" id="5296" >
-<cdparam x="363" y="144" />
-<sizeparam width="273" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="398" y="124" />
+<sizeparam width="172" height="48" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingForActionsToTake" />
+<infoparam name="state0" value="WaitForBrakingOrder" />
<TGConnectingPoint num="0" id="5256" />
<TGConnectingPoint num="1" id="5257" />
<TGConnectingPoint num="2" id="5258" />
@@ -11893,7 +11893,7 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5100" id="5298" >
-<cdparam x="412" y="105" />
+<cdparam x="468" y="69" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -11904,26 +11904,56 @@ Otherwise, the most far away
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="VehiculeDynamicsManagement" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="5305" >
-<cdparam x="686" y="231" />
+<AVATARStateMachineDiagramPanel name="ObjectListManagement" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="5311" >
+<cdparam x="548" y="343" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="5304" />
-<P1 x="686" y="231" id="5383" />
-<P2 x="697" y="301" id="5346" />
+<infoparam name="connector from Send signal to state0" value="null" />
+<TGConnectingPoint num="0" id="5307" />
+<TGConnectingPoint num="1" id="5308" />
+<TGConnectingPoint num="2" id="5309" />
+<TGConnectingPoint num="3" id="5310" />
+<P1 x="548" y="343" id="5347" />
+<P2 x="606" y="211" id="5391" />
+<Point x="546" y="362" />
+<Point x="658" y="366" />
+<Point x="672" y="172" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5303" >
-<father id="5305" num="0" />
-<cdparam x="686" y="271" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5299" >
+<father id="5311" num="0" />
+<cdparam x="546" y="362" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5300" >
+<father id="5311" num="1" />
+<cdparam x="658" y="366" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5301" >
+<father id="5311" num="2" />
+<cdparam x="672" y="172" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5306" >
+<father id="5311" num="3" />
+<cdparam x="548" y="383" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5299" />
-<TGConnectingPoint num="1" id="5300" />
-<TGConnectingPoint num="2" id="5301" />
-<TGConnectingPoint num="3" id="5302" />
+<TGConnectingPoint num="0" id="5302" />
+<TGConnectingPoint num="1" id="5303" />
+<TGConnectingPoint num="2" id="5304" />
+<TGConnectingPoint num="3" id="5305" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11933,25 +11963,55 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5312" >
-<cdparam x="513" y="231" />
+<CONNECTOR type="5102" id="5324" >
+<cdparam x="318" y="342" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="5311" />
-<P1 x="513" y="231" id="5396" />
-<P2 x="467" y="300" id="5357" />
+<infoparam name="connector from Receive signal to state0" value="null" />
+<TGConnectingPoint num="0" id="5320" />
+<TGConnectingPoint num="1" id="5321" />
+<TGConnectingPoint num="2" id="5322" />
+<TGConnectingPoint num="3" id="5323" />
+<P1 x="318" y="342" id="5358" />
+<P2 x="332" y="211" id="5389" />
+<Point x="317" y="374" />
+<Point x="207" y="388" />
+<Point x="214" y="205" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5310" >
-<father id="5312" num="0" />
-<cdparam x="513" y="271" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5312" >
+<father id="5324" num="0" />
+<cdparam x="317" y="374" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5313" >
+<father id="5324" num="1" />
+<cdparam x="207" y="388" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5314" >
+<father id="5324" num="2" />
+<cdparam x="214" y="205" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5319" >
+<father id="5324" num="3" />
+<cdparam x="318" y="382" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5306" />
-<TGConnectingPoint num="1" id="5307" />
-<TGConnectingPoint num="2" id="5308" />
-<TGConnectingPoint num="3" id="5309" />
+<TGConnectingPoint num="0" id="5315" />
+<TGConnectingPoint num="1" id="5316" />
+<TGConnectingPoint num="2" id="5317" />
+<TGConnectingPoint num="3" id="5318" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11961,25 +12021,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5319" >
-<cdparam x="597" y="156" />
+<CONNECTOR type="5102" id="5331" >
+<cdparam x="448" y="168" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="5318" />
-<P1 x="539" y="137" id="5409" />
-<P2 x="549" y="181" id="5376" />
+<TGConnectingPoint num="0" id="5330" />
+<P1 x="390" y="149" id="5409" />
+<P2 x="400" y="193" id="5376" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5317" >
-<father id="5319" num="0" />
-<cdparam x="597" y="196" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5329" >
+<father id="5331" num="0" />
+<cdparam x="448" y="208" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5313" />
-<TGConnectingPoint num="1" id="5314" />
-<TGConnectingPoint num="2" id="5315" />
-<TGConnectingPoint num="3" id="5316" />
+<TGConnectingPoint num="0" id="5325" />
+<TGConnectingPoint num="1" id="5326" />
+<TGConnectingPoint num="2" id="5327" />
+<TGConnectingPoint num="3" id="5328" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11989,55 +12049,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5332" >
-<cdparam x="467" y="330" />
+<CONNECTOR type="5102" id="5338" >
+<cdparam x="364" y="243" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to state0" value="null" />
-<TGConnectingPoint num="0" id="5328" />
-<TGConnectingPoint num="1" id="5329" />
-<TGConnectingPoint num="2" id="5330" />
-<TGConnectingPoint num="3" id="5331" />
-<P1 x="467" y="330" id="5358" />
-<P2 x="481" y="199" id="5389" />
-<Point x="466" y="362" />
-<Point x="356" y="376" />
-<Point x="363" y="193" />
+<infoparam name="connector from state0 to Receive signal" value="null" />
+<TGConnectingPoint num="0" id="5337" />
+<P1 x="364" y="243" id="5396" />
+<P2 x="318" y="312" id="5357" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5320" >
-<father id="5332" num="0" />
-<cdparam x="466" y="362" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5321" >
-<father id="5332" num="1" />
-<cdparam x="356" y="376" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5322" >
-<father id="5332" num="2" />
-<cdparam x="363" y="193" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5327" >
-<father id="5332" num="3" />
-<cdparam x="467" y="370" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5336" >
+<father id="5338" num="0" />
+<cdparam x="364" y="283" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5323" />
-<TGConnectingPoint num="1" id="5324" />
-<TGConnectingPoint num="2" id="5325" />
-<TGConnectingPoint num="3" id="5326" />
+<TGConnectingPoint num="0" id="5332" />
+<TGConnectingPoint num="1" id="5333" />
+<TGConnectingPoint num="2" id="5334" />
+<TGConnectingPoint num="3" id="5335" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -12048,54 +12078,24 @@ Otherwise, the most far away
</SUBCOMPONENT>
<CONNECTOR type="5102" id="5345" >
-<cdparam x="697" y="331" />
+<cdparam x="537" y="243" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="5341" />
-<TGConnectingPoint num="1" id="5342" />
-<TGConnectingPoint num="2" id="5343" />
-<TGConnectingPoint num="3" id="5344" />
-<P1 x="697" y="331" id="5347" />
-<P2 x="755" y="199" id="5391" />
-<Point x="695" y="350" />
-<Point x="807" y="354" />
-<Point x="821" y="160" />
+<infoparam name="connector from state0 to Send signal" value="null" />
+<TGConnectingPoint num="0" id="5344" />
+<P1 x="537" y="243" id="5383" />
+<P2 x="548" y="313" id="5346" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5333" >
+</CONNECTOR><SUBCOMPONENT type="-1" id="5343" >
<father id="5345" num="0" />
-<cdparam x="695" y="350" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5334" >
-<father id="5345" num="1" />
-<cdparam x="807" y="354" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5335" >
-<father id="5345" num="2" />
-<cdparam x="821" y="160" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5340" >
-<father id="5345" num="3" />
-<cdparam x="697" y="371" />
+<cdparam x="537" y="283" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5336" />
-<TGConnectingPoint num="1" id="5337" />
-<TGConnectingPoint num="2" id="5338" />
-<TGConnectingPoint num="3" id="5339" />
+<TGConnectingPoint num="0" id="5339" />
+<TGConnectingPoint num="1" id="5340" />
+<TGConnectingPoint num="2" id="5341" />
+<TGConnectingPoint num="3" id="5342" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -12106,11 +12106,11 @@ Otherwise, the most far away
</SUBCOMPONENT>
<COMPONENT type="5103" id="5356" >
-<cdparam x="625" y="306" />
-<sizeparam width="145" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="463" y="318" />
+<sizeparam width="171" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="getInfoOnSpeed(speed)" />
+<infoparam name="Send signal" value="getInfoOnObstacle(obstacle)" />
<TGConnectingPoint num="0" id="5346" />
<TGConnectingPoint num="1" id="5347" />
<TGConnectingPoint num="2" id="5348" />
@@ -12124,11 +12124,11 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5104" id="5367" >
-<cdparam x="390" y="305" />
-<sizeparam width="155" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="233" y="317" />
+<sizeparam width="170" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="updateOnSpeed(speed)" />
+<infoparam name="Receive signal" value="isObstacleAhead(obstacle)" />
<TGConnectingPoint num="0" id="5357" />
<TGConnectingPoint num="1" id="5358" />
<TGConnectingPoint num="2" id="5359" />
@@ -12142,7 +12142,7 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5106" id="5408" >
-<cdparam x="481" y="181" />
+<cdparam x="332" y="193" />
<sizeparam width="274" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -12192,7 +12192,7 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5100" id="5410" >
-<cdparam x="532" y="117" />
+<cdparam x="383" y="129" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -13210,56 +13210,26 @@ Otherwise, the most far away
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="ObjectListManagement" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="5868" >
-<cdparam x="548" y="343" />
+<AVATARStateMachineDiagramPanel name="VehiculeDynamicsManagement" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="5862" >
+<cdparam x="686" y="231" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="5864" />
-<TGConnectingPoint num="1" id="5865" />
-<TGConnectingPoint num="2" id="5866" />
-<TGConnectingPoint num="3" id="5867" />
-<P1 x="548" y="343" id="5904" />
-<P2 x="606" y="211" id="5948" />
-<Point x="546" y="362" />
-<Point x="658" y="366" />
-<Point x="672" y="172" />
+<infoparam name="connector from state0 to Send signal" value="null" />
+<TGConnectingPoint num="0" id="5861" />
+<P1 x="686" y="231" id="5940" />
+<P2 x="697" y="301" id="5903" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5856" >
-<father id="5868" num="0" />
-<cdparam x="546" y="362" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5857" >
-<father id="5868" num="1" />
-<cdparam x="658" y="366" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5858" >
-<father id="5868" num="2" />
-<cdparam x="672" y="172" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5863" >
-<father id="5868" num="3" />
-<cdparam x="548" y="383" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5860" >
+<father id="5862" num="0" />
+<cdparam x="686" y="271" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5859" />
-<TGConnectingPoint num="1" id="5860" />
-<TGConnectingPoint num="2" id="5861" />
-<TGConnectingPoint num="3" id="5862" />
+<TGConnectingPoint num="0" id="5856" />
+<TGConnectingPoint num="1" id="5857" />
+<TGConnectingPoint num="2" id="5858" />
+<TGConnectingPoint num="3" id="5859" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -13269,55 +13239,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5881" >
-<cdparam x="318" y="342" />
+<CONNECTOR type="5102" id="5869" >
+<cdparam x="513" y="231" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to state0" value="null" />
-<TGConnectingPoint num="0" id="5877" />
-<TGConnectingPoint num="1" id="5878" />
-<TGConnectingPoint num="2" id="5879" />
-<TGConnectingPoint num="3" id="5880" />
-<P1 x="318" y="342" id="5915" />
-<P2 x="332" y="211" id="5946" />
-<Point x="317" y="374" />
-<Point x="207" y="388" />
-<Point x="214" y="205" />
+<infoparam name="connector from state0 to Receive signal" value="null" />
+<TGConnectingPoint num="0" id="5868" />
+<P1 x="513" y="231" id="5953" />
+<P2 x="467" y="300" id="5914" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5869" >
-<father id="5881" num="0" />
-<cdparam x="317" y="374" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5870" >
-<father id="5881" num="1" />
-<cdparam x="207" y="388" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5871" >
-<father id="5881" num="2" />
-<cdparam x="214" y="205" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5876" >
-<father id="5881" num="3" />
-<cdparam x="318" y="382" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5867" >
+<father id="5869" num="0" />
+<cdparam x="513" y="271" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5872" />
-<TGConnectingPoint num="1" id="5873" />
-<TGConnectingPoint num="2" id="5874" />
-<TGConnectingPoint num="3" id="5875" />
+<TGConnectingPoint num="0" id="5863" />
+<TGConnectingPoint num="1" id="5864" />
+<TGConnectingPoint num="2" id="5865" />
+<TGConnectingPoint num="3" id="5866" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -13327,25 +13267,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5888" >
-<cdparam x="448" y="168" />
+<CONNECTOR type="5102" id="5876" >
+<cdparam x="597" y="156" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="5887" />
-<P1 x="390" y="149" id="5966" />
-<P2 x="400" y="193" id="5933" />
+<TGConnectingPoint num="0" id="5875" />
+<P1 x="539" y="137" id="5966" />
+<P2 x="549" y="181" id="5933" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5886" >
-<father id="5888" num="0" />
-<cdparam x="448" y="208" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5874" >
+<father id="5876" num="0" />
+<cdparam x="597" y="196" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5882" />
-<TGConnectingPoint num="1" id="5883" />
-<TGConnectingPoint num="2" id="5884" />
-<TGConnectingPoint num="3" id="5885" />
+<TGConnectingPoint num="0" id="5870" />
+<TGConnectingPoint num="1" id="5871" />
+<TGConnectingPoint num="2" id="5872" />
+<TGConnectingPoint num="3" id="5873" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -13355,25 +13295,55 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5895" >
-<cdparam x="364" y="243" />
+<CONNECTOR type="5102" id="5889" >
+<cdparam x="467" y="330" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="5894" />
-<P1 x="364" y="243" id="5953" />
-<P2 x="318" y="312" id="5914" />
+<infoparam name="connector from Receive signal to state0" value="null" />
+<TGConnectingPoint num="0" id="5885" />
+<TGConnectingPoint num="1" id="5886" />
+<TGConnectingPoint num="2" id="5887" />
+<TGConnectingPoint num="3" id="5888" />
+<P1 x="467" y="330" id="5915" />
+<P2 x="481" y="199" id="5946" />
+<Point x="466" y="362" />
+<Point x="356" y="376" />
+<Point x="363" y="193" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5893" >
-<father id="5895" num="0" />
-<cdparam x="364" y="283" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5877" >
+<father id="5889" num="0" />
+<cdparam x="466" y="362" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5878" >
+<father id="5889" num="1" />
+<cdparam x="356" y="376" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5879" >
+<father id="5889" num="2" />
+<cdparam x="363" y="193" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5884" >
+<father id="5889" num="3" />
+<cdparam x="467" y="370" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5889" />
-<TGConnectingPoint num="1" id="5890" />
-<TGConnectingPoint num="2" id="5891" />
-<TGConnectingPoint num="3" id="5892" />
+<TGConnectingPoint num="0" id="5880" />
+<TGConnectingPoint num="1" id="5881" />
+<TGConnectingPoint num="2" id="5882" />
+<TGConnectingPoint num="3" id="5883" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -13384,24 +13354,54 @@ Otherwise, the most far away
</SUBCOMPONENT>
<CONNECTOR type="5102" id="5902" >
-<cdparam x="537" y="243" />
+<cdparam x="697" y="331" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="5901" />
-<P1 x="537" y="243" id="5940" />
-<P2 x="548" y="313" id="5903" />
+<infoparam name="connector from Send signal to state0" value="null" />
+<TGConnectingPoint num="0" id="5898" />
+<TGConnectingPoint num="1" id="5899" />
+<TGConnectingPoint num="2" id="5900" />
+<TGConnectingPoint num="3" id="5901" />
+<P1 x="697" y="331" id="5904" />
+<P2 x="755" y="199" id="5948" />
+<Point x="695" y="350" />
+<Point x="807" y="354" />
+<Point x="821" y="160" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5900" >
+</CONNECTOR><SUBCOMPONENT type="-1" id="5890" >
<father id="5902" num="0" />
-<cdparam x="537" y="283" />
+<cdparam x="695" y="350" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5891" >
+<father id="5902" num="1" />
+<cdparam x="807" y="354" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5892" >
+<father id="5902" num="2" />
+<cdparam x="821" y="160" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5897" >
+<father id="5902" num="3" />
+<cdparam x="697" y="371" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5896" />
-<TGConnectingPoint num="1" id="5897" />
-<TGConnectingPoint num="2" id="5898" />
-<TGConnectingPoint num="3" id="5899" />
+<TGConnectingPoint num="0" id="5893" />
+<TGConnectingPoint num="1" id="5894" />
+<TGConnectingPoint num="2" id="5895" />
+<TGConnectingPoint num="3" id="5896" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -13412,11 +13412,11 @@ Otherwise, the most far away
</SUBCOMPONENT>
<COMPONENT type="5103" id="5913" >
-<cdparam x="463" y="318" />
-<sizeparam width="171" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="625" y="306" />
+<sizeparam width="145" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="getInfoOnObstacle(obstacle)" />
+<infoparam name="Send signal" value="getInfoOnSpeed(speed)" />
<TGConnectingPoint num="0" id="5903" />
<TGConnectingPoint num="1" id="5904" />
<TGConnectingPoint num="2" id="5905" />
@@ -13430,11 +13430,11 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5104" id="5924" >
-<cdparam x="233" y="317" />
-<sizeparam width="170" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="390" y="305" />
+<sizeparam width="155" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="isObstacleAhead(obstacle)" />
+<infoparam name="Receive signal" value="updateOnSpeed(speed)" />
<TGConnectingPoint num="0" id="5914" />
<TGConnectingPoint num="1" id="5915" />
<TGConnectingPoint num="2" id="5916" />
@@ -13448,7 +13448,7 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5106" id="5965" >
-<cdparam x="332" y="193" />
+<cdparam x="481" y="181" />
<sizeparam width="274" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -13498,7 +13498,7 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5100" id="5967" >
-<cdparam x="383" y="129" />
+<cdparam x="532" y="117" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -13625,11 +13625,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="5352" id="6026" >
<father id="6213" num="0" />
-<cdparam x="200" y="241" />
-<sizeparam width="261" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="819" y="67" />
+<sizeparam width="264" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="838" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::EmergencySimulator" />
+<cdrectangleparam minX="0" maxX="835" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::DSRSC_Management" />
<TGConnectingPoint num="0" id="6018" />
<TGConnectingPoint num="1" id="6019" />
<TGConnectingPoint num="2" id="6020" />
@@ -13639,16 +13639,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6024" />
<TGConnectingPoint num="7" id="6025" />
<extraparam>
-<info value="AVATAR Design::EmergencySimulator" taskName="EmergencySimulator" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::DSRSC_Management" taskName="DSRSC_Management" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6035" >
<father id="6213" num="1" />
-<cdparam x="200" y="197" />
-<sizeparam width="264" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="819" y="112" />
+<sizeparam width="343" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="835" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::CarPositionSimulator" />
+<cdrectangleparam minX="0" maxX="756" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::NeighbourhoodTableManagement" />
<TGConnectingPoint num="0" id="6027" />
<TGConnectingPoint num="1" id="6028" />
<TGConnectingPoint num="2" id="6029" />
@@ -13658,16 +13658,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6033" />
<TGConnectingPoint num="7" id="6034" />
<extraparam>
-<info value="AVATAR Design::CarPositionSimulator" taskName="CarPositionSimulator" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::NeighbourhoodTableManagement" taskName="NeighbourhoodTableManagement" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6044" >
<father id="6213" num="2" />
-<cdparam x="199" y="108" />
-<sizeparam width="216" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="820" y="157" />
+<sizeparam width="267" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="883" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::RadarSensor" />
+<cdrectangleparam minX="0" maxX="832" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::CorrectnessChecking" />
<TGConnectingPoint num="0" id="6036" />
<TGConnectingPoint num="1" id="6037" />
<TGConnectingPoint num="2" id="6038" />
@@ -13677,16 +13677,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6042" />
<TGConnectingPoint num="7" id="6043" />
<extraparam>
-<info value="AVATAR Design::RadarSensor" taskName="RadarSensor" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::CorrectnessChecking" taskName="CorrectnessChecking" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6053" >
<father id="6213" num="3" />
-<cdparam x="200" y="152" />
-<sizeparam width="204" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="821" y="20" />
+<sizeparam width="229" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="895" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::GPSSensor" />
+<cdrectangleparam minX="0" maxX="870" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::Communication" />
<TGConnectingPoint num="0" id="6045" />
<TGConnectingPoint num="1" id="6046" />
<TGConnectingPoint num="2" id="6047" />
@@ -13696,16 +13696,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6051" />
<TGConnectingPoint num="7" id="6052" />
<extraparam>
-<info value="AVATAR Design::GPSSensor" taskName="GPSSensor" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::Communication" taskName="Communication" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6062" >
<father id="6213" num="4" />
-<cdparam x="199" y="64" />
-<sizeparam width="218" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="820" y="261" />
+<sizeparam width="332" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="881" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::SpeedSensor" />
+<cdrectangleparam minX="0" maxX="767" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::DrivingPowerReductionStrategy" />
<TGConnectingPoint num="0" id="6054" />
<TGConnectingPoint num="1" id="6055" />
<TGConnectingPoint num="2" id="6056" />
@@ -13715,16 +13715,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6060" />
<TGConnectingPoint num="7" id="6061" />
<extraparam>
-<info value="AVATAR Design::SpeedSensor" taskName="SpeedSensor" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::DrivingPowerReductionStrategy" taskName="DrivingPowerReductionStrategy" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6071" >
<father id="6213" num="5" />
-<cdparam x="199" y="22" />
-<sizeparam width="199" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="820" y="218" />
+<sizeparam width="159" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="900" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::TestBench" />
+<cdrectangleparam minX="0" maxX="940" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::PTC" />
<TGConnectingPoint num="0" id="6063" />
<TGConnectingPoint num="1" id="6064" />
<TGConnectingPoint num="2" id="6065" />
@@ -13734,16 +13734,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6069" />
<TGConnectingPoint num="7" id="6070" />
<extraparam>
-<info value="AVATAR Design::TestBench" taskName="TestBench" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::PTC" taskName="PTC" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6080" >
<father id="6213" num="6" />
-<cdparam x="474" y="16" />
-<sizeparam width="170" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="474" y="275" />
+<sizeparam width="251" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="929" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::CSCU" />
+<cdrectangleparam minX="0" maxX="848" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::BrakeManagement" />
<TGConnectingPoint num="0" id="6072" />
<TGConnectingPoint num="1" id="6073" />
<TGConnectingPoint num="2" id="6074" />
@@ -13753,16 +13753,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6078" />
<TGConnectingPoint num="7" id="6079" />
<extraparam>
-<info value="AVATAR Design::CSCU" taskName="CSCU" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::BrakeManagement" taskName="BrakeManagement" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6089" >
<father id="6213" num="7" />
-<cdparam x="474" y="58" />
-<sizeparam width="277" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="474" y="233" />
+<sizeparam width="298" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="822" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::ObjectListManagement" />
+<cdrectangleparam minX="0" maxX="801" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::DangerAvoidanceStrategy" />
<TGConnectingPoint num="0" id="6081" />
<TGConnectingPoint num="1" id="6082" />
<TGConnectingPoint num="2" id="6083" />
@@ -13772,16 +13772,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6087" />
<TGConnectingPoint num="7" id="6088" />
<extraparam>
-<info value="AVATAR Design::ObjectListManagement" taskName="ObjectListManagement" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::DangerAvoidanceStrategy" taskName="DangerAvoidanceStrategy" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6098" >
<father id="6213" num="8" />
-<cdparam x="474" y="101" />
-<sizeparam width="238" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="473" y="189" />
+<sizeparam width="161" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="861" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::PlausibilityCheck" />
+<cdrectangleparam minX="0" maxX="938" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::BCU" />
<TGConnectingPoint num="0" id="6090" />
<TGConnectingPoint num="1" id="6091" />
<TGConnectingPoint num="2" id="6092" />
@@ -13791,7 +13791,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6096" />
<TGConnectingPoint num="7" id="6097" />
<extraparam>
-<info value="AVATAR Design::PlausibilityCheck" taskName="PlausibilityCheck" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::BCU" taskName="BCU" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6107" >
@@ -13815,11 +13815,11 @@ Otherwise, the most far away
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6116" >
<father id="6213" num="10" />
-<cdparam x="473" y="189" />
-<sizeparam width="161" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="474" y="101" />
+<sizeparam width="238" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="938" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::BCU" />
+<cdrectangleparam minX="0" maxX="861" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::PlausibilityCheck" />
<TGConnectingPoint num="0" id="6108" />
<TGConnectingPoint num="1" id="6109" />
<TGConnectingPoint num="2" id="6110" />
@@ -13829,16 +13829,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6114" />
<TGConnectingPoint num="7" id="6115" />
<extraparam>
-<info value="AVATAR Design::BCU" taskName="BCU" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::PlausibilityCheck" taskName="PlausibilityCheck" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6125" >
<father id="6213" num="11" />
-<cdparam x="474" y="233" />
-<sizeparam width="298" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="474" y="58" />
+<sizeparam width="277" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="801" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::DangerAvoidanceStrategy" />
+<cdrectangleparam minX="0" maxX="822" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::ObjectListManagement" />
<TGConnectingPoint num="0" id="6117" />
<TGConnectingPoint num="1" id="6118" />
<TGConnectingPoint num="2" id="6119" />
@@ -13848,16 +13848,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6123" />
<TGConnectingPoint num="7" id="6124" />
<extraparam>
-<info value="AVATAR Design::DangerAvoidanceStrategy" taskName="DangerAvoidanceStrategy" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::ObjectListManagement" taskName="ObjectListManagement" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6134" >
<father id="6213" num="12" />
-<cdparam x="474" y="275" />
-<sizeparam width="251" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="474" y="16" />
+<sizeparam width="170" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="848" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::BrakeManagement" />
+<cdrectangleparam minX="0" maxX="929" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::CSCU" />
<TGConnectingPoint num="0" id="6126" />
<TGConnectingPoint num="1" id="6127" />
<TGConnectingPoint num="2" id="6128" />
@@ -13867,16 +13867,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6132" />
<TGConnectingPoint num="7" id="6133" />
<extraparam>
-<info value="AVATAR Design::BrakeManagement" taskName="BrakeManagement" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::CSCU" taskName="CSCU" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6143" >
<father id="6213" num="13" />
-<cdparam x="820" y="218" />
-<sizeparam width="159" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="199" y="22" />
+<sizeparam width="199" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="940" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::PTC" />
+<cdrectangleparam minX="0" maxX="900" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::TestBench" />
<TGConnectingPoint num="0" id="6135" />
<TGConnectingPoint num="1" id="6136" />
<TGConnectingPoint num="2" id="6137" />
@@ -13886,16 +13886,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6141" />
<TGConnectingPoint num="7" id="6142" />
<extraparam>
-<info value="AVATAR Design::PTC" taskName="PTC" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::TestBench" taskName="TestBench" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6152" >
<father id="6213" num="14" />
-<cdparam x="820" y="261" />
-<sizeparam width="332" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="199" y="64" />
+<sizeparam width="218" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="767" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::DrivingPowerReductionStrategy" />
+<cdrectangleparam minX="0" maxX="881" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::SpeedSensor" />
<TGConnectingPoint num="0" id="6144" />
<TGConnectingPoint num="1" id="6145" />
<TGConnectingPoint num="2" id="6146" />
@@ -13905,16 +13905,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6150" />
<TGConnectingPoint num="7" id="6151" />
<extraparam>
-<info value="AVATAR Design::DrivingPowerReductionStrategy" taskName="DrivingPowerReductionStrategy" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::SpeedSensor" taskName="SpeedSensor" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6161" >
<father id="6213" num="15" />
-<cdparam x="821" y="20" />
-<sizeparam width="229" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="200" y="152" />
+<sizeparam width="204" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="870" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::Communication" />
+<cdrectangleparam minX="0" maxX="895" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::GPSSensor" />
<TGConnectingPoint num="0" id="6153" />
<TGConnectingPoint num="1" id="6154" />
<TGConnectingPoint num="2" id="6155" />
@@ -13924,16 +13924,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6159" />
<TGConnectingPoint num="7" id="6160" />
<extraparam>
-<info value="AVATAR Design::Communication" taskName="Communication" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::GPSSensor" taskName="GPSSensor" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6170" >
<father id="6213" num="16" />
-<cdparam x="820" y="157" />
-<sizeparam width="267" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="199" y="108" />
+<sizeparam width="216" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="832" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::CorrectnessChecking" />
+<cdrectangleparam minX="0" maxX="883" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::RadarSensor" />
<TGConnectingPoint num="0" id="6162" />
<TGConnectingPoint num="1" id="6163" />
<TGConnectingPoint num="2" id="6164" />
@@ -13943,16 +13943,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6168" />
<TGConnectingPoint num="7" id="6169" />
<extraparam>
-<info value="AVATAR Design::CorrectnessChecking" taskName="CorrectnessChecking" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::RadarSensor" taskName="RadarSensor" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6179" >
<father id="6213" num="17" />
-<cdparam x="819" y="112" />
-<sizeparam width="343" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="200" y="197" />
+<sizeparam width="264" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="756" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::NeighbourhoodTableManagement" />
+<cdrectangleparam minX="0" maxX="835" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::CarPositionSimulator" />
<TGConnectingPoint num="0" id="6171" />
<TGConnectingPoint num="1" id="6172" />
<TGConnectingPoint num="2" id="6173" />
@@ -13962,16 +13962,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6177" />
<TGConnectingPoint num="7" id="6178" />
<extraparam>
-<info value="AVATAR Design::NeighbourhoodTableManagement" taskName="NeighbourhoodTableManagement" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::CarPositionSimulator" taskName="CarPositionSimulator" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6188" >
<father id="6213" num="18" />
-<cdparam x="819" y="67" />
-<sizeparam width="264" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="200" y="241" />
+<sizeparam width="261" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="835" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::DSRSC_Management" />
+<cdrectangleparam minX="0" maxX="838" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::EmergencySimulator" />
<TGConnectingPoint num="0" id="6180" />
<TGConnectingPoint num="1" id="6181" />
<TGConnectingPoint num="2" id="6182" />
@@ -13981,7 +13981,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6186" />
<TGConnectingPoint num="7" id="6187" />
<extraparam>
-<info value="AVATAR Design::DSRSC_Management" taskName="DSRSC_Management" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::EmergencySimulator" taskName="EmergencySimulator" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
@@ -14022,11 +14022,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="5362" id="6222" >
<father id="6373" num="0" />
-<cdparam x="252" y="591" />
-<sizeparam width="237" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="649" y="712" />
+<sizeparam width="283" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="766" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="RadarSensor/out obstacleAhead" />
+<cdrectangleparam minX="0" maxX="720" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="DSRSC_Management/out setCarPosition" />
<TGConnectingPoint num="0" id="6214" />
<TGConnectingPoint num="1" id="6215" />
<TGConnectingPoint num="2" id="6216" />
@@ -14036,16 +14036,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6220" />
<TGConnectingPoint num="7" id="6221" />
<extraparam>
-<info value="RadarSensor/out obstacleAhead" channelName="RadarSensor/out obstacleAhead(int info) #--# ObjectListManagement/in isObstacleAhead(int info)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DSRSC_Management/out setCarPosition" channelName="DSRSC_Management/out setCarPosition(int id, int position) #--# NeighbourhoodTableManagement/in addANode(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6231" >
<father id="6373" num="1" />
-<cdparam x="251" y="657" />
-<sizeparam width="272" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="649" y="533" />
+<sizeparam width="335" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="731" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="PlausibilityCheck/in getInfoOnObstacle" />
+<cdrectangleparam minX="0" maxX="668" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="NeighbourhoodTableManagement/out sendTable" />
<TGConnectingPoint num="0" id="6223" />
<TGConnectingPoint num="1" id="6224" />
<TGConnectingPoint num="2" id="6225" />
@@ -14055,16 +14055,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6229" />
<TGConnectingPoint num="7" id="6230" />
<extraparam>
-<info value="PlausibilityCheck/in getInfoOnObstacle" channelName="PlausibilityCheck/in getInfoOnObstacle(int obstacle) #--# ObjectListManagement/out getInfoOnObstacle(int info)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="NeighbourhoodTableManagement/out sendTable" channelName="NeighbourhoodTableManagement/out sendTable(int currentPosition, NodeList list) #--# PlausibilityCheck/in getNodeList(NodeList list)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6240" >
<father id="6373" num="2" />
-<cdparam x="252" y="574" />
-<sizeparam width="247" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="649" y="668" />
+<sizeparam width="410" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="756" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="SpeedSensor/out updateOnSpeed" />
+<cdrectangleparam minX="0" maxX="593" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="DSRSC_Management/out forwardEmergencyBrakingMessage" />
<TGConnectingPoint num="0" id="6232" />
<TGConnectingPoint num="1" id="6233" />
<TGConnectingPoint num="2" id="6234" />
@@ -14074,16 +14074,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6238" />
<TGConnectingPoint num="7" id="6239" />
<extraparam>
-<info value="SpeedSensor/out updateOnSpeed" channelName="SpeedSensor/out updateOnSpeed(int speed) #--# VehiculeDynamicsManagement/in updateOnSpeed(int speed)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DSRSC_Management/out forwardEmergencyBrakingMessage" channelName="DSRSC_Management/out forwardEmergencyBrakingMessage(int id, int position) #--# CorrectnessChecking/in getEmergencyBrakingMessage(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6249" >
<father id="6373" num="3" />
-<cdparam x="251" y="636" />
-<sizeparam width="256" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="649" y="623" />
+<sizeparam width="361" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="747" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="PlausibilityCheck/in getInfoOnSpeed" />
+<cdrectangleparam minX="0" maxX="642" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="CorrectnessChecking/out toPlausibityCheckMessage" />
<TGConnectingPoint num="0" id="6241" />
<TGConnectingPoint num="1" id="6242" />
<TGConnectingPoint num="2" id="6243" />
@@ -14093,16 +14093,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6247" />
<TGConnectingPoint num="7" id="6248" />
<extraparam>
-<info value="PlausibilityCheck/in getInfoOnSpeed" channelName="PlausibilityCheck/in getInfoOnSpeed(int speed) #--# VehiculeDynamicsManagement/out getInfoOnSpeed(int speed)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="CorrectnessChecking/out toPlausibityCheckMessage" channelName="CorrectnessChecking/out toPlausibityCheckMessage(int id, int position) #--# PlausibilityCheck/in getEmergencyMessageToVerify(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6258" >
<father id="6373" num="4" />
-<cdparam x="251" y="740" />
-<sizeparam width="252" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="650" y="577" />
+<sizeparam width="416" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="751" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="DangerAvoidanceStrategy/in brake" />
+<cdrectangleparam minX="0" maxX="587" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="DSRSC_Management/in broadcastEmergencyBrakingMessage" />
<TGConnectingPoint num="0" id="6250" />
<TGConnectingPoint num="1" id="6251" />
<TGConnectingPoint num="2" id="6252" />
@@ -14112,16 +14112,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6256" />
<TGConnectingPoint num="7" id="6257" />
<extraparam>
-<info value="DangerAvoidanceStrategy/in brake" channelName="DangerAvoidanceStrategy/in brake(int speed, int currentPosition, int position) #--# PlausibilityCheck/out brake(int speed, int currentPosition, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DSRSC_Management/in broadcastEmergencyBrakingMessage" channelName="DSRSC_Management/in broadcastEmergencyBrakingMessage(int id, int position) #--# DangerAvoidanceStrategy/out forwardEmergency(int myID, int currentPosition)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6267" >
<father id="6373" num="5" />
-<cdparam x="251" y="723" />
+<cdparam x="252" y="521" />
<sizeparam width="301" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="702" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="DangerAvoidanceStrategy/out brakePower" />
+<infoparam name="TGComponent" value="EmergencySimulator/out obstacleDetected" />
<TGConnectingPoint num="0" id="6259" />
<TGConnectingPoint num="1" id="6260" />
<TGConnectingPoint num="2" id="6261" />
@@ -14131,16 +14131,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6265" />
<TGConnectingPoint num="7" id="6266" />
<extraparam>
-<info value="DangerAvoidanceStrategy/out brakePower" channelName="DangerAvoidanceStrategy/out brakePower(int value) #--# BrakeManagement/in brake(int value)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="EmergencySimulator/out obstacleDetected" channelName="EmergencySimulator/out obstacleDetected(int id, int position) #--# DSRSC_Management/in obstacleDetected(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6276" >
<father id="6373" num="6" />
-<cdparam x="251" y="706" />
-<sizeparam width="308" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="252" y="540" />
+<sizeparam width="261" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="695" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="DangerAvoidanceStrategy/out reducePower" />
+<cdrectangleparam minX="0" maxX="742" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="CarPositionSimulator/out carPosition" />
<TGConnectingPoint num="0" id="6268" />
<TGConnectingPoint num="1" id="6269" />
<TGConnectingPoint num="2" id="6270" />
@@ -14150,7 +14150,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6274" />
<TGConnectingPoint num="7" id="6275" />
<extraparam>
-<info value="DangerAvoidanceStrategy/out reducePower" channelName="DangerAvoidanceStrategy/out reducePower(int value) #--# DrivingPowerReductionStrategy/in getReducePowerOrder(int value)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="CarPositionSimulator/out carPosition" channelName="CarPositionSimulator/out carPosition(int id, int position) #--# DSRSC_Management/in carPosition(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6285" >
@@ -14174,11 +14174,11 @@ Otherwise, the most far away
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6294" >
<father id="6373" num="8" />
-<cdparam x="252" y="540" />
-<sizeparam width="261" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="251" y="706" />
+<sizeparam width="308" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="742" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="CarPositionSimulator/out carPosition" />
+<cdrectangleparam minX="0" maxX="695" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="DangerAvoidanceStrategy/out reducePower" />
<TGConnectingPoint num="0" id="6286" />
<TGConnectingPoint num="1" id="6287" />
<TGConnectingPoint num="2" id="6288" />
@@ -14188,16 +14188,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6292" />
<TGConnectingPoint num="7" id="6293" />
<extraparam>
-<info value="CarPositionSimulator/out carPosition" channelName="CarPositionSimulator/out carPosition(int id, int position) #--# DSRSC_Management/in carPosition(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DangerAvoidanceStrategy/out reducePower" channelName="DangerAvoidanceStrategy/out reducePower(int value) #--# DrivingPowerReductionStrategy/in getReducePowerOrder(int value)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6303" >
<father id="6373" num="9" />
-<cdparam x="252" y="521" />
+<cdparam x="251" y="723" />
<sizeparam width="301" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="702" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="EmergencySimulator/out obstacleDetected" />
+<infoparam name="TGComponent" value="DangerAvoidanceStrategy/out brakePower" />
<TGConnectingPoint num="0" id="6295" />
<TGConnectingPoint num="1" id="6296" />
<TGConnectingPoint num="2" id="6297" />
@@ -14207,16 +14207,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6301" />
<TGConnectingPoint num="7" id="6302" />
<extraparam>
-<info value="EmergencySimulator/out obstacleDetected" channelName="EmergencySimulator/out obstacleDetected(int id, int position) #--# DSRSC_Management/in obstacleDetected(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DangerAvoidanceStrategy/out brakePower" channelName="DangerAvoidanceStrategy/out brakePower(int value) #--# BrakeManagement/in brake(int value)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6312" >
<father id="6373" num="10" />
-<cdparam x="650" y="577" />
-<sizeparam width="416" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="251" y="740" />
+<sizeparam width="252" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="587" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="DSRSC_Management/in broadcastEmergencyBrakingMessage" />
+<cdrectangleparam minX="0" maxX="751" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="DangerAvoidanceStrategy/in brake" />
<TGConnectingPoint num="0" id="6304" />
<TGConnectingPoint num="1" id="6305" />
<TGConnectingPoint num="2" id="6306" />
@@ -14226,16 +14226,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6310" />
<TGConnectingPoint num="7" id="6311" />
<extraparam>
-<info value="DSRSC_Management/in broadcastEmergencyBrakingMessage" channelName="DSRSC_Management/in broadcastEmergencyBrakingMessage(int id, int position) #--# DangerAvoidanceStrategy/out forwardEmergency(int myID, int currentPosition)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DangerAvoidanceStrategy/in brake" channelName="DangerAvoidanceStrategy/in brake(int speed, int currentPosition, int position) #--# PlausibilityCheck/out brake(int speed, int currentPosition, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6321" >
<father id="6373" num="11" />
-<cdparam x="649" y="623" />
-<sizeparam width="361" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="251" y="636" />
+<sizeparam width="256" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="642" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="CorrectnessChecking/out toPlausibityCheckMessage" />
+<cdrectangleparam minX="0" maxX="747" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="PlausibilityCheck/in getInfoOnSpeed" />
<TGConnectingPoint num="0" id="6313" />
<TGConnectingPoint num="1" id="6314" />
<TGConnectingPoint num="2" id="6315" />
@@ -14245,16 +14245,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6319" />
<TGConnectingPoint num="7" id="6320" />
<extraparam>
-<info value="CorrectnessChecking/out toPlausibityCheckMessage" channelName="CorrectnessChecking/out toPlausibityCheckMessage(int id, int position) #--# PlausibilityCheck/in getEmergencyMessageToVerify(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="PlausibilityCheck/in getInfoOnSpeed" channelName="PlausibilityCheck/in getInfoOnSpeed(int speed) #--# VehiculeDynamicsManagement/out getInfoOnSpeed(int speed)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6330" >
<father id="6373" num="12" />
-<cdparam x="649" y="668" />
-<sizeparam width="410" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="252" y="574" />
+<sizeparam width="247" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="593" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="DSRSC_Management/out forwardEmergencyBrakingMessage" />
+<cdrectangleparam minX="0" maxX="756" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="SpeedSensor/out updateOnSpeed" />
<TGConnectingPoint num="0" id="6322" />
<TGConnectingPoint num="1" id="6323" />
<TGConnectingPoint num="2" id="6324" />
@@ -14264,16 +14264,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6328" />
<TGConnectingPoint num="7" id="6329" />
<extraparam>
-<info value="DSRSC_Management/out forwardEmergencyBrakingMessage" channelName="DSRSC_Management/out forwardEmergencyBrakingMessage(int id, int position) #--# CorrectnessChecking/in getEmergencyBrakingMessage(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="SpeedSensor/out updateOnSpeed" channelName="SpeedSensor/out updateOnSpeed(int speed) #--# VehiculeDynamicsManagement/in updateOnSpeed(int speed)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6339" >
<father id="6373" num="13" />
-<cdparam x="649" y="533" />
-<sizeparam width="335" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="251" y="657" />
+<sizeparam width="272" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="668" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="NeighbourhoodTableManagement/out sendTable" />
+<cdrectangleparam minX="0" maxX="731" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="PlausibilityCheck/in getInfoOnObstacle" />
<TGConnectingPoint num="0" id="6331" />
<TGConnectingPoint num="1" id="6332" />
<TGConnectingPoint num="2" id="6333" />
@@ -14283,16 +14283,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6337" />
<TGConnectingPoint num="7" id="6338" />
<extraparam>
-<info value="NeighbourhoodTableManagement/out sendTable" channelName="NeighbourhoodTableManagement/out sendTable(int currentPosition, NodeList list) #--# PlausibilityCheck/in getNodeList(NodeList list)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="PlausibilityCheck/in getInfoOnObstacle" channelName="PlausibilityCheck/in getInfoOnObstacle(int obstacle) #--# ObjectListManagement/out getInfoOnObstacle(int info)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6348" >
<father id="6373" num="14" />
-<cdparam x="649" y="712" />
-<sizeparam width="283" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="252" y="591" />
+<sizeparam width="237" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="720" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="DSRSC_Management/out setCarPosition" />
+<cdrectangleparam minX="0" maxX="766" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="RadarSensor/out obstacleAhead" />
<TGConnectingPoint num="0" id="6340" />
<TGConnectingPoint num="1" id="6341" />
<TGConnectingPoint num="2" id="6342" />
@@ -14302,7 +14302,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6346" />
<TGConnectingPoint num="7" id="6347" />
<extraparam>
-<info value="DSRSC_Management/out setCarPosition" channelName="DSRSC_Management/out setCarPosition(int id, int position) #--# NeighbourhoodTableManagement/in addANode(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="RadarSensor/out obstacleAhead" channelName="RadarSensor/out obstacleAhead(int info) #--# ObjectListManagement/in isObstacleAhead(int info)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
diff --git a/src/ddtranslatorSoclib/toTopCell/Declaration.java b/src/ddtranslatorSoclib/toTopCell/Declaration.java
index adfae90c94d075f2c1875064ebfbed3c48673531..d03519369d2b194386dd4b3d8d6b3c8fb1d38cd9 100755
--- a/src/ddtranslatorSoclib/toTopCell/Declaration.java
+++ b/src/ddtranslatorSoclib/toTopCell/Declaration.java
@@ -146,7 +146,6 @@ if(nb_clusters==0){
}
}
-
//if BUS was not last in input file, update here
bus.setNbOfAttachedInitiators(TopCellGenerator.avatardd.getNb_init());
bus.setnbOfAttachedTargets(TopCellGenerator.avatardd.getNb_target());
@@ -158,18 +157,32 @@ if(nb_clusters==0){
declaration += "soclib::caba::VciVgmn<vci_param> vgmn(\"" + vgmn.getVgmnName() + "\"" + " , maptab, cpus.size()+3," + (TopCellGenerator.avatardd.getNb_target()+6)+
"," + vgmn.getMinLatency() + "," + vgmn.getFifoDepth() + ");" + CR2;
-
- //performance measurement infrastructure: declare as many loggers as VCI interfaces if flag trace_caba is set
int i=0;
- if(trace_caba){
- for(i=0;i<TopCellGenerator.avatardd.getNb_init();i++){
- declaration += "soclib::caba::VciLogger<vci_param> logger(\"logger" + i+"\",maptab);" + CR2;
- }
- int j=i;
- for(i=0;i<TopCellGenerator.avatardd.getAllRAM().size()+3;i++){
- declaration += "soclib::caba::VciLogger<vci_param> logger(\"logger" + j+"\",maptab);" + CR2;
- }
- }
+ //performance measurement infrastructure
+
+ for (AvatarRAM ram : TopCellGenerator.avatardd.getAllRAM()) {
+
+ if (ram.getMonitored()==1){
+ int number = ram.getNo_target();
+ declaration += "soclib::caba::VciLogger<vci_param> logger"+i+"(\"logger" + i+"\",maptab);" + CR2;
+ i++;
+ }
+ else{
+ if (ram.getMonitored()==2){
+ int number = ram.getNo_target();
+
+ //LinkedList<AvatarChannel> channels=ram.getChannels();
+
+ String strArray="";
+
+ for(AvatarChannel channel: ram.getChannels()){
+ strArray=strArray+"\""+channel.getChannelName()+"\",";
+ }
+ declaration += "soclib::caba::VciMwmrStats<vci_param> mwmr_stats"+i+"(\"mwmr_stats" + i+"\",maptab, data_ldr, \"mwmr0.log\",stringArray("+strArray+"NULL));" + CR2;
+ i++;
+ }
+ }
+ }
// if VGMN was not last in input file, update here
vgmn.setNbOfAttachedInitiators(TopCellGenerator.avatardd.getNb_init());
diff --git a/src/ddtranslatorSoclib/toTopCell/Header.java b/src/ddtranslatorSoclib/toTopCell/Header.java
index 6614337357627f32242afad446933650ce6a6555..abb5605c0b30fd041301ffcb41d535ee1bcfa4c5 100755
--- a/src/ddtranslatorSoclib/toTopCell/Header.java
+++ b/src/ddtranslatorSoclib/toTopCell/Header.java
@@ -19,8 +19,14 @@ int nb_clusters=5;
public static String getHeader() {
header = "//-------------------------------Header------------------------------------" + CR2
- + " #include <iostream>" + CR + "#include <cstdlib>" + CR + "#include <stdexcept>" + CR2
- + "#define CONFIG_GDB_SERVER" + CR + "#define CONFIG_SOCLIB_MEMCHECK" + CR2;
+ + "#include <iostream>" + CR
+ + "#include <cstdlib>" + CR
+ + "#include <vector>" + CR
+ + "#include <string>" + CR
+ + "#include <stdexcept>" + CR
+ + "#include <cstdarg>" +CR2
+ + "#define CONFIG_GDB_SERVER" + CR
+ + "#define CONFIG_SOCLIB_MEMCHECK" + CR2;
header = header + "#include \"iss_memchecker.h\"" + CR
+"#include \"gdbserver.h\""+ CR2
@@ -40,8 +46,41 @@ int nb_clusters=5;
+ "#include \"vci_simhelper.h\"" + CR + "#include \"vci_fd_access.h\"" + CR
+ "#include \"vci_ethernet.h\"" + CR
+ "#include \"vci_rttimer.h\"" + CR
- + "#include \"vci_logger.h\"" + CR2;
- header = header + "using namespace soclib;" + CR + "using common::IntTab;" + CR + "using common::Segment;";
+ + "#include \"vci_logger.h\"" + CR
+ + "#include \"vci_mwmr_stats.h\"" + CR2;
+
+ header = header +"namespace {" + CR
++"std::vector<std::string> stringArray(" + CR
++" const char *first, ... )" + CR
++"{" + CR
++" std::vector<std::string> ret;" + CR
++" va_list arg;" + CR
++" va_start(arg, first);" + CR
++" const char *s = first;" + CR
++" while(s) {" + CR
++" ret.push_back(std::string(s));" + CR
++" s = va_arg(arg, const char *);" + CR
++" };" + CR
++" va_end(arg);" + CR
++" return ret;" + CR
++"}" + CR2
++"std::vector<int> intArray(" + CR
++" const int length, ... )" + CR
++"{" + CR
++" int i;" + CR
++" std::vector<int> ret;" + CR
++" va_list arg;" + CR
++" va_start(arg, length);" + CR2
++" for (i=0; i<length; ++i) {" + CR
++" ret.push_back(va_arg(arg, int));" + CR
++" };" + CR
++" va_end(arg);" + CR
++" return ret;" + CR
++"}" + CR
+ +"}" + CR2;
+
+ header = header + "using namespace soclib;" + CR + "using common::IntTab;" + CR + "using common::Segment;";
+
if(TopCellGenerator.avatardd.getNbClusters()==0){
header = header + CR2 + "static common::MappingTable maptab(32, IntTab(8), IntTab(8), 0xfff00000);";
diff --git a/src/ddtranslatorSoclib/toTopCell/NetList.java b/src/ddtranslatorSoclib/toTopCell/NetList.java
index 75d791493fdbd8928fc99916366a2f790b1d5769..1befbba24ffeff7ad1ed187182470d5e30ca98e5 100755
--- a/src/ddtranslatorSoclib/toTopCell/NetList.java
+++ b/src/ddtranslatorSoclib/toTopCell/NetList.java
@@ -345,7 +345,9 @@ netlist = netlist + "// RAM netlist" + CR2;
}
else{
if (ram.getMonitored()==2){
- int number = number = ram.getNo_ram();
+ int number = number = ram.getNo_ram();
+ netlist += "mwmr_stats"+i+".p_clk(signal_clk);" + CR;
+ netlist += "mwmr_stats"+i+".p_resetn(signal_resetn);" + CR;
netlist += "mwmr_stats"+i+".p_vci(signal_vci_vciram"+number+");" + CR2;
//currently all channels mapped on this RAM are monitored