diff --git a/modeling/vehicle.xml b/modeling/vehicle.xml
index 38d7da8a69052ffdd81969db4b130031fa682a53..9ae9349e276f0d75bf402865fd145100d88e484c 100644
--- a/modeling/vehicle.xml
+++ b/modeling/vehicle.xml
@@ -2588,7 +2588,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1609" />
-<P1 x="663" y="665" id="1815" />
+<P1 x="663" y="665" id="1841" />
<P2 x="663" y="774" id="1647" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -2598,7 +2598,7 @@
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1611" />
<P1 x="1358" y="397" id="2020" />
-<P2 x="1358" y="502" id="1799" />
+<P2 x="1358" y="502" id="1851" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="1614" >
@@ -2606,8 +2606,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1613" />
-<P1 x="484" y="539" id="1854" />
-<P2 x="548" y="655" id="1820" />
+<P1 x="484" y="539" id="1802" />
+<P2 x="548" y="655" id="1846" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="1616" >
@@ -2615,8 +2615,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1615" />
-<P1 x="663" y="608" id="1841" />
-<P2 x="663" y="625" id="1812" />
+<P1 x="663" y="608" id="1815" />
+<P2 x="663" y="625" id="1838" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="1618" >
@@ -2633,7 +2633,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1619" />
-<P1 x="894" y="404" id="2015" />
+<P1 x="894" y="404" id="2041" />
<P2 x="1132" y="763" id="1765" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -2642,7 +2642,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1621" />
-<P1 x="857" y="404" id="2007" />
+<P1 x="857" y="404" id="2033" />
<P2 x="857" y="522" id="1825" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -2651,8 +2651,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1623" />
-<P1 x="819" y="404" id="2014" />
-<P2 x="800" y="434" id="1996" />
+<P1 x="819" y="404" id="2040" />
+<P2 x="800" y="434" id="2048" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="1626" >
@@ -2660,8 +2660,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1625" />
-<P1 x="857" y="246" id="1892" />
-<P2 x="857" y="354" id="2004" />
+<P1 x="857" y="246" id="1918" />
+<P2 x="857" y="354" id="2030" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="1628" >
@@ -2670,7 +2670,7 @@
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1627" />
<P1 x="1320" y="397" id="2027" />
-<P2 x="1224" y="433" id="2034" />
+<P2 x="1224" y="433" id="2008" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="1630" >
@@ -2678,7 +2678,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1629" />
-<P1 x="932" y="233" id="1898" />
+<P1 x="932" y="233" id="1924" />
<P2 x="1358" y="347" id="2017" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -2687,8 +2687,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1631" />
-<P1 x="663" y="412" id="2054" />
-<P2 x="663" y="568" id="1838" />
+<P1 x="663" y="412" id="2002" />
+<P2 x="663" y="568" id="1812" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="1634" >
@@ -2696,7 +2696,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1633" />
-<P1 x="588" y="412" id="2053" />
+<P1 x="588" y="412" id="2001" />
<P2 x="232" y="728" id="1685" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -2705,8 +2705,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1635" />
-<P1 x="819" y="246" id="1899" />
-<P2 x="626" y="362" id="2043" />
+<P1 x="819" y="246" id="1925" />
+<P2 x="626" y="362" id="1991" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="1638" >
@@ -2714,8 +2714,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1637" />
-<P1 x="435" y="281" id="1926" />
-<P2 x="435" y="499" id="1855" />
+<P1 x="435" y="281" id="1900" />
+<P2 x="435" y="499" id="1803" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="1640" >
@@ -2723,7 +2723,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1639" />
-<P1 x="360" y="281" id="1925" />
+<P1 x="360" y="281" id="1899" />
<P2 x="218" y="388" id="1723" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -2733,7 +2733,7 @@
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1641" />
<P1 x="857" y="169" id="1905" />
-<P2 x="857" y="196" id="1889" />
+<P2 x="857" y="196" id="1915" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="1644" >
@@ -2741,8 +2741,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1643" />
-<P1 x="782" y="208" id="1895" />
-<P2 x="398" y="231" id="1915" />
+<P1 x="782" y="208" id="1921" />
+<P2 x="398" y="231" id="1889" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="1646" >
@@ -2750,7 +2750,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="1645" />
-<P1 x="894" y="246" id="1900" />
+<P1 x="894" y="246" id="1926" />
<P2 x="1459" y="782" id="1957" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -3011,12 +3011,12 @@
</COMPONENT>
<SUBCOMPONENT type="1401" id="1811" >
<father id="1888" num="0" />
-<cdparam x="1297" y="502" />
-<sizeparam width="123" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="387" y="499" />
+<sizeparam width="195" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="1081" minY="0" maxY="160" />
-<infoparam name="TGComponent" value="changeFirmware" />
+<cdrectangleparam minX="0" maxX="1009" minY="0" maxY="160" />
+<infoparam name="TGComponent" value="sendForgedSensorMessage" />
<TGConnectingPoint num="0" id="1799" />
<TGConnectingPoint num="1" id="1800" />
<TGConnectingPoint num="2" id="1801" />
@@ -3035,12 +3035,12 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="1824" >
<father id="1888" num="1" />
-<cdparam x="548" y="625" />
-<sizeparam width="230" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="566" y="568" />
+<sizeparam width="194" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="974" minY="0" maxY="160" />
-<infoparam name="TGComponent" value="calculateTrajBasedOnForgedData" />
+<cdrectangleparam minX="0" maxX="1010" minY="0" maxY="160" />
+<infoparam name="TGComponent" value="sendForgedcurrentLocation" />
<TGConnectingPoint num="0" id="1812" />
<TGConnectingPoint num="1" id="1813" />
<TGConnectingPoint num="2" id="1814" />
@@ -3083,12 +3083,12 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="1850" >
<father id="1888" num="3" />
-<cdparam x="566" y="568" />
-<sizeparam width="194" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="548" y="625" />
+<sizeparam width="230" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="1010" minY="0" maxY="160" />
-<infoparam name="TGComponent" value="sendForgedcurrentLocation" />
+<cdrectangleparam minX="0" maxX="974" minY="0" maxY="160" />
+<infoparam name="TGComponent" value="calculateTrajBasedOnForgedData" />
<TGConnectingPoint num="0" id="1838" />
<TGConnectingPoint num="1" id="1839" />
<TGConnectingPoint num="2" id="1840" />
@@ -3107,12 +3107,12 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="1863" >
<father id="1888" num="4" />
-<cdparam x="387" y="499" />
-<sizeparam width="195" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1297" y="502" />
+<sizeparam width="123" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="1009" minY="0" maxY="160" />
-<infoparam name="TGComponent" value="sendForgedSensorMessage" />
+<cdrectangleparam minX="0" maxX="1081" minY="0" maxY="160" />
+<infoparam name="TGComponent" value="changeFirmware" />
<TGConnectingPoint num="0" id="1851" />
<TGConnectingPoint num="1" id="1852" />
<TGConnectingPoint num="2" id="1853" />
@@ -3163,11 +3163,11 @@
</COMPONENT>
<SUBCOMPONENT type="1402" id="1901" >
<father id="1952" num="0" />
-<cdparam x="782" y="196" />
+<cdparam x="323" y="231" />
<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="1472" minY="0" maxY="148" />
-<infoparam name="TGComponent" value="<<OR>>" />
+<infoparam name="TGComponent" value="<<AND>>" />
<TGConnectingPoint num="0" id="1889" />
<TGConnectingPoint num="1" id="1890" />
<TGConnectingPoint num="2" id="1891" />
@@ -3210,11 +3210,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1402" id="1927" >
<father id="1952" num="2" />
-<cdparam x="323" y="231" />
+<cdparam x="782" y="196" />
<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="1472" minY="0" maxY="148" />
-<infoparam name="TGComponent" value="<<AND>>" />
+<infoparam name="TGComponent" value="<<OR>>" />
<TGConnectingPoint num="0" id="1915" />
<TGConnectingPoint num="1" id="1916" />
<TGConnectingPoint num="2" id="1917" />
@@ -3319,14 +3319,13 @@
<TGConnectingPoint num="22" id="2078" />
<TGConnectingPoint num="23" id="2079" />
</COMPONENT>
-<SUBCOMPONENT type="1401" id="2003" >
+<SUBCOMPONENT type="1402" id="2003" >
<father id="2080" num="0" />
-<cdparam x="703" y="434" />
-<sizeparam width="130" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="551" y="362" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="1496" minY="0" maxY="591" />
-<infoparam name="TGComponent" value="accessCANDevice" />
+<cdrectangleparam minX="0" maxX="1476" minY="0" maxY="581" />
+<infoparam name="TGComponent" value="<<AND>>" />
<TGConnectingPoint num="0" id="1991" />
<TGConnectingPoint num="1" id="1992" />
<TGConnectingPoint num="2" id="1993" />
@@ -3340,16 +3339,17 @@
<TGConnectingPoint num="10" id="2001" />
<TGConnectingPoint num="11" id="2002" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1402" id="2016" >
+<SUBCOMPONENT type="1401" id="2016" >
<father id="2080" num="1" />
-<cdparam x="782" y="354" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1182" y="433" />
+<sizeparam width="171" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="1476" minY="0" maxY="581" />
-<infoparam name="TGComponent" value="<<SEQUENCE>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="1455" minY="0" maxY="591" />
+<infoparam name="TGComponent" value="accessThroughEthernet" />
<TGConnectingPoint num="0" id="2004" />
<TGConnectingPoint num="1" id="2005" />
<TGConnectingPoint num="2" id="2006" />
@@ -3363,7 +3363,7 @@
<TGConnectingPoint num="10" id="2014" />
<TGConnectingPoint num="11" id="2015" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1402" id="2029" >
@@ -3389,14 +3389,13 @@
<info equation="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1401" id="2042" >
+<SUBCOMPONENT type="1402" id="2042" >
<father id="2080" num="3" />
-<cdparam x="1182" y="433" />
-<sizeparam width="171" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="782" y="354" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="1455" minY="0" maxY="591" />
-<infoparam name="TGComponent" value="accessThroughEthernet" />
+<cdrectangleparam minX="0" maxX="1476" minY="0" maxY="581" />
+<infoparam name="TGComponent" value="<<SEQUENCE>>" />
<TGConnectingPoint num="0" id="2030" />
<TGConnectingPoint num="1" id="2031" />
<TGConnectingPoint num="2" id="2032" />
@@ -3410,16 +3409,17 @@
<TGConnectingPoint num="10" id="2040" />
<TGConnectingPoint num="11" id="2041" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1402" id="2055" >
+<SUBCOMPONENT type="1401" id="2055" >
<father id="2080" num="4" />
-<cdparam x="551" y="362" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="703" y="434" />
+<sizeparam width="130" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="1476" minY="0" maxY="581" />
-<infoparam name="TGComponent" value="<<AND>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="1496" minY="0" maxY="591" />
+<infoparam name="TGComponent" value="accessCANDevice" />
<TGConnectingPoint num="0" id="2043" />
<TGConnectingPoint num="1" id="2044" />
<TGConnectingPoint num="2" id="2045" />
@@ -3433,7 +3433,7 @@
<TGConnectingPoint num="10" id="2053" />
<TGConnectingPoint num="11" id="2054" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
@@ -3446,8 +3446,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2081" />
-<P1 x="1060" y="517" id="2219" />
-<P2 x="1129" y="230" id="2270" />
+<P1 x="1060" y="517" id="2193" />
+<P2 x="1129" y="230" id="2283" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2084" >
@@ -3455,8 +3455,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2083" />
-<P1 x="1023" y="517" id="2211" />
-<P2 x="1120" y="559" id="2186" />
+<P1 x="1023" y="517" id="2185" />
+<P2 x="1120" y="559" id="2212" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2086" >
@@ -3464,7 +3464,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2085" />
-<P1 x="985" y="517" id="2218" />
+<P1 x="985" y="517" id="2192" />
<P2 x="911" y="555" id="2195" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -3474,7 +3474,7 @@
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2087" />
<P1 x="1023" y="374" id="2108" />
-<P2 x="1023" y="467" id="2208" />
+<P2 x="1023" y="467" id="2182" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2090" >
@@ -3483,7 +3483,7 @@
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2089" />
<P1 x="317" y="444" id="2138" />
-<P2 x="1039" y="230" id="2269" />
+<P2 x="1039" y="230" id="2282" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2094" >
@@ -3493,7 +3493,7 @@
<TGConnectingPoint num="0" id="2092" />
<TGConnectingPoint num="1" id="2093" />
<P1 x="242" y="482" id="2134" />
-<P2 x="306" y="517" id="2122" />
+<P2 x="306" y="517" id="2148" />
<Point x="310" y="514" />
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="2091" >
@@ -3511,7 +3511,7 @@
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2095" />
<P1 x="204" y="482" id="2141" />
-<P2 x="163" y="517" id="2144" />
+<P2 x="163" y="517" id="2118" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2098" >
@@ -3519,7 +3519,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2097" />
-<P1 x="677" y="260" id="2249" />
+<P1 x="677" y="260" id="2288" />
<P2 x="242" y="432" id="2131" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -3528,8 +3528,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2099" />
-<P1 x="820" y="209" id="2295" />
-<P2 x="731" y="220" id="2251" />
+<P1 x="820" y="209" id="2256" />
+<P2 x="731" y="220" id="2290" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2102" >
@@ -3537,7 +3537,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2101" />
-<P1 x="895" y="209" id="2296" />
+<P1 x="895" y="209" id="2257" />
<P2 x="989" y="334" id="2109" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -3546,8 +3546,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2103" />
-<P1 x="857" y="140" id="2275" />
-<P2 x="858" y="159" id="2285" />
+<P1 x="857" y="140" id="2262" />
+<P2 x="858" y="159" id="2246" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1401" id="2117" >
@@ -3607,12 +3607,12 @@
</COMPONENT>
<SUBCOMPONENT type="1401" id="2130" >
<father id="2181" num="0" />
-<cdparam x="262" y="517" />
-<sizeparam width="179" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="80" y="517" />
+<sizeparam width="166" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="205" minY="0" maxY="292" />
-<infoparam name="TGComponent" value="sendLocationsToAttacker" />
+<cdrectangleparam minX="0" maxX="218" minY="0" maxY="292" />
+<infoparam name="TGComponent" value="accessStoredLocations" />
<TGConnectingPoint num="0" id="2118" />
<TGConnectingPoint num="1" id="2119" />
<TGConnectingPoint num="2" id="2120" />
@@ -3654,12 +3654,12 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="2156" >
<father id="2181" num="2" />
-<cdparam x="80" y="517" />
-<sizeparam width="166" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="262" y="517" />
+<sizeparam width="179" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="218" minY="0" maxY="292" />
-<infoparam name="TGComponent" value="accessStoredLocations" />
+<cdrectangleparam minX="0" maxX="205" minY="0" maxY="292" />
+<infoparam name="TGComponent" value="sendLocationsToAttacker" />
<TGConnectingPoint num="0" id="2144" />
<TGConnectingPoint num="1" id="2145" />
<TGConnectingPoint num="2" id="2146" />
@@ -3708,14 +3708,13 @@
<TGConnectingPoint num="22" id="2243" />
<TGConnectingPoint num="23" id="2244" />
</COMPONENT>
-<SUBCOMPONENT type="1401" id="2194" >
+<SUBCOMPONENT type="1402" id="2194" >
<father id="2245" num="0" />
-<cdparam x="1076" y="559" />
-<sizeparam width="179" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="948" y="467" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="539" minY="0" maxY="160" />
-<infoparam name="TGComponent" value="sendLocationsToAttacker" />
+<cdrectangleparam minX="0" maxX="568" minY="0" maxY="150" />
+<infoparam name="TGComponent" value="<<AND>>" />
<TGConnectingPoint num="0" id="2182" />
<TGConnectingPoint num="1" id="2183" />
<TGConnectingPoint num="2" id="2184" />
@@ -3729,7 +3728,7 @@
<TGConnectingPoint num="10" id="2192" />
<TGConnectingPoint num="11" id="2193" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="2207" >
@@ -3756,13 +3755,14 @@
<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1402" id="2220" >
+<SUBCOMPONENT type="1401" id="2220" >
<father id="2245" num="2" />
-<cdparam x="948" y="467" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1076" y="559" />
+<sizeparam width="179" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="568" minY="0" maxY="150" />
-<infoparam name="TGComponent" value="<<AND>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="539" minY="0" maxY="160" />
+<infoparam name="TGComponent" value="sendLocationsToAttacker" />
<TGConnectingPoint num="0" id="2208" />
<TGConnectingPoint num="1" id="2209" />
<TGConnectingPoint num="2" id="2210" />
@@ -3776,7 +3776,7 @@
<TGConnectingPoint num="10" id="2218" />
<TGConnectingPoint num="11" id="2219" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
@@ -3811,14 +3811,13 @@
<TGConnectingPoint num="22" id="2320" />
<TGConnectingPoint num="23" id="2321" />
</COMPONENT>
-<SUBCOMPONENT type="1401" id="2258" >
+<SUBCOMPONENT type="1402" id="2258" >
<father id="2322" num="0" />
-<cdparam x="570" y="220" />
-<sizeparam width="215" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="783" y="159" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="1407" minY="0" maxY="158" />
-<infoparam name="TGComponent" value="sendDestinationRequestToGPS" />
+<cdrectangleparam minX="0" maxX="1472" minY="0" maxY="148" />
+<infoparam name="TGComponent" value="<<OR>>" />
<TGConnectingPoint num="0" id="2246" />
<TGConnectingPoint num="1" id="2247" />
<TGConnectingPoint num="2" id="2248" />
@@ -3832,17 +3831,17 @@
<TGConnectingPoint num="10" id="2256" />
<TGConnectingPoint num="11" id="2257" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="2271" >
<father id="2322" num="1" />
-<cdparam x="994" y="190" />
-<sizeparam width="180" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="779" y="100" />
+<sizeparam width="156" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="1442" minY="0" maxY="158" />
-<infoparam name="TGComponent" value="decryptPreviousLocations" />
+<cdrectangleparam minX="0" maxX="1466" minY="0" maxY="158" />
+<infoparam name="TGComponent" value="StealGPSDestinations" />
<TGConnectingPoint num="0" id="2259" />
<TGConnectingPoint num="1" id="2260" />
<TGConnectingPoint num="2" id="2261" />
@@ -3856,17 +3855,17 @@
<TGConnectingPoint num="10" id="2269" />
<TGConnectingPoint num="11" id="2270" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info description="blah blah blah" root="true" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="2284" >
<father id="2322" num="2" />
-<cdparam x="779" y="100" />
-<sizeparam width="156" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="994" y="190" />
+<sizeparam width="180" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="1466" minY="0" maxY="158" />
-<infoparam name="TGComponent" value="StealGPSDestinations" />
+<cdrectangleparam minX="0" maxX="1442" minY="0" maxY="158" />
+<infoparam name="TGComponent" value="decryptPreviousLocations" />
<TGConnectingPoint num="0" id="2272" />
<TGConnectingPoint num="1" id="2273" />
<TGConnectingPoint num="2" id="2274" />
@@ -3880,16 +3879,17 @@
<TGConnectingPoint num="10" id="2282" />
<TGConnectingPoint num="11" id="2283" />
<extraparam>
-<info description="blah blah blah" root="true" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1402" id="2297" >
+<SUBCOMPONENT type="1401" id="2297" >
<father id="2322" num="3" />
-<cdparam x="783" y="159" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="570" y="220" />
+<sizeparam width="215" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="1472" minY="0" maxY="148" />
-<infoparam name="TGComponent" value="<<OR>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="1407" minY="0" maxY="158" />
+<infoparam name="TGComponent" value="sendDestinationRequestToGPS" />
<TGConnectingPoint num="0" id="2285" />
<TGConnectingPoint num="1" id="2286" />
<TGConnectingPoint num="2" id="2287" />
@@ -3903,7 +3903,7 @@
<TGConnectingPoint num="10" id="2295" />
<TGConnectingPoint num="11" id="2296" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
@@ -3949,7 +3949,7 @@
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2348" />
<P1 x="297" y="605" id="2381" />
-<P2 x="762" y="612" id="2455" />
+<P2 x="762" y="612" id="2481" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2351" >
@@ -3957,7 +3957,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2350" />
-<P1 x="444" y="324" id="2521" />
+<P1 x="444" y="324" id="2560" />
<P2 x="262" y="565" id="2370" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -3966,8 +3966,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2352" />
-<P1 x="519" y="324" id="2522" />
-<P2 x="555" y="357" id="2542" />
+<P1 x="519" y="324" id="2561" />
+<P2 x="555" y="357" id="2529" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2355" >
@@ -3975,8 +3975,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2354" />
-<P1 x="619" y="246" id="2560" />
-<P2 x="519" y="274" id="2516" />
+<P1 x="619" y="246" id="2521" />
+<P2 x="519" y="274" id="2555" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2357" >
@@ -3985,7 +3985,7 @@
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2356" />
<P1 x="657" y="139" id="2437" />
-<P2 x="657" y="196" id="2550" />
+<P2 x="657" y="196" id="2511" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2359" >
@@ -3993,8 +3993,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2358" />
-<P1 x="874" y="625" id="2458" />
-<P2 x="984" y="652" id="2477" />
+<P1 x="874" y="625" id="2484" />
+<P2 x="984" y="652" id="2451" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2361" >
@@ -4003,7 +4003,7 @@
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2360" />
<P1 x="701" y="561" id="2471" />
-<P2 x="799" y="575" id="2451" />
+<P2 x="799" y="575" id="2477" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2363" >
@@ -4011,7 +4011,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2362" />
-<P1 x="797" y="310" id="2534" />
+<P1 x="797" y="310" id="2547" />
<P2 x="659" y="521" id="2460" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -4020,8 +4020,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2364" />
-<P1 x="694" y="246" id="2561" />
-<P2 x="797" y="260" id="2528" />
+<P1 x="694" y="246" id="2522" />
+<P2 x="797" y="260" id="2541" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2367" >
@@ -4029,7 +4029,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2366" />
-<P1 x="835" y="310" id="2527" />
+<P1 x="835" y="310" id="2540" />
<P2 x="829" y="370" id="2421" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -4038,7 +4038,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2368" />
-<P1 x="872" y="310" id="2535" />
+<P1 x="872" y="310" id="2548" />
<P2 x="977" y="353" id="2408" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -4201,13 +4201,14 @@
<TGConnectingPoint num="22" id="2508" />
<TGConnectingPoint num="23" id="2509" />
</COMPONENT>
-<SUBCOMPONENT type="1402" id="2459" >
+<SUBCOMPONENT type="1401" id="2459" >
<father id="2510" num="0" />
-<cdparam x="762" y="575" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="957" y="652" />
+<sizeparam width="110" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="568" minY="0" maxY="150" />
-<infoparam name="TGComponent" value="<<AFTER>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="434" minY="0" maxY="160" />
+<infoparam name="TGComponent" value="planNewRoute" />
<TGConnectingPoint num="0" id="2447" />
<TGConnectingPoint num="1" id="2448" />
<TGConnectingPoint num="2" id="2449" />
@@ -4221,7 +4222,7 @@
<TGConnectingPoint num="10" id="2457" />
<TGConnectingPoint num="11" id="2458" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="2472" >
@@ -4248,14 +4249,13 @@
<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1401" id="2485" >
+<SUBCOMPONENT type="1402" id="2485" >
<father id="2510" num="2" />
-<cdparam x="957" y="652" />
-<sizeparam width="110" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="762" y="575" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="434" minY="0" maxY="160" />
-<infoparam name="TGComponent" value="planNewRoute" />
+<cdrectangleparam minX="0" maxX="568" minY="0" maxY="150" />
+<infoparam name="TGComponent" value="<<AFTER>>" />
<TGConnectingPoint num="0" id="2473" />
<TGConnectingPoint num="1" id="2474" />
<TGConnectingPoint num="2" id="2475" />
@@ -4269,7 +4269,7 @@
<TGConnectingPoint num="10" id="2483" />
<TGConnectingPoint num="11" id="2484" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
@@ -4306,11 +4306,11 @@
</COMPONENT>
<SUBCOMPONENT type="1402" id="2523" >
<father id="2587" num="0" />
-<cdparam x="407" y="274" />
+<cdparam x="582" y="196" />
<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="877" minY="0" maxY="367" />
-<infoparam name="TGComponent" value="<<AND>>" />
+<cdrectangleparam minX="0" maxX="1472" minY="0" maxY="178" />
+<infoparam name="TGComponent" value="<<OR>>" />
<TGConnectingPoint num="0" id="2511" />
<TGConnectingPoint num="1" id="2512" />
<TGConnectingPoint num="2" id="2513" />
@@ -4327,13 +4327,14 @@
<info equation="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1402" id="2536" >
+<SUBCOMPONENT type="1401" id="2536" >
<father id="2587" num="1" />
-<cdparam x="760" y="260" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="480" y="357" />
+<sizeparam width="100" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="877" minY="0" maxY="367" />
-<infoparam name="TGComponent" value="<<AND>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="927" minY="0" maxY="377" />
+<infoparam name="TGComponent" value="imitateiPad" />
<TGConnectingPoint num="0" id="2524" />
<TGConnectingPoint num="1" id="2525" />
<TGConnectingPoint num="2" id="2526" />
@@ -4347,17 +4348,16 @@
<TGConnectingPoint num="10" id="2534" />
<TGConnectingPoint num="11" id="2535" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1401" id="2549" >
+<SUBCOMPONENT type="1402" id="2549" >
<father id="2587" num="2" />
-<cdparam x="480" y="357" />
-<sizeparam width="100" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="760" y="260" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="927" minY="0" maxY="377" />
-<infoparam name="TGComponent" value="imitateiPad" />
+<cdrectangleparam minX="0" maxX="877" minY="0" maxY="367" />
+<infoparam name="TGComponent" value="<<AND>>" />
<TGConnectingPoint num="0" id="2537" />
<TGConnectingPoint num="1" id="2538" />
<TGConnectingPoint num="2" id="2539" />
@@ -4371,16 +4371,16 @@
<TGConnectingPoint num="10" id="2547" />
<TGConnectingPoint num="11" id="2548" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1402" id="2562" >
<father id="2587" num="3" />
-<cdparam x="582" y="196" />
+<cdparam x="407" y="274" />
<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="1472" minY="0" maxY="178" />
-<infoparam name="TGComponent" value="<<OR>>" />
+<cdrectangleparam minX="0" maxX="877" minY="0" maxY="367" />
+<infoparam name="TGComponent" value="<<AND>>" />
<TGConnectingPoint num="0" id="2550" />
<TGConnectingPoint num="1" id="2551" />
<TGConnectingPoint num="2" id="2552" />
@@ -4439,7 +4439,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2613" />
-<P1 x="911" y="585" id="2771" />
+<P1 x="911" y="585" id="2784" />
<P2 x="911" y="627" id="2639" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -4448,8 +4448,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2615" />
-<P1 x="916" y="494" id="2784" />
-<P2 x="911" y="535" id="2768" />
+<P1 x="916" y="494" id="2771" />
+<P2 x="911" y="535" id="2781" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2618" >
@@ -4457,8 +4457,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2617" />
-<P1 x="612" y="148" id="2848" />
-<P2 x="960" y="454" id="2786" />
+<P1 x="612" y="148" id="2835" />
+<P2 x="960" y="454" id="2773" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2620" >
@@ -4467,7 +4467,7 @@
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2619" />
<P1 x="656" y="85" id="2830" />
-<P2 x="612" y="98" id="2845" />
+<P2 x="612" y="98" id="2832" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2622" >
@@ -4475,8 +4475,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2621" />
-<P1 x="574" y="148" id="2855" />
-<P2 x="505" y="167" id="2832" />
+<P1 x="574" y="148" id="2842" />
+<P2 x="505" y="167" id="2845" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2624" >
@@ -4484,8 +4484,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2623" />
-<P1 x="365" y="543" id="2720" />
-<P2 x="365" y="604" id="2730" />
+<P1 x="365" y="543" id="2668" />
+<P2 x="365" y="604" id="2652" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2626" >
@@ -4493,8 +4493,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2625" />
-<P1 x="505" y="445" id="2675" />
-<P2 x="402" y="493" id="2722" />
+<P1 x="505" y="445" id="2727" />
+<P2 x="402" y="493" id="2670" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2628" >
@@ -4502,8 +4502,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2627" />
-<P1 x="365" y="377" id="2662" />
-<P2 x="365" y="493" id="2717" />
+<P1 x="365" y="377" id="2740" />
+<P2 x="365" y="493" id="2665" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2630" >
@@ -4511,8 +4511,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2629" />
-<P1 x="243" y="348" id="2681" />
-<P2 x="243" y="370" id="2704" />
+<P1 x="243" y="348" id="2707" />
+<P2 x="243" y="370" id="2678" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2632" >
@@ -4520,7 +4520,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2631" />
-<P1 x="243" y="420" id="2707" />
+<P1 x="243" y="420" id="2681" />
<P2 x="243" y="446" id="2691" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -4529,8 +4529,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2633" />
-<P1 x="430" y="204" id="2840" />
-<P2 x="273" y="308" id="2683" />
+<P1 x="430" y="204" id="2853" />
+<P2 x="273" y="308" id="2709" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2636" >
@@ -4538,8 +4538,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2635" />
-<P1 x="505" y="217" id="2835" />
-<P2 x="505" y="405" id="2669" />
+<P1 x="505" y="217" id="2848" />
+<P2 x="505" y="405" id="2721" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2638" >
@@ -4547,8 +4547,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2637" />
-<P1 x="467" y="217" id="2842" />
-<P2 x="402" y="337" id="2652" />
+<P1 x="467" y="217" id="2855" />
+<P2 x="402" y="337" id="2730" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1401" id="2651" >
@@ -4608,12 +4608,12 @@
</COMPONENT>
<SUBCOMPONENT type="1401" id="2664" >
<father id="2767" num="0" />
-<cdparam x="328" y="337" />
-<sizeparam width="148" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="295" y="604" />
+<sizeparam width="141" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="382" minY="0" maxY="379" />
-<infoparam name="TGComponent" value="replayLIDARMessage" />
+<cdrectangleparam minX="0" maxX="389" minY="0" maxY="379" />
+<infoparam name="TGComponent" value="connectToEthernet" />
<TGConnectingPoint num="0" id="2652" />
<TGConnectingPoint num="1" id="2653" />
<TGConnectingPoint num="2" id="2654" />
@@ -4630,14 +4630,13 @@
<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1401" id="2677" >
+<SUBCOMPONENT type="1402" id="2677" >
<father id="2767" num="1" />
-<cdparam x="469" y="405" />
-<sizeparam width="144" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="290" y="493" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="386" minY="0" maxY="379" />
-<infoparam name="TGComponent" value="replayCameraImage" />
+<cdrectangleparam minX="0" maxX="290" minY="0" maxY="369" />
+<infoparam name="TGComponent" value="<<AFTER>>" />
<TGConnectingPoint num="0" id="2665" />
<TGConnectingPoint num="1" id="2666" />
<TGConnectingPoint num="2" id="2667" />
@@ -4651,17 +4650,16 @@
<TGConnectingPoint num="10" id="2675" />
<TGConnectingPoint num="11" id="2676" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1401" id="2690" >
+<SUBCOMPONENT type="1402" id="2690" >
<father id="2767" num="2" />
-<cdparam x="183" y="308" />
-<sizeparam width="120" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="168" y="370" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="410" minY="0" maxY="379" />
-<infoparam name="TGComponent" value="replayRadarMsg" />
+<cdrectangleparam minX="0" maxX="290" minY="0" maxY="283" />
+<infoparam name="TGComponent" value="<<AFTER>>" />
<TGConnectingPoint num="0" id="2678" />
<TGConnectingPoint num="1" id="2679" />
<TGConnectingPoint num="2" id="2680" />
@@ -4675,7 +4673,7 @@
<TGConnectingPoint num="10" id="2688" />
<TGConnectingPoint num="11" id="2689" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="2703" >
@@ -4702,13 +4700,14 @@
<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1402" id="2716" >
+<SUBCOMPONENT type="1401" id="2716" >
<father id="2767" num="4" />
-<cdparam x="168" y="370" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="183" y="308" />
+<sizeparam width="120" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="290" minY="0" maxY="283" />
-<infoparam name="TGComponent" value="<<AFTER>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="410" minY="0" maxY="379" />
+<infoparam name="TGComponent" value="replayRadarMsg" />
<TGConnectingPoint num="0" id="2704" />
<TGConnectingPoint num="1" id="2705" />
<TGConnectingPoint num="2" id="2706" />
@@ -4722,16 +4721,17 @@
<TGConnectingPoint num="10" id="2714" />
<TGConnectingPoint num="11" id="2715" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1402" id="2729" >
+<SUBCOMPONENT type="1401" id="2729" >
<father id="2767" num="5" />
-<cdparam x="290" y="493" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="469" y="405" />
+<sizeparam width="144" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="290" minY="0" maxY="369" />
-<infoparam name="TGComponent" value="<<AFTER>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="386" minY="0" maxY="379" />
+<infoparam name="TGComponent" value="replayCameraImage" />
<TGConnectingPoint num="0" id="2717" />
<TGConnectingPoint num="1" id="2718" />
<TGConnectingPoint num="2" id="2719" />
@@ -4745,17 +4745,17 @@
<TGConnectingPoint num="10" id="2727" />
<TGConnectingPoint num="11" id="2728" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="2742" >
<father id="2767" num="6" />
-<cdparam x="295" y="604" />
-<sizeparam width="141" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="328" y="337" />
+<sizeparam width="148" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="389" minY="0" maxY="379" />
-<infoparam name="TGComponent" value="connectToEthernet" />
+<cdrectangleparam minX="0" maxX="382" minY="0" maxY="379" />
+<infoparam name="TGComponent" value="replayLIDARMessage" />
<TGConnectingPoint num="0" id="2730" />
<TGConnectingPoint num="1" id="2731" />
<TGConnectingPoint num="2" id="2732" />
@@ -4804,13 +4804,14 @@
<TGConnectingPoint num="22" id="2816" />
<TGConnectingPoint num="23" id="2817" />
</COMPONENT>
-<SUBCOMPONENT type="1402" id="2780" >
+<SUBCOMPONENT type="1401" id="2780" >
<father id="2818" num="0" />
-<cdparam x="836" y="535" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="829" y="454" />
+<sizeparam width="175" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="243" minY="0" maxY="327" />
-<infoparam name="TGComponent" value="<<AFTER>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="218" minY="0" maxY="337" />
+<infoparam name="TGComponent" value="sendForgedObstacleMsg" />
<TGConnectingPoint num="0" id="2768" />
<TGConnectingPoint num="1" id="2769" />
<TGConnectingPoint num="2" id="2770" />
@@ -4824,17 +4825,16 @@
<TGConnectingPoint num="10" id="2778" />
<TGConnectingPoint num="11" id="2779" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1401" id="2793" >
+<SUBCOMPONENT type="1402" id="2793" >
<father id="2818" num="1" />
-<cdparam x="829" y="454" />
-<sizeparam width="175" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="836" y="535" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="218" minY="0" maxY="337" />
-<infoparam name="TGComponent" value="sendForgedObstacleMsg" />
+<cdrectangleparam minX="0" maxX="243" minY="0" maxY="327" />
+<infoparam name="TGComponent" value="<<AFTER>>" />
<TGConnectingPoint num="0" id="2781" />
<TGConnectingPoint num="1" id="2782" />
<TGConnectingPoint num="2" id="2783" />
@@ -4848,7 +4848,7 @@
<TGConnectingPoint num="10" id="2791" />
<TGConnectingPoint num="11" id="2792" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
@@ -4909,11 +4909,11 @@
</COMPONENT>
<SUBCOMPONENT type="1402" id="2844" >
<father id="2882" num="0" />
-<cdparam x="430" y="167" />
+<cdparam x="537" y="98" />
<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="567" minY="0" maxY="215" />
-<infoparam name="TGComponent" value="<<AND>>" />
+<cdrectangleparam minX="0" maxX="808" minY="0" maxY="152" />
+<infoparam name="TGComponent" value="<<OR>>" />
<TGConnectingPoint num="0" id="2832" />
<TGConnectingPoint num="1" id="2833" />
<TGConnectingPoint num="2" id="2834" />
@@ -4932,11 +4932,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1402" id="2857" >
<father id="2882" num="1" />
-<cdparam x="537" y="98" />
+<cdparam x="430" y="167" />
<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="808" minY="0" maxY="152" />
-<infoparam name="TGComponent" value="<<OR>>" />
+<cdrectangleparam minX="0" maxX="567" minY="0" maxY="215" />
+<infoparam name="TGComponent" value="<<AND>>" />
<TGConnectingPoint num="0" id="2845" />
<TGConnectingPoint num="1" id="2846" />
<TGConnectingPoint num="2" id="2847" />
@@ -4995,8 +4995,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2908" />
-<P1 x="573" y="187" id="3117" />
-<P2 x="512" y="220" id="3140" />
+<P1 x="573" y="187" id="3104" />
+<P2 x="512" y="220" id="3075" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2911" >
@@ -5005,7 +5005,7 @@
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2910" />
<P1 x="715" y="413" id="3014" />
-<P2 x="621" y="599" id="2952" />
+<P2 x="621" y="599" id="2939" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2913" >
@@ -5013,7 +5013,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2912" />
-<P1 x="549" y="270" id="3151" />
+<P1 x="549" y="270" id="3086" />
<P2 x="715" y="373" id="3011" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -5022,8 +5022,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2914" />
-<P1 x="474" y="270" id="3150" />
-<P2 x="359" y="280" id="3127" />
+<P1 x="474" y="270" id="3085" />
+<P2 x="359" y="280" id="3088" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2917" >
@@ -5031,8 +5031,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2916" />
-<P1 x="584" y="649" id="2950" />
-<P2 x="584" y="679" id="2934" />
+<P1 x="584" y="649" id="2937" />
+<P2 x="584" y="679" id="2947" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2919" >
@@ -5040,8 +5040,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2918" />
-<P1 x="358" y="550" id="3027" />
-<P2 x="584" y="599" id="2947" />
+<P1 x="358" y="550" id="3001" />
+<P2 x="584" y="599" id="2934" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2921" >
@@ -5049,8 +5049,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2920" />
-<P1 x="358" y="483" id="3040" />
-<P2 x="358" y="510" id="3024" />
+<P1 x="358" y="483" id="2988" />
+<P2 x="358" y="510" id="2998" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2923" >
@@ -5058,8 +5058,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2922" />
-<P1 x="447" y="411" id="3001" />
-<P2 x="395" y="433" id="3042" />
+<P1 x="447" y="411" id="3027" />
+<P2 x="395" y="433" id="2990" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2925" >
@@ -5067,8 +5067,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2924" />
-<P1 x="270" y="413" id="2988" />
-<P2 x="320" y="433" id="3041" />
+<P1 x="270" y="413" id="3040" />
+<P2 x="320" y="433" id="2989" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2927" >
@@ -5076,8 +5076,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2926" />
-<P1 x="396" y="330" id="3138" />
-<P2 x="447" y="371" id="2998" />
+<P1 x="396" y="330" id="3099" />
+<P2 x="447" y="371" id="3024" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2929" >
@@ -5085,8 +5085,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2928" />
-<P1 x="321" y="330" id="3137" />
-<P2 x="270" y="373" id="2985" />
+<P1 x="321" y="330" id="3098" />
+<P2 x="270" y="373" id="3037" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2931" >
@@ -5094,8 +5094,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2930" />
-<P1 x="610" y="187" id="3125" />
-<P2 x="893" y="245" id="3088" />
+<P1 x="610" y="187" id="3112" />
+<P2 x="893" y="245" id="3127" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="2933" >
@@ -5103,8 +5103,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="2932" />
-<P1 x="573" y="116" id="3078" />
-<P2 x="573" y="137" id="3114" />
+<P1 x="573" y="116" id="3143" />
+<P2 x="573" y="137" id="3101" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1400" id="2984" >
@@ -5138,14 +5138,13 @@
<TGConnectingPoint num="22" id="2982" />
<TGConnectingPoint num="23" id="2983" />
</COMPONENT>
-<SUBCOMPONENT type="1401" id="2946" >
+<SUBCOMPONENT type="1402" id="2946" >
<father id="2984" num="0" />
-<cdparam x="489" y="679" />
-<sizeparam width="191" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="509" y="599" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="340" minY="0" maxY="160" />
-<infoparam name="TGComponent" value="sendForgedMessageToECU" />
+<cdrectangleparam minX="0" maxX="367" minY="0" maxY="150" />
+<infoparam name="TGComponent" value="<<AFTER>>" />
<TGConnectingPoint num="0" id="2934" />
<TGConnectingPoint num="1" id="2935" />
<TGConnectingPoint num="2" id="2936" />
@@ -5159,16 +5158,17 @@
<TGConnectingPoint num="10" id="2944" />
<TGConnectingPoint num="11" id="2945" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1402" id="2959" >
+<SUBCOMPONENT type="1401" id="2959" >
<father id="2984" num="1" />
-<cdparam x="509" y="599" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="489" y="679" />
+<sizeparam width="191" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="367" minY="0" maxY="150" />
-<infoparam name="TGComponent" value="<<AFTER>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="340" minY="0" maxY="160" />
+<infoparam name="TGComponent" value="sendForgedMessageToECU" />
<TGConnectingPoint num="0" id="2947" />
<TGConnectingPoint num="1" id="2948" />
<TGConnectingPoint num="2" id="2949" />
@@ -5182,7 +5182,7 @@
<TGConnectingPoint num="10" id="2957" />
<TGConnectingPoint num="11" id="2958" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
@@ -5217,14 +5217,13 @@
<TGConnectingPoint num="22" id="3072" />
<TGConnectingPoint num="23" id="3073" />
</COMPONENT>
-<SUBCOMPONENT type="1401" id="2997" >
+<SUBCOMPONENT type="1402" id="2997" >
<father id="3074" num="0" />
-<cdparam x="215" y="373" />
-<sizeparam width="111" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="283" y="433" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="804" minY="0" maxY="364" />
-<infoparam name="TGComponent" value="connectToCAN" />
+<cdrectangleparam minX="0" maxX="765" minY="0" maxY="354" />
+<infoparam name="TGComponent" value="<<AFTER>>" />
<TGConnectingPoint num="0" id="2985" />
<TGConnectingPoint num="1" id="2986" />
<TGConnectingPoint num="2" id="2987" />
@@ -5238,17 +5237,17 @@
<TGConnectingPoint num="10" id="2995" />
<TGConnectingPoint num="11" id="2996" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="3010" >
<father id="3074" num="1" />
-<cdparam x="377" y="371" />
-<sizeparam width="141" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="249" y="510" />
+<sizeparam width="219" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="774" minY="0" maxY="364" />
-<infoparam name="TGComponent" value="connectToEthernet" />
+<cdrectangleparam minX="0" maxX="696" minY="0" maxY="364" />
+<infoparam name="TGComponent" value="sendForgedMessageToGateway" />
<TGConnectingPoint num="0" id="2998" />
<TGConnectingPoint num="1" id="2999" />
<TGConnectingPoint num="2" id="3000" />
@@ -5291,12 +5290,12 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="3036" >
<father id="3074" num="3" />
-<cdparam x="249" y="510" />
-<sizeparam width="219" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="377" y="371" />
+<sizeparam width="141" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="696" minY="0" maxY="364" />
-<infoparam name="TGComponent" value="sendForgedMessageToGateway" />
+<cdrectangleparam minX="0" maxX="774" minY="0" maxY="364" />
+<infoparam name="TGComponent" value="connectToEthernet" />
<TGConnectingPoint num="0" id="3024" />
<TGConnectingPoint num="1" id="3025" />
<TGConnectingPoint num="2" id="3026" />
@@ -5313,13 +5312,14 @@
<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1402" id="3049" >
+<SUBCOMPONENT type="1401" id="3049" >
<father id="3074" num="4" />
-<cdparam x="283" y="433" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="215" y="373" />
+<sizeparam width="111" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="765" minY="0" maxY="354" />
-<infoparam name="TGComponent" value="<<AFTER>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="804" minY="0" maxY="364" />
+<infoparam name="TGComponent" value="connectToCAN" />
<TGConnectingPoint num="0" id="3037" />
<TGConnectingPoint num="1" id="3038" />
<TGConnectingPoint num="2" id="3039" />
@@ -5333,7 +5333,7 @@
<TGConnectingPoint num="10" id="3047" />
<TGConnectingPoint num="11" id="3048" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
@@ -5368,14 +5368,13 @@
<TGConnectingPoint num="22" id="3175" />
<TGConnectingPoint num="23" id="3176" />
</COMPONENT>
-<SUBCOMPONENT type="1401" id="3087" >
+<SUBCOMPONENT type="1402" id="3087" >
<father id="3177" num="0" />
-<cdparam x="504" y="76" />
-<sizeparam width="138" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="437" y="220" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="777" minY="0" maxY="260" />
-<infoparam name="TGComponent" value="sendECUCommand" />
+<cdrectangleparam minX="0" maxX="765" minY="0" maxY="250" />
+<infoparam name="TGComponent" value="<<OR>>" />
<TGConnectingPoint num="0" id="3075" />
<TGConnectingPoint num="1" id="3076" />
<TGConnectingPoint num="2" id="3077" />
@@ -5389,17 +5388,16 @@
<TGConnectingPoint num="10" id="3085" />
<TGConnectingPoint num="11" id="3086" />
<extraparam>
-<info description="blah blah blah" root="true" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1401" id="3100" >
+<SUBCOMPONENT type="1402" id="3100" >
<father id="3177" num="1" />
-<cdparam x="832" y="245" />
-<sizeparam width="123" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="284" y="280" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="792" minY="0" maxY="260" />
-<infoparam name="TGComponent" value="buildValidPacket" />
+<cdrectangleparam minX="0" maxX="765" minY="0" maxY="250" />
+<infoparam name="TGComponent" value="<<OR>>" />
<TGConnectingPoint num="0" id="3088" />
<TGConnectingPoint num="1" id="3089" />
<TGConnectingPoint num="2" id="3090" />
@@ -5413,17 +5411,16 @@
<TGConnectingPoint num="10" id="3098" />
<TGConnectingPoint num="11" id="3099" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1401" id="3113" >
+<SUBCOMPONENT type="1402" id="3113" >
<father id="3177" num="2" />
-<cdparam x="177" y="173" />
-<sizeparam width="105" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="498" y="137" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="810" minY="0" maxY="260" />
-<infoparam name="TGComponent" value="AccessDevice" />
+<cdrectangleparam minX="0" maxX="765" minY="0" maxY="250" />
+<infoparam name="TGComponent" value="<<AND>>" />
<TGConnectingPoint num="0" id="3101" />
<TGConnectingPoint num="1" id="3102" />
<TGConnectingPoint num="2" id="3103" />
@@ -5437,16 +5434,17 @@
<TGConnectingPoint num="10" id="3111" />
<TGConnectingPoint num="11" id="3112" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1402" id="3126" >
+<SUBCOMPONENT type="1401" id="3126" >
<father id="3177" num="3" />
-<cdparam x="498" y="137" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="177" y="173" />
+<sizeparam width="105" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="765" minY="0" maxY="250" />
-<infoparam name="TGComponent" value="<<AND>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="810" minY="0" maxY="260" />
+<infoparam name="TGComponent" value="AccessDevice" />
<TGConnectingPoint num="0" id="3114" />
<TGConnectingPoint num="1" id="3115" />
<TGConnectingPoint num="2" id="3116" />
@@ -5460,16 +5458,17 @@
<TGConnectingPoint num="10" id="3124" />
<TGConnectingPoint num="11" id="3125" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1402" id="3139" >
+<SUBCOMPONENT type="1401" id="3139" >
<father id="3177" num="4" />
-<cdparam x="284" y="280" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="832" y="245" />
+<sizeparam width="123" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="765" minY="0" maxY="250" />
-<infoparam name="TGComponent" value="<<OR>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="792" minY="0" maxY="260" />
+<infoparam name="TGComponent" value="buildValidPacket" />
<TGConnectingPoint num="0" id="3127" />
<TGConnectingPoint num="1" id="3128" />
<TGConnectingPoint num="2" id="3129" />
@@ -5483,16 +5482,17 @@
<TGConnectingPoint num="10" id="3137" />
<TGConnectingPoint num="11" id="3138" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1402" id="3152" >
+<SUBCOMPONENT type="1401" id="3152" >
<father id="3177" num="5" />
-<cdparam x="437" y="220" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="504" y="76" />
+<sizeparam width="138" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="765" minY="0" maxY="250" />
-<infoparam name="TGComponent" value="<<OR>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="777" minY="0" maxY="260" />
+<infoparam name="TGComponent" value="sendECUCommand" />
<TGConnectingPoint num="0" id="3140" />
<TGConnectingPoint num="1" id="3141" />
<TGConnectingPoint num="2" id="3142" />
@@ -5506,7 +5506,7 @@
<TGConnectingPoint num="10" id="3150" />
<TGConnectingPoint num="11" id="3151" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="true" />
</extraparam>
</SUBCOMPONENT>
@@ -5519,7 +5519,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3178" />
-<P1 x="922" y="328" id="3375" />
+<P1 x="922" y="328" id="3336" />
<P2 x="551" y="432" id="3209" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -5528,8 +5528,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3180" />
-<P1 x="959" y="328" id="3383" />
-<P2 x="987" y="418" id="3269" />
+<P1 x="959" y="328" id="3344" />
+<P2 x="987" y="418" id="3230" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="3183" >
@@ -5537,8 +5537,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3182" />
-<P1 x="884" y="328" id="3382" />
-<P2 x="842" y="414" id="3282" />
+<P1 x="884" y="328" id="3343" />
+<P2 x="842" y="414" id="3217" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="3185" >
@@ -5546,8 +5546,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3184" />
-<P1 x="889" y="255" id="3388" />
-<P2 x="922" y="278" id="3372" />
+<P1 x="889" y="255" id="3323" />
+<P2 x="922" y="278" id="3333" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="3187" >
@@ -5555,8 +5555,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3186" />
-<P1 x="793" y="188" id="3344" />
-<P2 x="889" y="215" id="3385" />
+<P1 x="793" y="188" id="3383" />
+<P2 x="889" y="215" id="3320" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="3189" >
@@ -5564,8 +5564,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3188" />
-<P1 x="756" y="106" id="3349" />
-<P2 x="756" y="138" id="3333" />
+<P1 x="756" y="106" id="3362" />
+<P2 x="756" y="138" id="3372" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="3191" >
@@ -5573,8 +5573,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3190" />
-<P1 x="718" y="188" id="3343" />
-<P2 x="654" y="215" id="3320" />
+<P1 x="718" y="188" id="3382" />
+<P2 x="654" y="215" id="3385" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="3193" >
@@ -5582,8 +5582,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3192" />
-<P1 x="657" y="646" id="3220" />
-<P2 x="658" y="696" id="3256" />
+<P1 x="657" y="646" id="3285" />
+<P2 x="658" y="696" id="3243" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="3195" >
@@ -5591,8 +5591,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3194" />
-<P1 x="657" y="564" id="3246" />
-<P2 x="657" y="596" id="3217" />
+<P1 x="657" y="564" id="3259" />
+<P2 x="657" y="596" id="3282" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="3197" >
@@ -5600,8 +5600,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3196" />
-<P1 x="691" y="330" id="3370" />
-<P2 x="657" y="524" id="3243" />
+<P1 x="691" y="330" id="3357" />
+<P2 x="657" y="524" id="3256" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="3199" >
@@ -5609,7 +5609,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3198" />
-<P1 x="654" y="330" id="3362" />
+<P1 x="654" y="330" id="3349" />
<P2 x="525" y="432" id="3204" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -5618,8 +5618,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3200" />
-<P1 x="616" y="330" id="3369" />
-<P2 x="384" y="436" id="3230" />
+<P1 x="616" y="330" id="3356" />
+<P2 x="384" y="436" id="3269" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="3203" >
@@ -5627,8 +5627,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3202" />
-<P1 x="654" y="255" id="3323" />
-<P2 x="654" y="280" id="3359" />
+<P1 x="654" y="255" id="3388" />
+<P2 x="654" y="280" id="3346" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1401" id="3216" >
@@ -5686,13 +5686,14 @@
<TGConnectingPoint num="22" id="3317" />
<TGConnectingPoint num="23" id="3318" />
</COMPONENT>
-<SUBCOMPONENT type="1402" id="3229" >
+<SUBCOMPONENT type="1401" id="3229" >
<father id="3319" num="0" />
-<cdparam x="582" y="596" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="772" y="414" />
+<sizeparam width="140" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="563" minY="0" maxY="208" />
-<infoparam name="TGComponent" value="<<AFTER>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="669" minY="0" maxY="361" />
+<infoparam name="TGComponent" value="interceptMessages" />
<TGConnectingPoint num="0" id="3217" />
<TGConnectingPoint num="1" id="3218" />
<TGConnectingPoint num="2" id="3219" />
@@ -5706,17 +5707,17 @@
<TGConnectingPoint num="10" id="3227" />
<TGConnectingPoint num="11" id="3228" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="3242" >
<father id="3319" num="1" />
-<cdparam x="334" y="436" />
-<sizeparam width="100" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="932" y="418" />
+<sizeparam width="111" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="709" minY="0" maxY="361" />
-<infoparam name="TGComponent" value="addToLAN" />
+<cdrectangleparam minX="0" maxX="698" minY="0" maxY="361" />
+<infoparam name="TGComponent" value="recoverV2XKey" />
<TGConnectingPoint num="0" id="3230" />
<TGConnectingPoint num="1" id="3231" />
<TGConnectingPoint num="2" id="3232" />
@@ -5735,12 +5736,12 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="3255" >
<father id="3319" num="2" />
-<cdparam x="576" y="524" />
-<sizeparam width="163" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="590" y="696" />
+<sizeparam width="137" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="646" minY="0" maxY="361" />
-<infoparam name="TGComponent" value="InterceptValidMessage" />
+<cdrectangleparam minX="0" maxX="672" minY="0" maxY="361" />
+<infoparam name="TGComponent" value="sendFakeMessage" />
<TGConnectingPoint num="0" id="3243" />
<TGConnectingPoint num="1" id="3244" />
<TGConnectingPoint num="2" id="3245" />
@@ -5759,12 +5760,12 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="3268" >
<father id="3319" num="3" />
-<cdparam x="590" y="696" />
-<sizeparam width="137" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="576" y="524" />
+<sizeparam width="163" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="672" minY="0" maxY="361" />
-<infoparam name="TGComponent" value="sendFakeMessage" />
+<cdrectangleparam minX="0" maxX="646" minY="0" maxY="361" />
+<infoparam name="TGComponent" value="InterceptValidMessage" />
<TGConnectingPoint num="0" id="3256" />
<TGConnectingPoint num="1" id="3257" />
<TGConnectingPoint num="2" id="3258" />
@@ -5783,12 +5784,12 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="3281" >
<father id="3319" num="4" />
-<cdparam x="932" y="418" />
-<sizeparam width="111" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="334" y="436" />
+<sizeparam width="100" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="698" minY="0" maxY="361" />
-<infoparam name="TGComponent" value="recoverV2XKey" />
+<cdrectangleparam minX="0" maxX="709" minY="0" maxY="361" />
+<infoparam name="TGComponent" value="addToLAN" />
<TGConnectingPoint num="0" id="3269" />
<TGConnectingPoint num="1" id="3270" />
<TGConnectingPoint num="2" id="3271" />
@@ -5805,14 +5806,13 @@
<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1401" id="3294" >
+<SUBCOMPONENT type="1402" id="3294" >
<father id="3319" num="5" />
-<cdparam x="772" y="414" />
-<sizeparam width="140" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="582" y="596" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="669" minY="0" maxY="361" />
-<infoparam name="TGComponent" value="interceptMessages" />
+<cdrectangleparam minX="0" maxX="563" minY="0" maxY="208" />
+<infoparam name="TGComponent" value="<<AFTER>>" />
<TGConnectingPoint num="0" id="3282" />
<TGConnectingPoint num="1" id="3283" />
<TGConnectingPoint num="2" id="3284" />
@@ -5826,7 +5826,7 @@
<TGConnectingPoint num="10" id="3292" />
<TGConnectingPoint num="11" id="3293" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
@@ -5863,12 +5863,12 @@
</COMPONENT>
<SUBCOMPONENT type="1401" id="3332" >
<father id="3422" num="0" />
-<cdparam x="597" y="215" />
-<sizeparam width="114" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="839" y="215" />
+<sizeparam width="100" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="695" minY="0" maxY="297" />
-<infoparam name="TGComponent" value="sendFakeMesg" />
+<cdrectangleparam minX="0" maxX="709" minY="0" maxY="297" />
+<infoparam name="TGComponent" value="MITMAttack" />
<TGConnectingPoint num="0" id="3320" />
<TGConnectingPoint num="1" id="3321" />
<TGConnectingPoint num="2" id="3322" />
@@ -5887,11 +5887,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1402" id="3345" >
<father id="3422" num="1" />
-<cdparam x="681" y="138" />
+<cdparam x="847" y="278" />
<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="659" minY="0" maxY="195" />
-<infoparam name="TGComponent" value="<<OR>>" />
+<cdrectangleparam minX="0" maxX="659" minY="0" maxY="287" />
+<infoparam name="TGComponent" value="<<AND>>" />
<TGConnectingPoint num="0" id="3333" />
<TGConnectingPoint num="1" id="3334" />
<TGConnectingPoint num="2" id="3335" />
@@ -5908,14 +5908,13 @@
<info equation="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1401" id="3358" >
+<SUBCOMPONENT type="1402" id="3358" >
<father id="3422" num="2" />
-<cdparam x="691" y="66" />
-<sizeparam width="130" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="579" y="280" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="679" minY="0" maxY="297" />
-<infoparam name="TGComponent" value="ethernetAttack" />
+<cdrectangleparam minX="0" maxX="659" minY="0" maxY="287" />
+<infoparam name="TGComponent" value="<<AND>>" />
<TGConnectingPoint num="0" id="3346" />
<TGConnectingPoint num="1" id="3347" />
<TGConnectingPoint num="2" id="3348" />
@@ -5929,16 +5928,17 @@
<TGConnectingPoint num="10" id="3356" />
<TGConnectingPoint num="11" id="3357" />
<extraparam>
-<info description="blah blah blah" root="true" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1402" id="3371" >
+<SUBCOMPONENT type="1401" id="3371" >
<father id="3422" num="3" />
-<cdparam x="579" y="280" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="691" y="66" />
+<sizeparam width="130" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="659" minY="0" maxY="287" />
-<infoparam name="TGComponent" value="<<AND>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="679" minY="0" maxY="297" />
+<infoparam name="TGComponent" value="ethernetAttack" />
<TGConnectingPoint num="0" id="3359" />
<TGConnectingPoint num="1" id="3360" />
<TGConnectingPoint num="2" id="3361" />
@@ -5952,16 +5952,16 @@
<TGConnectingPoint num="10" id="3369" />
<TGConnectingPoint num="11" id="3370" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="true" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1402" id="3384" >
<father id="3422" num="4" />
-<cdparam x="847" y="278" />
+<cdparam x="681" y="138" />
<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="659" minY="0" maxY="287" />
-<infoparam name="TGComponent" value="<<AND>>" />
+<cdrectangleparam minX="0" maxX="659" minY="0" maxY="195" />
+<infoparam name="TGComponent" value="<<OR>>" />
<TGConnectingPoint num="0" id="3372" />
<TGConnectingPoint num="1" id="3373" />
<TGConnectingPoint num="2" id="3374" />
@@ -5980,12 +5980,12 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="3397" >
<father id="3422" num="5" />
-<cdparam x="839" y="215" />
-<sizeparam width="100" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="597" y="215" />
+<sizeparam width="114" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="709" minY="0" maxY="297" />
-<infoparam name="TGComponent" value="MITMAttack" />
+<cdrectangleparam minX="0" maxX="695" minY="0" maxY="297" />
+<infoparam name="TGComponent" value="sendFakeMesg" />
<TGConnectingPoint num="0" id="3385" />
<TGConnectingPoint num="1" id="3386" />
<TGConnectingPoint num="2" id="3387" />
@@ -6012,8 +6012,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3423" />
-<P1 x="760" y="485" id="3440" />
-<P2 x="760" y="508" id="3450" />
+<P1 x="760" y="485" id="3453" />
+<P2 x="760" y="508" id="3437" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="3426" >
@@ -6021,8 +6021,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3425" />
-<P1 x="567" y="220" id="3613" />
-<P2 x="760" y="435" id="3437" />
+<P1 x="567" y="220" id="3626" />
+<P2 x="760" y="435" id="3450" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="3428" >
@@ -6030,8 +6030,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3427" />
-<P1 x="455" y="182" id="3608" />
-<P2 x="310" y="186" id="3633" />
+<P1 x="455" y="182" id="3621" />
+<P2 x="310" y="186" id="3594" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="3430" >
@@ -6039,7 +6039,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3429" />
-<P1 x="530" y="220" id="3605" />
+<P1 x="530" y="220" id="3618" />
<P2 x="530" y="420" id="3526" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -6048,7 +6048,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3431" />
-<P1 x="492" y="220" id="3612" />
+<P1 x="492" y="220" id="3625" />
<P2 x="259" y="427" id="3488" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -6057,8 +6057,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3433" />
-<P1 x="455" y="195" id="3603" />
-<P2 x="312" y="248" id="3615" />
+<P1 x="455" y="195" id="3616" />
+<P2 x="312" y="248" id="3602" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="133" id="3436" >
@@ -6066,8 +6066,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="3435" />
-<P1 x="530" y="134" id="3592" />
-<P2 x="530" y="170" id="3602" />
+<P1 x="530" y="134" id="3631" />
+<P2 x="530" y="170" id="3615" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1400" id="3487" >
@@ -6101,13 +6101,14 @@
<TGConnectingPoint num="22" id="3485" />
<TGConnectingPoint num="23" id="3486" />
</COMPONENT>
-<SUBCOMPONENT type="1402" id="3449" >
+<SUBCOMPONENT type="1401" id="3449" >
<father id="3487" num="0" />
-<cdparam x="685" y="435" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="680" y="508" />
+<sizeparam width="160" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="100" minY="0" maxY="150" />
-<infoparam name="TGComponent" value="<<AFTER>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="90" minY="0" maxY="160" />
+<infoparam name="TGComponent" value="planIgnoringLightColor" />
<TGConnectingPoint num="0" id="3437" />
<TGConnectingPoint num="1" id="3438" />
<TGConnectingPoint num="2" id="3439" />
@@ -6121,17 +6122,16 @@
<TGConnectingPoint num="10" id="3447" />
<TGConnectingPoint num="11" id="3448" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1401" id="3462" >
+<SUBCOMPONENT type="1402" id="3462" >
<father id="3487" num="1" />
-<cdparam x="680" y="508" />
-<sizeparam width="160" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="685" y="435" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="90" minY="0" maxY="160" />
-<infoparam name="TGComponent" value="planIgnoringLightColor" />
+<cdrectangleparam minX="0" maxX="100" minY="0" maxY="150" />
+<infoparam name="TGComponent" value="<<AFTER>>" />
<TGConnectingPoint num="0" id="3450" />
<TGConnectingPoint num="1" id="3451" />
<TGConnectingPoint num="2" id="3452" />
@@ -6145,7 +6145,7 @@
<TGConnectingPoint num="10" id="3460" />
<TGConnectingPoint num="11" id="3461" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
@@ -6326,12 +6326,12 @@
</COMPONENT>
<SUBCOMPONENT type="1401" id="3601" >
<father id="3665" num="0" />
-<cdparam x="465" y="94" />
-<sizeparam width="130" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="194" y="186" />
+<sizeparam width="155" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="658" minY="0" maxY="212" />
-<infoparam name="TGComponent" value="ignoreLightColor" />
+<cdrectangleparam minX="0" maxX="633" minY="0" maxY="212" />
+<infoparam name="TGComponent" value="reverseV2IMsgFormat" />
<TGConnectingPoint num="0" id="3589" />
<TGConnectingPoint num="1" id="3590" />
<TGConnectingPoint num="2" id="3591" />
@@ -6345,16 +6345,17 @@
<TGConnectingPoint num="10" id="3599" />
<TGConnectingPoint num="11" id="3600" />
<extraparam>
-<info description="blah blah blah" root="true" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1402" id="3614" >
+<SUBCOMPONENT type="1401" id="3614" >
<father id="3665" num="1" />
-<cdparam x="455" y="170" />
-<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="238" y="248" />
+<sizeparam width="149" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="638" minY="0" maxY="202" />
-<infoparam name="TGComponent" value="<<AND>>" />
+<enabled value="true" />
+<cdrectangleparam minX="0" maxX="639" minY="0" maxY="212" />
+<infoparam name="TGComponent" value="forgeLightControlKey" />
<TGConnectingPoint num="0" id="3602" />
<TGConnectingPoint num="1" id="3603" />
<TGConnectingPoint num="2" id="3604" />
@@ -6368,17 +6369,16 @@
<TGConnectingPoint num="10" id="3612" />
<TGConnectingPoint num="11" id="3613" />
<extraparam>
-<info equation="" />
+<info description="blah blah blah" root="false" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1401" id="3627" >
+<SUBCOMPONENT type="1402" id="3627" >
<father id="3665" num="2" />
-<cdparam x="238" y="248" />
-<sizeparam width="149" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="455" y="170" />
+<sizeparam width="150" height="50" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<enabled value="true" />
-<cdrectangleparam minX="0" maxX="639" minY="0" maxY="212" />
-<infoparam name="TGComponent" value="forgeLightControlKey" />
+<cdrectangleparam minX="0" maxX="638" minY="0" maxY="202" />
+<infoparam name="TGComponent" value="<<AND>>" />
<TGConnectingPoint num="0" id="3615" />
<TGConnectingPoint num="1" id="3616" />
<TGConnectingPoint num="2" id="3617" />
@@ -6392,17 +6392,17 @@
<TGConnectingPoint num="10" id="3625" />
<TGConnectingPoint num="11" id="3626" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info equation="" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1401" id="3640" >
<father id="3665" num="3" />
-<cdparam x="194" y="186" />
-<sizeparam width="155" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="465" y="94" />
+<sizeparam width="130" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
-<cdrectangleparam minX="0" maxX="633" minY="0" maxY="212" />
-<infoparam name="TGComponent" value="reverseV2IMsgFormat" />
+<cdrectangleparam minX="0" maxX="658" minY="0" maxY="212" />
+<infoparam name="TGComponent" value="ignoreLightColor" />
<TGConnectingPoint num="0" id="3628" />
<TGConnectingPoint num="1" id="3629" />
<TGConnectingPoint num="2" id="3630" />
@@ -6416,7 +6416,7 @@
<TGConnectingPoint num="10" id="3638" />
<TGConnectingPoint num="11" id="3639" />
<extraparam>
-<info description="blah blah blah" root="false" />
+<info description="blah blah blah" root="true" />
</extraparam>
</SUBCOMPONENT>
@@ -7831,11 +7831,11 @@
</COMPONENT>
<SUBCOMPONENT type="5000" id="4547" >
<father id="4672" num="0" />
-<cdparam x="204" y="110" />
+<cdparam x="361" y="358" />
<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="978" minY="0" maxY="347" />
-<infoparam name="Block1" value="Sensor" />
+<infoparam name="Block0" value="UI" />
<TGConnectingPoint num="0" id="4523" />
<TGConnectingPoint num="1" id="4524" />
<TGConnectingPoint num="2" id="4525" />
@@ -7861,36 +7861,18 @@
<TGConnectingPoint num="22" id="4545" />
<TGConnectingPoint num="23" id="4546" />
<extraparam>
-<CryptoBlock value="true" />
-<Attribute access="0" id="signal" value="" type="8" typeOther="" />
-<Method value="Message aencrypt(Message msg, Key k)" />
-<Method value="Message adecrypt(Message msg, Key k)" />
-<Method value="Key pk(Key k)" />
-<Method value="Message sign(Message msg, Key k)" />
-<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
-<Method value="Message cert(Key k, Message msg)" />
-<Method value="bool verifyCert(Message cert, Key k)" />
-<Method value="Key getpk(Message cert)" />
-<Method value="Message sencrypt(Message msg, Key k)" />
-<Method value="Message sdecrypt(Message msg, Key k)" />
-<Method value="Message hash(Message msg)" />
-<Method value="Message MAC(Message msg, Key k)" />
-<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
-<Method value="Message concat2(Message msg1, Message msg2)" />
-<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
-<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
-<Method value="get2(Message msg, Message msg1, Message msg2)" />
-<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
-<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="dest" value="" type="8" typeOther="" />
+<Signal value="out dest()" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="4572" >
<father id="4672" num="1" />
-<cdparam x="736" y="108" />
+<cdparam x="736" y="361" />
<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="978" minY="0" maxY="347" />
-<infoparam name="Block0" value="ControlSystem" />
+<infoparam name="Block0" value="GPS" />
<TGConnectingPoint num="0" id="4548" />
<TGConnectingPoint num="1" id="4549" />
<TGConnectingPoint num="2" id="4550" />
@@ -7917,14 +7899,7 @@
<TGConnectingPoint num="23" id="4571" />
<extraparam>
<CryptoBlock value="false" />
-<Attribute access="0" id="signal" value="" type="8" typeOther="" />
-<Attribute access="0" id="ECUSignal" value="" type="8" typeOther="" />
-<Attribute access="0" id="dest" value="" type="8" typeOther="" />
<Attribute access="0" id="currLoc" value="" type="8" typeOther="" />
-<Signal value="out ECUSignal()" />
-<Signal value="in currLoc()" />
-<Signal value="in dest()" />
-<Signal value="in signal()" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="4597" >
@@ -7966,11 +7941,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="4622" >
<father id="4672" num="3" />
-<cdparam x="736" y="361" />
+<cdparam x="736" y="108" />
<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="978" minY="0" maxY="347" />
-<infoparam name="Block0" value="GPS" />
+<infoparam name="Block0" value="ControlSystem" />
<TGConnectingPoint num="0" id="4598" />
<TGConnectingPoint num="1" id="4599" />
<TGConnectingPoint num="2" id="4600" />
@@ -7997,16 +7972,23 @@
<TGConnectingPoint num="23" id="4621" />
<extraparam>
<CryptoBlock value="false" />
+<Attribute access="0" id="signal" value="" type="8" typeOther="" />
+<Attribute access="0" id="ECUSignal" value="" type="8" typeOther="" />
+<Attribute access="0" id="dest" value="" type="8" typeOther="" />
<Attribute access="0" id="currLoc" value="" type="8" typeOther="" />
+<Signal value="out ECUSignal()" />
+<Signal value="in currLoc()" />
+<Signal value="in dest()" />
+<Signal value="in signal()" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="4647" >
<father id="4672" num="4" />
-<cdparam x="361" y="358" />
+<cdparam x="204" y="110" />
<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="978" minY="0" maxY="347" />
-<infoparam name="Block0" value="UI" />
+<infoparam name="Block1" value="Sensor" />
<TGConnectingPoint num="0" id="4623" />
<TGConnectingPoint num="1" id="4624" />
<TGConnectingPoint num="2" id="4625" />
@@ -8032,9 +8014,27 @@
<TGConnectingPoint num="22" id="4645" />
<TGConnectingPoint num="23" id="4646" />
<extraparam>
-<CryptoBlock value="false" />
-<Attribute access="0" id="dest" value="" type="8" typeOther="" />
-<Signal value="out dest()" />
+<CryptoBlock value="true" />
+<Attribute access="0" id="signal" value="" type="8" typeOther="" />
+<Method value="Message aencrypt(Message msg, Key k)" />
+<Method value="Message adecrypt(Message msg, Key k)" />
+<Method value="Key pk(Key k)" />
+<Method value="Message sign(Message msg, Key k)" />
+<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
+<Method value="Message cert(Key k, Message msg)" />
+<Method value="bool verifyCert(Message cert, Key k)" />
+<Method value="Key getpk(Message cert)" />
+<Method value="Message sencrypt(Message msg, Key k)" />
+<Method value="Message sdecrypt(Message msg, Key k)" />
+<Method value="Message hash(Message msg)" />
+<Method value="Message MAC(Message msg, Key k)" />
+<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
+<Method value="Message concat2(Message msg1, Message msg2)" />
+<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
+<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Method value="get2(Message msg, Message msg1, Message msg2)" />
+<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
+<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
</extraparam>
</SUBCOMPONENT>
@@ -8054,7 +8054,7 @@
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="UI" minX="10" maxX="2500" minY="10" maxY="1500" >
+<AVATARStateMachineDiagramPanel name="Sensor" minX="10" maxX="2500" minY="10" maxY="1500" >
<COMPONENT type="5100" id="4676" >
<cdparam x="400" y="50" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
@@ -8067,7 +8067,7 @@
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="GPS" minX="10" maxX="2500" minY="10" maxY="1500" >
+<AVATARStateMachineDiagramPanel name="ControlSystem" minX="10" maxX="2500" minY="10" maxY="1500" >
<COMPONENT type="5100" id="4678" >
<cdparam x="400" y="50" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
@@ -8093,7 +8093,7 @@
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="ControlSystem" minX="10" maxX="2500" minY="10" maxY="1500" >
+<AVATARStateMachineDiagramPanel name="GPS" minX="10" maxX="2500" minY="10" maxY="1500" >
<COMPONENT type="5100" id="4682" >
<cdparam x="400" y="50" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
@@ -8106,7 +8106,7 @@
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="Sensor" minX="10" maxX="2500" minY="10" maxY="1500" >
+<AVATARStateMachineDiagramPanel name="UI" minX="10" maxX="2500" minY="10" maxY="1500" >
<COMPONENT type="5100" id="4684" >
<cdparam x="400" y="50" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
@@ -8249,28 +8249,71 @@
<Modeling type="TML Component Design" nameTab="Des" >
<TMLComponentTaskDiagramPanel name="TML Component Task Diagram" minX="10" maxX="2500" minY="10" maxY="1500" channels="true" events="true" requests="true" zoom="1.0" >
+<CONNECTOR type="126" id="6168" >
+<cdparam x="377" y="883" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="Connector between ports" />
+<P1 x="377" y="883" id="6157" />
+<P2 x="629" y="291" id="6167" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<COMPONENT type="1202" id="6137" >
+<cdparam x="164" y="788" />
+<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Primitive component" value="IMU" />
+<TGConnectingPoint num="0" id="6138" />
+<TGConnectingPoint num="1" id="6139" />
+<TGConnectingPoint num="2" id="6140" />
+<TGConnectingPoint num="3" id="6141" />
+<TGConnectingPoint num="4" id="6142" />
+<TGConnectingPoint num="5" id="6143" />
+<TGConnectingPoint num="6" id="6144" />
+<TGConnectingPoint num="7" id="6145" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="1203" id="6148" >
+<father id="6137" num="0" />
+<cdparam x="351" y="870" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Channel comm" />
+<TGConnectingPoint num="0" id="6157" />
+<extraparam>
+<Prop commName="IMUdata" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+
<CONNECTOR type="126" id="4721" >
<cdparam x="377" y="693" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
<P1 x="377" y="693" id="4747" />
-<P2 x="676" y="304" id="4810" />
+<P2 x="676" y="304" id="4841" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="4722" >
<cdparam x="1204" y="152" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="1204" y="155" id="4852" />
-<P2 x="1115" y="155" id="4812" />
+<P1 x="1204" y="155" id="4799" />
+<P2 x="1115" y="155" id="4839" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="4724" >
<cdparam x="573" y="813" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="574" y="813" id="4782" />
-<P2 x="861" y="417" id="4837" />
+<P1 x="574" y="813" id="4780" />
+<P2 x="861" y="417" id="4814" />
<Point x="574" y="417" />
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="4723" >
@@ -8287,7 +8330,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
<P1 x="400" y="508" id="4889" />
-<P2 x="629" y="257" id="4826" />
+<P2 x="629" y="257" id="4825" />
<Point x="507" y="508" />
<Point x="507" y="258" />
<AutomaticDrawing data="true" />
@@ -8313,7 +8356,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
<P1 x="373" y="341" id="4900" />
-<P2 x="629" y="211" id="4824" />
+<P2 x="629" y="211" id="4827" />
<Point x="460" y="341" />
<Point x="460" y="211" />
<AutomaticDrawing data="true" />
@@ -8339,15 +8382,15 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
<P1 x="370" y="153" id="4878" />
-<P2 x="629" y="154" id="4814" />
+<P2 x="629" y="154" id="4837" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="4735" >
<cdparam x="981" y="328" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="981" y="328" id="4841" />
-<P2 x="1204" y="227" id="4858" />
+<P1 x="981" y="328" id="4810" />
+<P2 x="1204" y="227" id="4793" />
<Point x="981" y="309" />
<Point x="1110" y="309" />
<Point x="1110" y="227" />
@@ -8381,32 +8424,32 @@
<cdparam x="918" y="303" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="929" y="304" id="4822" />
-<P2 x="929" y="328" id="4839" />
+<P1 x="929" y="304" id="4829" />
+<P2 x="929" y="328" id="4812" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="4737" >
<cdparam x="674" y="325" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="748" y="573" id="4797" />
-<P2 x="748" y="304" id="4820" />
+<P1 x="748" y="573" id="4854" />
+<P2 x="748" y="304" id="4831" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="4738" >
<cdparam x="753" y="325" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="821" y="573" id="4799" />
-<P2 x="820" y="304" id="4818" />
+<P1 x="821" y="573" id="4852" />
+<P2 x="820" y="304" id="4833" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="4739" >
<cdparam x="1089" y="178" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="1115" y="184" id="4816" />
-<P2 x="1204" y="184" id="4856" />
+<P1 x="1115" y="184" id="4835" />
+<P2 x="1204" y="184" id="4795" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="4742" >
@@ -8414,7 +8457,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
<P1 x="929" y="808" id="4758" />
-<P2 x="813" y="749" id="4795" />
+<P2 x="813" y="749" id="4856" />
<Point x="929" y="788" />
<Point x="813" y="788" />
<AutomaticDrawing data="true" />
@@ -8439,8 +8482,8 @@
<cdparam x="671" y="427" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="629" y="813" id="4780" />
-<P2 x="736" y="749" id="4793" />
+<P1 x="629" y="813" id="4782" />
+<P2 x="736" y="749" id="4858" />
<Point x="629" y="791" />
<Point x="735" y="791" />
<AutomaticDrawing data="true" />
@@ -8465,7 +8508,7 @@
<cdparam x="717" y="157" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="1430" y="194" id="4854" />
+<P1 x="1430" y="194" id="4797" />
<P2 x="1530" y="195" id="4769" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -8597,14 +8640,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="4781" >
<father id="4792" num="0" />
-<cdparam x="616" y="813" />
+<cdparam x="561" y="813" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
-<infoparam name="Primitive port" value="Channel UIout" />
+<infoparam name="Primitive port" value="Channel UIstat" />
<TGConnectingPoint num="0" id="4780" />
<extraparam>
-<Prop commName="UIout" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="UIstat" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8614,14 +8657,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="4783" >
<father id="4792" num="1" />
-<cdparam x="561" y="813" />
+<cdparam x="616" y="813" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
-<infoparam name="Primitive port" value="Channel UIstat" />
+<infoparam name="Primitive port" value="Channel UIout" />
<TGConnectingPoint num="0" id="4782" />
<extraparam>
-<Prop commName="UIstat" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="UIout" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8650,11 +8693,11 @@
</COMPONENT>
<SUBCOMPONENT type="1202" id="4809" >
<father id="4877" num="0" />
-<cdparam x="670" y="586" />
+<cdparam x="1217" y="135" />
<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="753" minY="0" maxY="549" />
-<infoparam name="Primitive component" value="ExteriorInterface" />
+<infoparam name="Primitive component" value="MABX" />
<TGConnectingPoint num="0" id="4801" />
<TGConnectingPoint num="1" id="4802" />
<TGConnectingPoint num="2" id="4803" />
@@ -8664,18 +8707,19 @@
<TGConnectingPoint num="6" id="4807" />
<TGConnectingPoint num="7" id="4808" />
<extraparam>
+<Attribute access="2" id="command" value="" type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="4794" >
<father id="4809" num="0" />
-<cdparam x="723" y="723" />
+<cdparam x="1204" y="214" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
-<infoparam name="Primitive port" value="Channel UIout" />
+<infoparam name="Primitive port" value="Channel ECUStatus" />
<TGConnectingPoint num="0" id="4793" />
<extraparam>
-<Prop commName="UIout" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="ECUStatus" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8685,14 +8729,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="4796" >
<father id="4809" num="1" />
-<cdparam x="800" y="723" />
+<cdparam x="1204" y="171" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
-<infoparam name="Primitive port" value="Channel V2XOut" />
+<infoparam name="Primitive port" value="Channel commandOut" />
<TGConnectingPoint num="0" id="4795" />
<extraparam>
-<Prop commName="V2XOut" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="commandOut" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8702,14 +8746,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="4798" >
<father id="4809" num="2" />
-<cdparam x="735" y="573" />
+<cdparam x="1404" y="181" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
-<infoparam name="Primitive port" value="Channel trafficOut" />
+<infoparam name="Primitive port" value="Channel ECUin" />
<TGConnectingPoint num="0" id="4797" />
<extraparam>
-<Prop commName="trafficOut" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="ECUin" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8719,14 +8763,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="4800" >
<father id="4809" num="3" />
-<cdparam x="808" y="573" />
+<cdparam x="1204" y="142" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
-<infoparam name="Primitive port" value="Channel destOut" />
+<infoparam name="Primitive port" value="Channel vehStatus" />
<TGConnectingPoint num="0" id="4799" />
<extraparam>
-<Prop commName="destOut" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="vehStatus" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8734,43 +8778,35 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1202" id="4836" >
+<SUBCOMPONENT type="1202" id="4824" >
<father id="4877" num="1" />
-<cdparam x="642" y="116" />
-<sizeparam width="460" height="175" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="874" y="341" />
+<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="493" minY="0" maxY="524" />
-<infoparam name="Primitive component" value="Perception" />
-<TGConnectingPoint num="0" id="4828" />
-<TGConnectingPoint num="1" id="4829" />
-<TGConnectingPoint num="2" id="4830" />
-<TGConnectingPoint num="3" id="4831" />
-<TGConnectingPoint num="4" id="4832" />
-<TGConnectingPoint num="5" id="4833" />
-<TGConnectingPoint num="6" id="4834" />
-<TGConnectingPoint num="7" id="4835" />
+<cdrectangleparam minX="0" maxX="753" minY="0" maxY="549" />
+<infoparam name="Primitive component" value="Supervisor" />
+<TGConnectingPoint num="0" id="4816" />
+<TGConnectingPoint num="1" id="4817" />
+<TGConnectingPoint num="2" id="4818" />
+<TGConnectingPoint num="3" id="4819" />
+<TGConnectingPoint num="4" id="4820" />
+<TGConnectingPoint num="5" id="4821" />
+<TGConnectingPoint num="6" id="4822" />
+<TGConnectingPoint num="7" id="4823" />
<extraparam>
-<Attribute access="2" id="perceptData" value="" type="0" typeOther="" />
-<Attribute access="2" id="plan" value="" type="0" typeOther="" />
-<Attribute access="2" id="calcMark" value="" type="0" typeOther="" />
-<Attribute access="2" id="calcObstacle" value="" type="0" typeOther="" />
-<Attribute access="2" id="calcVehStat" value="" type="0" typeOther="" />
-<Attribute access="2" id="calcInfrastruct1" value="" type="0" typeOther="" />
-<Attribute access="2" id="calcInfrastruct2" value="" type="0" typeOther="" />
-<Attribute access="2" id="calcTraj" value="" type="0" typeOther="" />
-<Attribute access="2" id="calcRegulation" value="" type="0" typeOther="" />
+<Attribute access="2" id="error" value="" type="4" typeOther="" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="4811" >
-<father id="4836" num="0" />
-<cdparam x="663" y="278" />
+<father id="4824" num="0" />
+<cdparam x="968" y="328" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-13" maxX="447" minY="-13" maxY="162" />
-<infoparam name="Primitive port" value="Channel GPSRTK" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Channel ECUStatus" />
<TGConnectingPoint num="0" id="4810" />
<extraparam>
-<Prop commName="GPSRTK" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="ECUStatus" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8779,15 +8815,15 @@
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="4813" >
-<father id="4836" num="1" />
-<cdparam x="1089" y="142" />
+<father id="4824" num="1" />
+<cdparam x="916" y="328" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-13" maxX="447" minY="-13" maxY="162" />
-<infoparam name="Primitive port" value="Channel vehStatus" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Channel percStatus" />
<TGConnectingPoint num="0" id="4812" />
<extraparam>
-<Prop commName="vehStatus" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="percStatus" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8796,15 +8832,15 @@
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="4815" >
-<father id="4836" num="2" />
-<cdparam x="629" y="141" />
+<father id="4824" num="2" />
+<cdparam x="861" y="404" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-13" maxX="447" minY="-13" maxY="162" />
-<infoparam name="Primitive port" value="Channel LidarData" />
+<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
+<infoparam name="Primitive port" value="Channel UIstat" />
<TGConnectingPoint num="0" id="4814" />
<extraparam>
-<Prop commName="LidarData" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="UIstat" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8812,16 +8848,43 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4817" >
-<father id="4836" num="3" />
-<cdparam x="1089" y="171" />
+<SUBCOMPONENT type="1202" id="4851" >
+<father id="4877" num="2" />
+<cdparam x="642" y="116" />
+<sizeparam width="460" height="175" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="493" minY="0" maxY="524" />
+<infoparam name="Primitive component" value="Perception" />
+<TGConnectingPoint num="0" id="4843" />
+<TGConnectingPoint num="1" id="4844" />
+<TGConnectingPoint num="2" id="4845" />
+<TGConnectingPoint num="3" id="4846" />
+<TGConnectingPoint num="4" id="4847" />
+<TGConnectingPoint num="5" id="4848" />
+<TGConnectingPoint num="6" id="4849" />
+<TGConnectingPoint num="7" id="4850" />
+<extraparam>
+<Attribute access="2" id="perceptData" value="" type="0" typeOther="" />
+<Attribute access="2" id="plan" value="" type="0" typeOther="" />
+<Attribute access="2" id="calcMark" value="" type="0" typeOther="" />
+<Attribute access="2" id="calcObstacle" value="" type="0" typeOther="" />
+<Attribute access="2" id="calcVehStat" value="" type="0" typeOther="" />
+<Attribute access="2" id="calcInfrastruct1" value="" type="0" typeOther="" />
+<Attribute access="2" id="calcInfrastruct2" value="" type="0" typeOther="" />
+<Attribute access="2" id="calcTraj" value="" type="0" typeOther="" />
+<Attribute access="2" id="calcRegulation" value="" type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="6158" >
+<father id="4851" num="0" />
+<cdparam x="629" y="278" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="447" minY="-13" maxY="162" />
-<infoparam name="Primitive port" value="Channel commandOut" />
-<TGConnectingPoint num="0" id="4816" />
+<infoparam name="Primitive port" value="Channel comm" />
+<TGConnectingPoint num="0" id="6167" />
<extraparam>
-<Prop commName="commandOut" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="imuData" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8829,16 +8892,16 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4819" >
-<father id="4836" num="4" />
-<cdparam x="807" y="278" />
+<SUBCOMPONENT type="1203" id="4826" >
+<father id="4851" num="1" />
+<cdparam x="629" y="244" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="447" minY="-13" maxY="162" />
-<infoparam name="Primitive port" value="Channel destOut" />
-<TGConnectingPoint num="0" id="4818" />
+<infoparam name="Primitive port" value="Channel CamData" />
+<TGConnectingPoint num="0" id="4825" />
<extraparam>
-<Prop commName="destOut" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="CamData" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8846,16 +8909,16 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4821" >
-<father id="4836" num="5" />
-<cdparam x="735" y="278" />
+<SUBCOMPONENT type="1203" id="4828" >
+<father id="4851" num="2" />
+<cdparam x="629" y="198" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="447" minY="-13" maxY="162" />
-<infoparam name="Primitive port" value="Channel trafficOut" />
-<TGConnectingPoint num="0" id="4820" />
+<infoparam name="Primitive port" value="Channel RadarData" />
+<TGConnectingPoint num="0" id="4827" />
<extraparam>
-<Prop commName="trafficOut" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="RadarData" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8863,14 +8926,14 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4823" >
-<father id="4836" num="6" />
+<SUBCOMPONENT type="1203" id="4830" >
+<father id="4851" num="3" />
<cdparam x="916" y="278" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="447" minY="-13" maxY="162" />
<infoparam name="Primitive port" value="Channel percStatus" />
-<TGConnectingPoint num="0" id="4822" />
+<TGConnectingPoint num="0" id="4829" />
<extraparam>
<Prop commName="percStatus" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
@@ -8880,16 +8943,16 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4825" >
-<father id="4836" num="7" />
-<cdparam x="629" y="198" />
+<SUBCOMPONENT type="1203" id="4832" >
+<father id="4851" num="4" />
+<cdparam x="735" y="278" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="447" minY="-13" maxY="162" />
-<infoparam name="Primitive port" value="Channel RadarData" />
-<TGConnectingPoint num="0" id="4824" />
+<infoparam name="Primitive port" value="Channel trafficOut" />
+<TGConnectingPoint num="0" id="4831" />
<extraparam>
-<Prop commName="RadarData" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="trafficOut" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8897,16 +8960,16 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4827" >
-<father id="4836" num="8" />
-<cdparam x="629" y="244" />
+<SUBCOMPONENT type="1203" id="4834" >
+<father id="4851" num="5" />
+<cdparam x="807" y="278" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="447" minY="-13" maxY="162" />
-<infoparam name="Primitive port" value="Channel CamData" />
-<TGConnectingPoint num="0" id="4826" />
+<infoparam name="Primitive port" value="Channel destOut" />
+<TGConnectingPoint num="0" id="4833" />
<extraparam>
-<Prop commName="CamData" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="destOut" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8914,35 +8977,33 @@
<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1202" id="4851" >
-<father id="4877" num="2" />
-<cdparam x="874" y="341" />
-<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1203" id="4836" >
+<father id="4851" num="6" />
+<cdparam x="1089" y="171" />
+<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="753" minY="0" maxY="549" />
-<infoparam name="Primitive component" value="Supervisor" />
-<TGConnectingPoint num="0" id="4843" />
-<TGConnectingPoint num="1" id="4844" />
-<TGConnectingPoint num="2" id="4845" />
-<TGConnectingPoint num="3" id="4846" />
-<TGConnectingPoint num="4" id="4847" />
-<TGConnectingPoint num="5" id="4848" />
-<TGConnectingPoint num="6" id="4849" />
-<TGConnectingPoint num="7" id="4850" />
+<cdrectangleparam minX="-13" maxX="447" minY="-13" maxY="162" />
+<infoparam name="Primitive port" value="Channel commandOut" />
+<TGConnectingPoint num="0" id="4835" />
<extraparam>
-<Attribute access="2" id="error" value="" type="4" typeOther="" />
+<Prop commName="commandOut" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="4838" >
-<father id="4851" num="0" />
-<cdparam x="861" y="404" />
+<father id="4851" num="7" />
+<cdparam x="629" y="141" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
-<infoparam name="Primitive port" value="Channel UIstat" />
+<cdrectangleparam minX="-13" maxX="447" minY="-13" maxY="162" />
+<infoparam name="Primitive port" value="Channel LidarData" />
<TGConnectingPoint num="0" id="4837" />
<extraparam>
-<Prop commName="UIstat" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="LidarData" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8951,15 +9012,15 @@
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="4840" >
-<father id="4851" num="1" />
-<cdparam x="916" y="328" />
+<father id="4851" num="8" />
+<cdparam x="1089" y="142" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
-<infoparam name="Primitive port" value="Channel percStatus" />
+<cdrectangleparam minX="-13" maxX="447" minY="-13" maxY="162" />
+<infoparam name="Primitive port" value="Channel vehStatus" />
<TGConnectingPoint num="0" id="4839" />
<extraparam>
-<Prop commName="percStatus" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="vehStatus" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8968,15 +9029,15 @@
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="4842" >
-<father id="4851" num="2" />
-<cdparam x="968" y="328" />
+<father id="4851" num="9" />
+<cdparam x="663" y="278" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
-<infoparam name="Primitive port" value="Channel ECUStatus" />
+<cdrectangleparam minX="-13" maxX="447" minY="-13" maxY="162" />
+<infoparam name="Primitive port" value="Channel GPSRTK" />
<TGConnectingPoint num="0" id="4841" />
<extraparam>
-<Prop commName="ECUStatus" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="GPSRTK" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -8986,11 +9047,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1202" id="4868" >
<father id="4877" num="3" />
-<cdparam x="1217" y="135" />
+<cdparam x="670" y="586" />
<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="753" minY="0" maxY="549" />
-<infoparam name="Primitive component" value="MABX" />
+<infoparam name="Primitive component" value="ExteriorInterface" />
<TGConnectingPoint num="0" id="4860" />
<TGConnectingPoint num="1" id="4861" />
<TGConnectingPoint num="2" id="4862" />
@@ -9000,19 +9061,18 @@
<TGConnectingPoint num="6" id="4866" />
<TGConnectingPoint num="7" id="4867" />
<extraparam>
-<Attribute access="2" id="command" value="" type="0" typeOther="" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="4853" >
<father id="4868" num="0" />
-<cdparam x="1204" y="142" />
+<cdparam x="808" y="573" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
-<infoparam name="Primitive port" value="Channel vehStatus" />
+<infoparam name="Primitive port" value="Channel destOut" />
<TGConnectingPoint num="0" id="4852" />
<extraparam>
-<Prop commName="vehStatus" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="destOut" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -9022,14 +9082,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="4855" >
<father id="4868" num="1" />
-<cdparam x="1404" y="181" />
+<cdparam x="735" y="573" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
-<infoparam name="Primitive port" value="Channel ECUin" />
+<infoparam name="Primitive port" value="Channel trafficOut" />
<TGConnectingPoint num="0" id="4854" />
<extraparam>
-<Prop commName="ECUin" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="trafficOut" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -9039,14 +9099,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="4857" >
<father id="4868" num="2" />
-<cdparam x="1204" y="171" />
+<cdparam x="800" y="723" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
-<infoparam name="Primitive port" value="Channel commandOut" />
+<infoparam name="Primitive port" value="Channel V2XOut" />
<TGConnectingPoint num="0" id="4856" />
<extraparam>
-<Prop commName="commandOut" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="V2XOut" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -9056,14 +9116,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="4859" >
<father id="4868" num="3" />
-<cdparam x="1204" y="214" />
+<cdparam x="723" y="723" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="137" />
-<infoparam name="Primitive port" value="Channel ECUStatus" />
+<infoparam name="Primitive port" value="Channel UIout" />
<TGConnectingPoint num="0" id="4858" />
<extraparam>
-<Prop commName="ECUStatus" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="UIout" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -9417,24 +9477,54 @@
</TMLActivityDiagramPanel>
<TMLActivityDiagramPanel name="FusionLidar" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1021" id="4955" >
-<cdparam x="402" y="116" />
+<COMPONENT type="1028" id="6051" >
+<cdparam x="402" y="118" />
<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="execC" value="null" />
-<TGConnectingPoint num="0" id="4953" />
-<TGConnectingPoint num="1" id="4954" />
+<infoparam name="delayInterval" value="null" />
+<TGConnectingPoint num="0" id="6052" />
+<TGConnectingPoint num="1" id="6053" />
</COMPONENT>
-<SUBCOMPONENT type="-1" id="4952" >
-<father id="4955" num="0" />
-<cdparam x="417" y="136" />
-<sizeparam width="84" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="6054" >
+<father id="6051" num="0" />
+<cdparam x="417" y="138" />
+<sizeparam width="73" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
-<infoparam name="value of the delay" value="fusionInterval" />
+<infoparam name="value of the interval delay" value="[40, 40] ms" />
+<extraparam>
+<TimeDelay minDelay="40" maxDelay="40" hasMaxDelay="true" unit="ms" />
+</extraparam>
</SUBCOMPONENT>
+<COMPONENT type="301" id="6034" >
+<cdparam x="66" y="64" />
+<sizeparam width="84" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="25Hz Lidar" />
+<TGConnectingPoint num="0" id="6035" />
+<TGConnectingPoint num="1" id="6036" />
+<TGConnectingPoint num="2" id="6037" />
+<TGConnectingPoint num="3" id="6038" />
+<TGConnectingPoint num="4" id="6039" />
+<TGConnectingPoint num="5" id="6040" />
+<TGConnectingPoint num="6" id="6041" />
+<TGConnectingPoint num="7" id="6042" />
+<TGConnectingPoint num="8" id="6043" />
+<TGConnectingPoint num="9" id="6044" />
+<TGConnectingPoint num="10" id="6045" />
+<TGConnectingPoint num="11" id="6046" />
+<TGConnectingPoint num="12" id="6047" />
+<TGConnectingPoint num="13" id="6048" />
+<TGConnectingPoint num="14" id="6049" />
+<TGConnectingPoint num="15" id="6050" />
+<extraparam>
+<Line value="25Hz Lidar" />
+</extraparam>
+</COMPONENT>
+
<COMPONENT type="1001" id="4957" >
<cdparam x="398" y="233" />
<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
@@ -9466,88 +9556,99 @@
<TGConnectingPoint num="0" id="4961" />
</COMPONENT>
-<CONNECTOR type="115" id="4963" >
-<cdparam x="407" y="151" />
+<CONNECTOR type="115" id="4965" >
+<cdparam x="408" y="147" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="407" y="151" id="4954" />
-<P2 x="407" y="183" id="4958" />
+<P1 x="407" y="213" id="4959" />
+<P2 x="408" y="228" id="4956" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="4964" >
+<CONNECTOR type="115" id="6055" >
<cdparam x="407" y="70" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="407" y="70" id="4961" />
-<P2 x="407" y="111" id="4953" />
+<P2 x="407" y="113" id="6052" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="4965" >
-<cdparam x="408" y="147" />
+<CONNECTOR type="115" id="6056" >
+<cdparam x="410" y="154" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="407" y="213" id="4959" />
-<P2 x="408" y="228" id="4956" />
+<P1 x="407" y="153" id="6053" />
+<P2 x="407" y="183" id="4958" />
<AutomaticDrawing data="true" />
</CONNECTOR>
</TMLActivityDiagramPanel>
<TMLActivityDiagramPanel name="Camera" minX="10" maxX="2500" minY="10" maxY="1500" >
-<CONNECTOR type="115" id="6033" >
-<cdparam x="665" y="281" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="665" y="281" id="6025" />
-<P2 x="740" y="372" id="6032" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<COMPONENT type="1001" id="6031" >
+<COMPONENT type="301" id="6086" >
+<cdparam x="192" y="147" />
+<sizeparam width="101" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="25Hz camera" />
+<TGConnectingPoint num="0" id="6087" />
+<TGConnectingPoint num="1" id="6088" />
+<TGConnectingPoint num="2" id="6089" />
+<TGConnectingPoint num="3" id="6090" />
+<TGConnectingPoint num="4" id="6091" />
+<TGConnectingPoint num="5" id="6092" />
+<TGConnectingPoint num="6" id="6093" />
+<TGConnectingPoint num="7" id="6094" />
+<TGConnectingPoint num="8" id="6095" />
+<TGConnectingPoint num="9" id="6096" />
+<TGConnectingPoint num="10" id="6097" />
+<TGConnectingPoint num="11" id="6098" />
+<TGConnectingPoint num="12" id="6099" />
+<TGConnectingPoint num="13" id="6100" />
+<TGConnectingPoint num="14" id="6101" />
+<TGConnectingPoint num="15" id="6102" />
+<extraparam>
+<Line value="25Hz camera" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="4967" >
<cdparam x="730" y="377" />
<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="6032" />
+<TGConnectingPoint num="0" id="4966" />
</COMPONENT>
-<CONNECTOR type="115" id="6030" >
-<cdparam x="585" y="281" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="585" y="281" id="6024" />
-<P2 x="496" y="316" id="4976" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<COMPONENT type="1012" id="6022" >
+<COMPONENT type="1012" id="4975" >
<cdparam x="610" y="266" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="6023" />
-<TGConnectingPoint num="1" id="6024" />
-<TGConnectingPoint num="2" id="6025" />
-<TGConnectingPoint num="3" id="6026" />
+<TGConnectingPoint num="0" id="4971" />
+<TGConnectingPoint num="1" id="4972" />
+<TGConnectingPoint num="2" id="4973" />
+<TGConnectingPoint num="3" id="4974" />
</COMPONENT>
-<SUBCOMPONENT type="-1" id="6027" >
-<father id="6022" num="0" />
+<SUBCOMPONENT type="-1" id="4968" >
+<father id="4975" num="0" />
<cdparam x="537" y="276" />
<sizeparam width="41" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
<infoparam name="guard 1" value="[ 99%]" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="6028" >
-<father id="6022" num="1" />
+<SUBCOMPONENT type="-1" id="4969" >
+<father id="4975" num="1" />
<cdparam x="645" y="276" />
<sizeparam width="33" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
<infoparam name="guard 2" value="[ 1%]" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="6029" >
-<father id="6022" num="2" />
+<SUBCOMPONENT type="-1" id="4970" >
+<father id="4975" num="2" />
<cdparam x="630" y="311" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
@@ -9555,18 +9656,18 @@
<infoparam name="guard 3" value="[ ]" />
</SUBCOMPONENT>
-<COMPONENT type="1028" id="4969" >
-<cdparam x="625" y="132" />
+<COMPONENT type="1028" id="4979" >
+<cdparam x="620" y="170" />
<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="delayInterval" value="null" />
-<TGConnectingPoint num="0" id="4967" />
-<TGConnectingPoint num="1" id="4968" />
+<TGConnectingPoint num="0" id="4977" />
+<TGConnectingPoint num="1" id="4978" />
</COMPONENT>
-<SUBCOMPONENT type="-1" id="4966" >
-<father id="4969" num="0" />
-<cdparam x="640" y="152" />
+<SUBCOMPONENT type="-1" id="4976" >
+<father id="4979" num="0" />
+<cdparam x="635" y="190" />
<sizeparam width="73" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
@@ -9576,1513 +9677,1535 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1021" id="4973" >
-<cdparam x="434" y="114" />
-<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="execC" value="null" />
-<TGConnectingPoint num="0" id="4971" />
-<TGConnectingPoint num="1" id="4972" />
-</COMPONENT>
-<SUBCOMPONENT type="-1" id="4970" >
-<father id="4973" num="0" />
-<cdparam x="449" y="134" />
-<sizeparam width="93" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
-<infoparam name="value of the delay" value="cameraInterval" />
-</SUBCOMPONENT>
-
-<COMPONENT type="1001" id="4975" >
+<COMPONENT type="1001" id="4985" >
<cdparam x="486" y="378" />
<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="4974" />
+<TGConnectingPoint num="0" id="4984" />
</COMPONENT>
-<COMPONENT type="1006" id="4978" >
+<COMPONENT type="1006" id="4988" >
<cdparam x="454" y="321" />
<sizeparam width="85" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="write channel" value="CamData(1)" />
-<TGConnectingPoint num="0" id="4976" />
-<TGConnectingPoint num="1" id="4977" />
+<TGConnectingPoint num="0" id="4986" />
+<TGConnectingPoint num="1" id="4987" />
<extraparam>
<Data channelName="CamData" nbOfSamples="1" secPattern="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1000" id="4980" >
-<cdparam x="400" y="50" />
+<COMPONENT type="1000" id="4990" >
+<cdparam x="618" y="104" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="4979" />
+<TGConnectingPoint num="0" id="4989" />
</COMPONENT>
-<CONNECTOR type="115" id="4981" >
+<CONNECTOR type="115" id="4991" >
+<cdparam x="665" y="281" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="665" y="281" id="4973" />
+<P2 x="740" y="372" id="4966" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="115" id="4992" >
+<cdparam x="585" y="281" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="585" y="281" id="4972" />
+<P2 x="496" y="316" id="4986" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="115" id="4993" >
<cdparam x="407" y="148" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="630" y="167" id="4968" />
-<P2 x="625" y="256" id="6023" />
+<P1 x="625" y="205" id="4978" />
+<P2 x="625" y="256" id="4971" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="4982" >
-<cdparam x="407" y="70" />
+<CONNECTOR type="115" id="4994" >
+<cdparam x="402" y="108" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="407" y="70" id="4979" />
-<P2 x="630" y="127" id="4967" />
+<P1 x="625" y="124" id="4989" />
+<P2 x="625" y="165" id="4977" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="4983" >
+<CONNECTOR type="115" id="4995" >
<cdparam x="496" y="292" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="496" y="346" id="4977" />
-<P2 x="496" y="373" id="4974" />
+<P1 x="496" y="346" id="4987" />
+<P2 x="496" y="373" id="4984" />
<AutomaticDrawing data="true" />
</CONNECTOR>
</TMLActivityDiagramPanel>
<TMLActivityDiagramPanel name="Radar" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1021" id="4987" >
-<cdparam x="402" y="109" />
+<COMPONENT type="301" id="6069" >
+<cdparam x="68" y="166" />
+<sizeparam width="92" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="20 Hz radar" />
+<TGConnectingPoint num="0" id="6070" />
+<TGConnectingPoint num="1" id="6071" />
+<TGConnectingPoint num="2" id="6072" />
+<TGConnectingPoint num="3" id="6073" />
+<TGConnectingPoint num="4" id="6074" />
+<TGConnectingPoint num="5" id="6075" />
+<TGConnectingPoint num="6" id="6076" />
+<TGConnectingPoint num="7" id="6077" />
+<TGConnectingPoint num="8" id="6078" />
+<TGConnectingPoint num="9" id="6079" />
+<TGConnectingPoint num="10" id="6080" />
+<TGConnectingPoint num="11" id="6081" />
+<TGConnectingPoint num="12" id="6082" />
+<TGConnectingPoint num="13" id="6083" />
+<TGConnectingPoint num="14" id="6084" />
+<TGConnectingPoint num="15" id="6085" />
+<extraparam>
+<Line value="20 Hz radar" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1028" id="6063" >
+<cdparam x="402" y="108" />
<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="execC" value="null" />
-<TGConnectingPoint num="0" id="4985" />
-<TGConnectingPoint num="1" id="4986" />
+<infoparam name="delayInterval" value="null" />
+<TGConnectingPoint num="0" id="6064" />
+<TGConnectingPoint num="1" id="6065" />
</COMPONENT>
-<SUBCOMPONENT type="-1" id="4984" >
-<father id="4987" num="0" />
-<cdparam x="417" y="129" />
-<sizeparam width="80" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="6066" >
+<father id="6063" num="0" />
+<cdparam x="417" y="128" />
+<sizeparam width="81" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
-<infoparam name="value of the delay" value="radarInterval" />
+<infoparam name="value of the interval delay" value="[50, 300] ms" />
+<extraparam>
+<TimeDelay minDelay="50" maxDelay="300" hasMaxDelay="true" unit="ms" />
+</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1001" id="4989" >
+<COMPONENT type="1001" id="5001" >
<cdparam x="397" y="241" />
<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="4988" />
+<TGConnectingPoint num="0" id="5000" />
</COMPONENT>
-<COMPONENT type="1006" id="4992" >
+<COMPONENT type="1006" id="5004" >
<cdparam x="360" y="182" />
<sizeparam width="95" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="write channel" value="RadarData(1)" />
-<TGConnectingPoint num="0" id="4990" />
-<TGConnectingPoint num="1" id="4991" />
+<TGConnectingPoint num="0" id="5002" />
+<TGConnectingPoint num="1" id="5003" />
<extraparam>
<Data channelName="RadarData" nbOfSamples="1" secPattern="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1000" id="4994" >
+<COMPONENT type="1000" id="5006" >
<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="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="4993" />
+<TGConnectingPoint num="0" id="5005" />
</COMPONENT>
-<CONNECTOR type="115" id="4995" >
-<cdparam x="407" y="144" />
+<CONNECTOR type="115" id="5009" >
+<cdparam x="407" y="155" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="407" y="144" id="4986" />
-<P2 x="407" y="177" id="4990" />
+<P1 x="407" y="207" id="5003" />
+<P2 x="407" y="236" id="5000" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="4996" >
+<CONNECTOR type="115" id="6067" >
<cdparam x="407" y="70" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="407" y="70" id="4993" />
-<P2 x="407" y="104" id="4985" />
+<P1 x="407" y="70" id="5005" />
+<P2 x="407" y="103" id="6064" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="4997" >
-<cdparam x="407" y="155" />
+<CONNECTOR type="115" id="6068" >
+<cdparam x="412" y="143" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="407" y="207" id="4991" />
-<P2 x="407" y="236" id="4988" />
+<P1 x="407" y="143" id="6065" />
+<P2 x="407" y="177" id="5002" />
<AutomaticDrawing data="true" />
</CONNECTOR>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="MABX" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="301" id="5014" >
-<cdparam x="447" y="339" />
-<sizeparam width="219" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<TMLActivityDiagramPanel name="ExteriorInterface" minX="10" maxX="2500" minY="10" maxY="1500" >
+<CONNECTOR type="115" id="6189" >
+<cdparam x="407" y="129" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="407" y="111" id="6187" />
+<P2 x="407" y="141" id="5029" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<COMPONENT type="1028" id="6185" >
+<cdparam x="402" y="76" />
+<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="UML Note" value="Command rejected by MABX box
-" />
-<TGConnectingPoint num="0" id="4998" />
-<TGConnectingPoint num="1" id="4999" />
-<TGConnectingPoint num="2" id="5000" />
-<TGConnectingPoint num="3" id="5001" />
-<TGConnectingPoint num="4" id="5002" />
-<TGConnectingPoint num="5" id="5003" />
-<TGConnectingPoint num="6" id="5004" />
-<TGConnectingPoint num="7" id="5005" />
-<TGConnectingPoint num="8" id="5006" />
-<TGConnectingPoint num="9" id="5007" />
-<TGConnectingPoint num="10" id="5008" />
-<TGConnectingPoint num="11" id="5009" />
-<TGConnectingPoint num="12" id="5010" />
-<TGConnectingPoint num="13" id="5011" />
-<TGConnectingPoint num="14" id="5012" />
-<TGConnectingPoint num="15" id="5013" />
+<infoparam name="delayInterval" value="null" />
+<TGConnectingPoint num="0" id="6186" />
+<TGConnectingPoint num="1" id="6187" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="6188" >
+<father id="6185" num="0" />
+<cdparam x="417" y="96" />
+<sizeparam width="46" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
+<infoparam name="value of the interval delay" value="[1, 1] s" />
<extraparam>
-<Line value="Command rejected by MABX box" />
+<TimeDelay minDelay="1" maxDelay="1" hasMaxDelay="true" unit="s" />
</extraparam>
-</COMPONENT>
+</SUBCOMPONENT>
-<COMPONENT type="1012" id="5022" >
-<cdparam x="325" y="141" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1001" id="5011" >
+<cdparam x="530" y="453" />
+<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="5018" />
-<TGConnectingPoint num="1" id="5019" />
-<TGConnectingPoint num="2" id="5020" />
-<TGConnectingPoint num="3" id="5021" />
+<infoparam name="stop state" value="null" />
+<TGConnectingPoint num="0" id="5010" />
</COMPONENT>
-<SUBCOMPONENT type="-1" id="5015" >
-<father id="5022" num="0" />
-<cdparam x="300" y="151" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
-<infoparam name="guard 1" value="[ ]" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5016" >
-<father id="5022" num="1" />
-<cdparam x="360" y="151" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+
+<COMPONENT type="1006" id="5014" >
+<cdparam x="501" y="327" />
+<sizeparam width="78" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
-<infoparam name="guard 2" value="[ ]" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5017" >
-<father id="5022" num="2" />
-<cdparam x="345" y="186" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="destOut(1)" />
+<TGConnectingPoint num="0" id="5012" />
+<TGConnectingPoint num="1" id="5013" />
+<extraparam>
+<Data channelName="destOut" nbOfSamples="1" secPattern="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="5016" >
+<cdparam x="276" y="443" />
+<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="20" maxX="40" minY="45" maxY="70" />
-<infoparam name="guard 3" value="[ ]" />
-</SUBCOMPONENT>
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<TGConnectingPoint num="0" id="5015" />
+</COMPONENT>
-<COMPONENT type="1006" id="5025" >
-<cdparam x="228" y="207" />
-<sizeparam width="91" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1006" id="5019" >
+<cdparam x="243" y="325" />
+<sizeparam width="86" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="write channel" value="vehStatus(1)" />
-<TGConnectingPoint num="0" id="5023" />
-<TGConnectingPoint num="1" id="5024" />
+<infoparam name="write channel" value="trafficOut(1)" />
+<TGConnectingPoint num="0" id="5017" />
+<TGConnectingPoint num="1" id="5018" />
<extraparam>
-<Data channelName="vehStatus" nbOfSamples="1" secPattern="" />
+<Data channelName="trafficOut" nbOfSamples="1" secPattern="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="301" id="5042" >
-<cdparam x="132" y="525" />
-<sizeparam width="347" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1009" id="5022" >
+<cdparam x="508" y="217" />
+<sizeparam width="65" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="UML Note" value="ECUin includes wheel rotation, braking, acceleration
-" />
-<TGConnectingPoint num="0" id="5026" />
-<TGConnectingPoint num="1" id="5027" />
-<TGConnectingPoint num="2" id="5028" />
-<TGConnectingPoint num="3" id="5029" />
-<TGConnectingPoint num="4" id="5030" />
-<TGConnectingPoint num="5" id="5031" />
-<TGConnectingPoint num="6" id="5032" />
-<TGConnectingPoint num="7" id="5033" />
-<TGConnectingPoint num="8" id="5034" />
-<TGConnectingPoint num="9" id="5035" />
-<TGConnectingPoint num="10" id="5036" />
-<TGConnectingPoint num="11" id="5037" />
-<TGConnectingPoint num="12" id="5038" />
-<TGConnectingPoint num="13" id="5039" />
-<TGConnectingPoint num="14" id="5040" />
-<TGConnectingPoint num="15" id="5041" />
+<infoparam name="read channel" value="UIout(1) " />
+<TGConnectingPoint num="0" id="5020" />
+<TGConnectingPoint num="1" id="5021" />
<extraparam>
-<Line value="ECUin includes wheel rotation, braking, acceleration" />
+<Data channelName="UIout" nbOfSamples="1" secPattern="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1001" id="5044" >
-<cdparam x="401" y="372" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1009" id="5025" >
+<cdparam x="248" y="211" />
+<sizeparam width="77" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="5043" />
+<infoparam name="read channel" value="V2XOut(1) " />
+<TGConnectingPoint num="0" id="5023" />
+<TGConnectingPoint num="1" id="5024" />
+<extraparam>
+<Data channelName="V2XOut" nbOfSamples="1" secPattern="" />
+</extraparam>
</COMPONENT>
-<COMPONENT type="1012" id="5052" >
-<cdparam x="396" y="272" />
+<COMPONENT type="1012" id="5033" >
+<cdparam x="392" y="151" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="5048" />
-<TGConnectingPoint num="1" id="5049" />
-<TGConnectingPoint num="2" id="5050" />
-<TGConnectingPoint num="3" id="5051" />
+<TGConnectingPoint num="0" id="5029" />
+<TGConnectingPoint num="1" id="5030" />
+<TGConnectingPoint num="2" id="5031" />
+<TGConnectingPoint num="3" id="5032" />
</COMPONENT>
-<SUBCOMPONENT type="-1" id="5045" >
-<father id="5052" num="0" />
-<cdparam x="371" y="282" />
+<SUBCOMPONENT type="-1" id="5026" >
+<father id="5033" num="0" />
+<cdparam x="367" y="161" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
<infoparam name="guard 1" value="[ ]" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5046" >
-<father id="5052" num="1" />
-<cdparam x="431" y="282" />
+<SUBCOMPONENT type="-1" id="5027" >
+<father id="5033" num="1" />
+<cdparam x="427" y="161" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
<infoparam name="guard 2" value="[ ]" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5047" >
-<father id="5052" num="2" />
-<cdparam x="416" y="317" />
+<SUBCOMPONENT type="-1" id="5028" >
+<father id="5033" num="2" />
+<cdparam x="412" y="196" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="20" maxX="40" minY="45" maxY="70" />
<infoparam name="guard 3" value="[ ]" />
</SUBCOMPONENT>
-<COMPONENT type="1001" id="5054" >
-<cdparam x="292" y="488" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="5053" />
-</COMPONENT>
-
-<COMPONENT type="1006" id="5057" >
-<cdparam x="255" y="420" />
-<sizeparam width="94" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="write channel" value="ECUStatus(1)" />
-<TGConnectingPoint num="0" id="5055" />
-<TGConnectingPoint num="1" id="5056" />
-<extraparam>
-<Data channelName="ECUStatus" nbOfSamples="1" secPattern="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1006" id="5060" >
-<cdparam x="270" y="343" />
-<sizeparam width="64" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="write channel" value="ECUin(1)" />
-<TGConnectingPoint num="0" id="5058" />
-<TGConnectingPoint num="1" id="5059" />
-<extraparam>
-<Data channelName="ECUin" nbOfSamples="1" secPattern="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1009" id="5063" >
-<cdparam x="354" y="204" />
-<sizeparam width="115" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="read channel" value="commandOut(1) " />
-<TGConnectingPoint num="0" id="5061" />
-<TGConnectingPoint num="1" id="5062" />
-<extraparam>
-<Data channelName="commandOut" nbOfSamples="1" secPattern="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1000" id="5065" >
-<cdparam x="333" y="93" />
+<COMPONENT type="1000" id="5035" >
+<cdparam x="400" y="32" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="5064" />
+<TGConnectingPoint num="0" id="5034" />
</COMPONENT>
-<CONNECTOR type="115" id="5066" >
-<cdparam x="374" y="154" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="380" y="156" id="5020" />
-<P2 x="411" y="199" id="5061" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="5067" >
-<cdparam x="411" y="229" />
+<CONNECTOR type="115" id="5036" >
+<cdparam x="540" y="352" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="411" y="229" id="5062" />
-<P2 x="411" y="262" id="5048" />
+<P1 x="540" y="352" id="5013" />
+<P2 x="540" y="448" id="5010" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="5068" >
-<cdparam x="412" y="141" />
+<CONNECTOR type="115" id="5037" >
+<cdparam x="286" y="236" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="340" y="113" id="5064" />
-<P2 x="340" y="131" id="5018" />
+<P1 x="286" y="236" id="5024" />
+<P2 x="286" y="320" id="5017" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="5069" >
-<cdparam x="371" y="287" />
+<CONNECTOR type="115" id="5038" >
+<cdparam x="407" y="52" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="371" y="287" id="5049" />
-<P2 x="302" y="338" id="5058" />
+<P1 x="407" y="52" id="5034" />
+<P2 x="407" y="71" id="6186" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="5070" >
-<cdparam x="302" y="368" />
+<CONNECTOR type="115" id="5039" >
+<cdparam x="367" y="166" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="302" y="368" id="5059" />
-<P2 x="302" y="415" id="5055" />
+<P1 x="367" y="166" id="5030" />
+<P2 x="286" y="206" id="5023" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="5071" >
-<cdparam x="302" y="445" />
+<CONNECTOR type="115" id="5040" >
+<cdparam x="447" y="166" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="302" y="445" id="5056" />
-<P2 x="302" y="483" id="5053" />
+<P1 x="447" y="166" id="5031" />
+<P2 x="540" y="212" id="5020" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="5072" >
-<cdparam x="411" y="327" />
+<CONNECTOR type="115" id="5041" >
+<cdparam x="286" y="350" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="411" y="327" id="5051" />
-<P2 x="411" y="367" id="5043" />
+<P1 x="286" y="350" id="5018" />
+<P2 x="286" y="438" id="5015" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="5073" >
-<cdparam x="294" y="154" />
+<CONNECTOR type="115" id="5042" >
+<cdparam x="540" y="240" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="300" y="156" id="5019" />
-<P2 x="273" y="202" id="5023" />
+<P1 x="540" y="242" id="5021" />
+<P2 x="540" y="322" id="5012" />
<AutomaticDrawing data="true" />
</CONNECTOR>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="Supervisor" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1012" id="5081" >
-<cdparam x="220" y="338" />
+<TMLActivityDiagramPanel name="Perception" minX="10" maxX="2500" minY="10" maxY="1500" >
+<COMPONENT type="1009" id="6181" >
+<cdparam x="307" y="219" />
+<sizeparam width="84" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="read channel" value="imuData(1) " />
+<TGConnectingPoint num="0" id="6182" />
+<TGConnectingPoint num="1" id="6183" />
+<extraparam>
+<Data channelName="imuData" nbOfSamples="1" secPattern="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="5059" >
+<cdparam x="451" y="722" />
+<sizeparam width="123" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Select trajectory
+" />
+<TGConnectingPoint num="0" id="5043" />
+<TGConnectingPoint num="1" id="5044" />
+<TGConnectingPoint num="2" id="5045" />
+<TGConnectingPoint num="3" id="5046" />
+<TGConnectingPoint num="4" id="5047" />
+<TGConnectingPoint num="5" id="5048" />
+<TGConnectingPoint num="6" id="5049" />
+<TGConnectingPoint num="7" id="5050" />
+<TGConnectingPoint num="8" id="5051" />
+<TGConnectingPoint num="9" id="5052" />
+<TGConnectingPoint num="10" id="5053" />
+<TGConnectingPoint num="11" id="5054" />
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</COMPONENT>
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</CONNECTOR>
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<extraparam>
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</COMPONENT>
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<extraparam>
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</COMPONENT>
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<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="639" y="641" id="5181" />
-<P2 x="639" y="679" id="5168" />
+<P1 x="447" y="447" id="5217" />
+<P2 x="447" y="503" id="5208" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="5289" >
-<cdparam x="586" y="802" />
+<CONNECTOR type="115" id="5258" >
+<cdparam x="672" y="358" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="535" y="840" id="5261" />
-<P2 x="535" y="884" id="5263" />
+<P1 x="672" y="358" id="5205" />
+<P2 x="672" y="414" id="5239" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="5290" >
-<cdparam x="535" y="914" />
+<CONNECTOR type="115" id="5259" >
+<cdparam x="275" y="353" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="535" y="914" id="5264" />
-<P2 x="535" y="937" id="5258" />
+<P1 x="275" y="353" id="5197" />
+<P2 x="275" y="409" id="5243" />
<AutomaticDrawing data="true" />
</CONNECTOR>
</TMLActivityDiagramPanel>
-<TMLActivityDiagramPanel name="ExteriorInterface" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1001" id="5292" >
-<cdparam x="530" y="453" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="5291" />
-</COMPONENT>
-
-<COMPONENT type="1006" id="5295" >
-<cdparam x="501" y="327" />
-<sizeparam width="78" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<TMLActivityDiagramPanel name="MABX" minX="10" maxX="2500" minY="10" maxY="1500" >
+<COMPONENT type="301" id="5276" >
+<cdparam x="447" y="339" />
+<sizeparam width="219" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="write channel" value="destOut(1)" />
-<TGConnectingPoint num="0" id="5293" />
-<TGConnectingPoint num="1" id="5294" />
+<infoparam name="UML Note" value="Command rejected by MABX box
+" />
+<TGConnectingPoint num="0" id="5260" />
+<TGConnectingPoint num="1" id="5261" />
+<TGConnectingPoint num="2" id="5262" />
+<TGConnectingPoint num="3" id="5263" />
+<TGConnectingPoint num="4" id="5264" />
+<TGConnectingPoint num="5" id="5265" />
+<TGConnectingPoint num="6" id="5266" />
+<TGConnectingPoint num="7" id="5267" />
+<TGConnectingPoint num="8" id="5268" />
+<TGConnectingPoint num="9" id="5269" />
+<TGConnectingPoint num="10" id="5270" />
+<TGConnectingPoint num="11" id="5271" />
+<TGConnectingPoint num="12" id="5272" />
+<TGConnectingPoint num="13" id="5273" />
+<TGConnectingPoint num="14" id="5274" />
+<TGConnectingPoint num="15" id="5275" />
<extraparam>
-<Data channelName="destOut" nbOfSamples="1" secPattern="" />
+<Line value="Command rejected by MABX box" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1001" id="5297" >
-<cdparam x="276" y="443" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1012" id="5284" >
+<cdparam x="325" y="141" />
+<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="5296" />
+<infoparam name="choice" value="null" />
+<TGConnectingPoint num="0" id="5280" />
+<TGConnectingPoint num="1" id="5281" />
+<TGConnectingPoint num="2" id="5282" />
+<TGConnectingPoint num="3" id="5283" />
</COMPONENT>
+<SUBCOMPONENT type="-1" id="5277" >
+<father id="5284" num="0" />
+<cdparam x="300" y="151" />
+<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
+<infoparam name="guard 1" value="[ ]" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5278" >
+<father id="5284" num="1" />
+<cdparam x="360" y="151" />
+<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
+<infoparam name="guard 2" value="[ ]" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5279" >
+<father id="5284" num="2" />
+<cdparam x="345" y="186" />
+<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="20" maxX="40" minY="45" maxY="70" />
+<infoparam name="guard 3" value="[ ]" />
+</SUBCOMPONENT>
-<COMPONENT type="1006" id="5300" >
-<cdparam x="243" y="325" />
-<sizeparam width="86" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1006" id="5287" >
+<cdparam x="228" y="207" />
+<sizeparam width="91" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="write channel" value="trafficOut(1)" />
-<TGConnectingPoint num="0" id="5298" />
-<TGConnectingPoint num="1" id="5299" />
+<infoparam name="write channel" value="vehStatus(1)" />
+<TGConnectingPoint num="0" id="5285" />
+<TGConnectingPoint num="1" id="5286" />
<extraparam>
-<Data channelName="trafficOut" nbOfSamples="1" secPattern="" />
+<Data channelName="vehStatus" nbOfSamples="1" secPattern="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1009" id="5303" >
-<cdparam x="508" y="217" />
-<sizeparam width="65" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="301" id="5304" >
+<cdparam x="132" y="525" />
+<sizeparam width="347" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="read channel" value="UIout(1) " />
-<TGConnectingPoint num="0" id="5301" />
-<TGConnectingPoint num="1" id="5302" />
+<infoparam name="UML Note" value="ECUin includes wheel rotation, braking, acceleration
+" />
+<TGConnectingPoint num="0" id="5288" />
+<TGConnectingPoint num="1" id="5289" />
+<TGConnectingPoint num="2" id="5290" />
+<TGConnectingPoint num="3" id="5291" />
+<TGConnectingPoint num="4" id="5292" />
+<TGConnectingPoint num="5" id="5293" />
+<TGConnectingPoint num="6" id="5294" />
+<TGConnectingPoint num="7" id="5295" />
+<TGConnectingPoint num="8" id="5296" />
+<TGConnectingPoint num="9" id="5297" />
+<TGConnectingPoint num="10" id="5298" />
+<TGConnectingPoint num="11" id="5299" />
+<TGConnectingPoint num="12" id="5300" />
+<TGConnectingPoint num="13" id="5301" />
+<TGConnectingPoint num="14" id="5302" />
+<TGConnectingPoint num="15" id="5303" />
<extraparam>
-<Data channelName="UIout" nbOfSamples="1" secPattern="" />
+<Line value="ECUin includes wheel rotation, braking, acceleration" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1009" id="5306" >
-<cdparam x="248" y="211" />
-<sizeparam width="77" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1001" id="5306" >
+<cdparam x="401" y="372" />
+<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="read channel" value="V2XOut(1) " />
-<TGConnectingPoint num="0" id="5304" />
-<TGConnectingPoint num="1" id="5305" />
-<extraparam>
-<Data channelName="V2XOut" nbOfSamples="1" secPattern="" />
-</extraparam>
+<infoparam name="stop state" value="null" />
+<TGConnectingPoint num="0" id="5305" />
</COMPONENT>
<COMPONENT type="1012" id="5314" >
-<cdparam x="392" y="151" />
+<cdparam x="396" y="272" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -11094,7 +11217,7 @@
</COMPONENT>
<SUBCOMPONENT type="-1" id="5307" >
<father id="5314" num="0" />
-<cdparam x="367" y="161" />
+<cdparam x="371" y="282" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
@@ -11102,7 +11225,7 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="-1" id="5308" >
<father id="5314" num="1" />
-<cdparam x="427" y="161" />
+<cdparam x="431" y="282" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
@@ -11110,76 +11233,212 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="-1" id="5309" >
<father id="5314" num="2" />
-<cdparam x="412" y="196" />
+<cdparam x="416" y="317" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="20" maxX="40" minY="45" maxY="70" />
<infoparam name="guard 3" value="[ ]" />
</SUBCOMPONENT>
-<COMPONENT type="1000" id="5316" >
-<cdparam x="400" y="50" />
+<COMPONENT type="1001" id="5316" >
+<cdparam x="292" y="488" />
+<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<TGConnectingPoint num="0" id="5315" />
+</COMPONENT>
+
+<COMPONENT type="1006" id="5319" >
+<cdparam x="255" y="420" />
+<sizeparam width="94" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="ECUStatus(1)" />
+<TGConnectingPoint num="0" id="5317" />
+<TGConnectingPoint num="1" id="5318" />
+<extraparam>
+<Data channelName="ECUStatus" nbOfSamples="1" secPattern="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="5322" >
+<cdparam x="270" y="343" />
+<sizeparam width="64" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="ECUin(1)" />
+<TGConnectingPoint num="0" id="5320" />
+<TGConnectingPoint num="1" id="5321" />
+<extraparam>
+<Data channelName="ECUin" nbOfSamples="1" secPattern="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1009" id="5325" >
+<cdparam x="354" y="204" />
+<sizeparam width="115" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="read channel" value="commandOut(1) " />
+<TGConnectingPoint num="0" id="5323" />
+<TGConnectingPoint num="1" id="5324" />
+<extraparam>
+<Data channelName="commandOut" nbOfSamples="1" secPattern="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1000" id="5327" >
+<cdparam x="333" y="93" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="5315" />
+<TGConnectingPoint num="0" id="5326" />
</COMPONENT>
-<CONNECTOR type="115" id="5317" >
-<cdparam x="540" y="352" />
+<CONNECTOR type="115" id="5328" >
+<cdparam x="374" y="154" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="540" y="352" id="5294" />
-<P2 x="540" y="448" id="5291" />
+<P1 x="380" y="156" id="5282" />
+<P2 x="411" y="199" id="5323" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="5318" >
-<cdparam x="286" y="236" />
+<CONNECTOR type="115" id="5329" >
+<cdparam x="411" y="229" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="286" y="236" id="5305" />
-<P2 x="286" y="320" id="5298" />
+<P1 x="411" y="229" id="5324" />
+<P2 x="411" y="262" id="5310" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="5319" >
-<cdparam x="407" y="70" />
+<CONNECTOR type="115" id="5330" >
+<cdparam x="412" y="141" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="407" y="70" id="5315" />
-<P2 x="407" y="141" id="5310" />
+<P1 x="340" y="113" id="5326" />
+<P2 x="340" y="131" id="5280" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="5320" >
-<cdparam x="367" y="166" />
+<CONNECTOR type="115" id="5331" >
+<cdparam x="371" y="287" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="367" y="166" id="5311" />
-<P2 x="286" y="206" id="5304" />
+<P1 x="371" y="287" id="5311" />
+<P2 x="302" y="338" id="5320" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="5321" >
-<cdparam x="447" y="166" />
+<CONNECTOR type="115" id="5332" >
+<cdparam x="302" y="368" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="447" y="166" id="5312" />
-<P2 x="540" y="212" id="5301" />
+<P1 x="302" y="368" id="5321" />
+<P2 x="302" y="415" id="5317" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="5322" >
-<cdparam x="286" y="350" />
+<CONNECTOR type="115" id="5333" >
+<cdparam x="302" y="445" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="286" y="350" id="5299" />
-<P2 x="286" y="438" id="5296" />
+<P1 x="302" y="445" id="5318" />
+<P2 x="302" y="483" id="5315" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="5323" >
-<cdparam x="540" y="240" />
+<CONNECTOR type="115" id="5334" >
+<cdparam x="411" y="327" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="411" y="327" id="5313" />
+<P2 x="411" y="367" id="5305" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5335" >
+<cdparam x="294" y="154" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="300" y="156" id="5281" />
+<P2 x="273" y="202" id="5285" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="IMU" minX="10" maxX="2500" minY="10" maxY="1500" >
+<COMPONENT type="1001" id="6178" >
+<cdparam x="397" y="241" />
+<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<TGConnectingPoint num="0" id="6179" />
+</COMPONENT>
+
+<COMPONENT type="1006" id="6174" >
+<cdparam x="368" y="177" />
+<sizeparam width="79" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="IMUdata(1)" />
+<TGConnectingPoint num="0" id="6175" />
+<TGConnectingPoint num="1" id="6176" />
+<extraparam>
+<Data channelName="IMUdata" nbOfSamples="1" secPattern="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1028" id="6169" >
+<cdparam x="402" y="107" />
+<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="delayInterval" value="null" />
+<TGConnectingPoint num="0" id="6170" />
+<TGConnectingPoint num="1" id="6171" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="6172" >
+<father id="6169" num="0" />
+<cdparam x="417" y="127" />
+<sizeparam width="73" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
+<infoparam name="value of the interval delay" value="[40, 40] ms" />
+<extraparam>
+<TimeDelay minDelay="40" maxDelay="40" hasMaxDelay="true" unit="ms" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="1000" id="6146" >
+<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="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<TGConnectingPoint num="0" id="6147" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="6173" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="407" y="70" id="6147" />
+<P2 x="407" y="102" id="6170" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="115" id="6177" >
+<cdparam x="407" y="142" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="540" y="242" id="5302" />
-<P2 x="540" y="322" id="5293" />
+<P1 x="407" y="142" id="6171" />
+<P2 x="407" y="172" id="6175" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="115" id="6180" >
+<cdparam x="407" y="202" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="407" y="202" id="6176" />
+<P2 x="407" y="236" id="6179" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -11192,1313 +11451,1368 @@
<Modeling type="TML Architecture" nameTab="Architecture" >
<TMLArchiDiagramPanel name="DIPLODOCUS architecture and mapping Diagram" minX="10" maxX="2500" minY="10" maxY="1500" attributes="0" masterClockFrequency="200" >
-<COMPONENT type="1102" id="5348" >
+<COMPONENT type="1100" id="6103" >
+<cdparam x="166" y="938" />
+<sizeparam width="250" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="IMU" value="name" />
+<TGConnectingPoint num="0" id="6104" />
+<TGConnectingPoint num="1" id="6105" />
+<TGConnectingPoint num="2" id="6106" />
+<TGConnectingPoint num="3" id="6107" />
+<TGConnectingPoint num="4" id="6108" />
+<TGConnectingPoint num="5" id="6109" />
+<TGConnectingPoint num="6" id="6110" />
+<TGConnectingPoint num="7" id="6111" />
+<TGConnectingPoint num="8" id="6112" />
+<TGConnectingPoint num="9" id="6113" />
+<TGConnectingPoint num="10" id="6114" />
+<TGConnectingPoint num="11" id="6115" />
+<TGConnectingPoint num="12" id="6116" />
+<TGConnectingPoint num="13" id="6117" />
+<TGConnectingPoint num="14" id="6118" />
+<TGConnectingPoint num="15" id="6119" />
+<TGConnectingPoint num="16" id="6120" />
+<TGConnectingPoint num="17" id="6121" />
+<TGConnectingPoint num="18" id="6122" />
+<TGConnectingPoint num="19" id="6123" />
+<TGConnectingPoint num="20" id="6124" />
+<TGConnectingPoint num="21" id="6125" />
+<TGConnectingPoint num="22" id="6126" />
+<TGConnectingPoint num="23" id="6127" />
+<extraparam>
+<info stereotype="CPURR" nodeName="IMU" />
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="1101" id="6128" >
+<father id="6103" num="0" />
+<cdparam x="212" y="986" />
+<sizeparam width="130" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="120" minY="0" maxY="60" />
+<infoparam name="TGComponent" value="TMLTask::name" />
+<TGConnectingPoint num="0" id="6129" />
+<TGConnectingPoint num="1" id="6130" />
+<TGConnectingPoint num="2" id="6131" />
+<TGConnectingPoint num="3" id="6132" />
+<TGConnectingPoint num="4" id="6133" />
+<TGConnectingPoint num="5" id="6134" />
+<TGConnectingPoint num="6" id="6135" />
+<TGConnectingPoint num="7" id="6136" />
+<extraparam>
+<info value="TMLTask::name" taskName="name" referenceTaskName="TMLTask" priority="0" operation="VOID" fatherComponentMECType="0" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="1102" id="5360" >
<cdparam x="715" y="619" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="EthernetV2IGPS" value="name" />
-<TGConnectingPoint num="0" id="5324" />
-<TGConnectingPoint num="1" id="5325" />
-<TGConnectingPoint num="2" id="5326" />
-<TGConnectingPoint num="3" id="5327" />
-<TGConnectingPoint num="4" id="5328" />
-<TGConnectingPoint num="5" id="5329" />
-<TGConnectingPoint num="6" id="5330" />
-<TGConnectingPoint num="7" id="5331" />
-<TGConnectingPoint num="8" id="5332" />
-<TGConnectingPoint num="9" id="5333" />
-<TGConnectingPoint num="10" id="5334" />
-<TGConnectingPoint num="11" id="5335" />
-<TGConnectingPoint num="12" id="5336" />
-<TGConnectingPoint num="13" id="5337" />
-<TGConnectingPoint num="14" id="5338" />
-<TGConnectingPoint num="15" id="5339" />
-<TGConnectingPoint num="16" id="5340" />
-<TGConnectingPoint num="17" id="5341" />
-<TGConnectingPoint num="18" id="5342" />
-<TGConnectingPoint num="19" id="5343" />
-<TGConnectingPoint num="20" id="5344" />
-<TGConnectingPoint num="21" id="5345" />
-<TGConnectingPoint num="22" id="5346" />
-<TGConnectingPoint num="23" id="5347" />
+<TGConnectingPoint num="0" id="5336" />
+<TGConnectingPoint num="1" id="5337" />
+<TGConnectingPoint num="2" id="5338" />
+<TGConnectingPoint num="3" id="5339" />
+<TGConnectingPoint num="4" id="5340" />
+<TGConnectingPoint num="5" id="5341" />
+<TGConnectingPoint num="6" id="5342" />
+<TGConnectingPoint num="7" id="5343" />
+<TGConnectingPoint num="8" id="5344" />
+<TGConnectingPoint num="9" id="5345" />
+<TGConnectingPoint num="10" id="5346" />
+<TGConnectingPoint num="11" id="5347" />
+<TGConnectingPoint num="12" id="5348" />
+<TGConnectingPoint num="13" id="5349" />
+<TGConnectingPoint num="14" id="5350" />
+<TGConnectingPoint num="15" id="5351" />
+<TGConnectingPoint num="16" id="5352" />
+<TGConnectingPoint num="17" id="5353" />
+<TGConnectingPoint num="18" id="5354" />
+<TGConnectingPoint num="19" id="5355" />
+<TGConnectingPoint num="20" id="5356" />
+<TGConnectingPoint num="21" id="5357" />
+<TGConnectingPoint num="22" id="5358" />
+<TGConnectingPoint num="23" id="5359" />
<extraparam>
<info stereotype="BUS-RR" nodeName="EthernetV2IGPS" />
<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="1" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="5382" >
-<cdparam x="554" y="494" />
+<COMPONENT type="1100" id="5394" >
+<cdparam x="765" y="496" />
<sizeparam width="150" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="CPU0" value="name" />
-<TGConnectingPoint num="0" id="5358" />
-<TGConnectingPoint num="1" id="5359" />
-<TGConnectingPoint num="2" id="5360" />
-<TGConnectingPoint num="3" id="5361" />
-<TGConnectingPoint num="4" id="5362" />
-<TGConnectingPoint num="5" id="5363" />
-<TGConnectingPoint num="6" id="5364" />
-<TGConnectingPoint num="7" id="5365" />
-<TGConnectingPoint num="8" id="5366" />
-<TGConnectingPoint num="9" id="5367" />
-<TGConnectingPoint num="10" id="5368" />
-<TGConnectingPoint num="11" id="5369" />
-<TGConnectingPoint num="12" id="5370" />
-<TGConnectingPoint num="13" id="5371" />
-<TGConnectingPoint num="14" id="5372" />
-<TGConnectingPoint num="15" id="5373" />
-<TGConnectingPoint num="16" id="5374" />
-<TGConnectingPoint num="17" id="5375" />
-<TGConnectingPoint num="18" id="5376" />
-<TGConnectingPoint num="19" id="5377" />
-<TGConnectingPoint num="20" id="5378" />
-<TGConnectingPoint num="21" id="5379" />
-<TGConnectingPoint num="22" id="5380" />
-<TGConnectingPoint num="23" id="5381" />
+<TGConnectingPoint num="0" id="5370" />
+<TGConnectingPoint num="1" id="5371" />
+<TGConnectingPoint num="2" id="5372" />
+<TGConnectingPoint num="3" id="5373" />
+<TGConnectingPoint num="4" id="5374" />
+<TGConnectingPoint num="5" id="5375" />
+<TGConnectingPoint num="6" id="5376" />
+<TGConnectingPoint num="7" id="5377" />
+<TGConnectingPoint num="8" id="5378" />
+<TGConnectingPoint num="9" id="5379" />
+<TGConnectingPoint num="10" id="5380" />
+<TGConnectingPoint num="11" id="5381" />
+<TGConnectingPoint num="12" id="5382" />
+<TGConnectingPoint num="13" id="5383" />
+<TGConnectingPoint num="14" id="5384" />
+<TGConnectingPoint num="15" id="5385" />
+<TGConnectingPoint num="16" id="5386" />
+<TGConnectingPoint num="17" id="5387" />
+<TGConnectingPoint num="18" id="5388" />
+<TGConnectingPoint num="19" id="5389" />
+<TGConnectingPoint num="20" id="5390" />
+<TGConnectingPoint num="21" id="5391" />
+<TGConnectingPoint num="22" id="5392" />
+<TGConnectingPoint num="23" id="5393" />
<extraparam>
<info stereotype="CPU" nodeName="CPU0" />
<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="5357" >
-<father id="5382" num="0" />
-<cdparam x="579" y="535" />
+<SUBCOMPONENT type="1101" id="5369" >
+<father id="5394" num="0" />
+<cdparam x="790" y="537" />
<sizeparam width="100" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="50" minY="0" maxY="60" />
<infoparam name="TGComponent" value="Des::GPS" />
-<TGConnectingPoint num="0" id="5349" />
-<TGConnectingPoint num="1" id="5350" />
-<TGConnectingPoint num="2" id="5351" />
-<TGConnectingPoint num="3" id="5352" />
-<TGConnectingPoint num="4" id="5353" />
-<TGConnectingPoint num="5" id="5354" />
-<TGConnectingPoint num="6" id="5355" />
-<TGConnectingPoint num="7" id="5356" />
+<TGConnectingPoint num="0" id="5361" />
+<TGConnectingPoint num="1" id="5362" />
+<TGConnectingPoint num="2" id="5363" />
+<TGConnectingPoint num="3" id="5364" />
+<TGConnectingPoint num="4" id="5365" />
+<TGConnectingPoint num="5" id="5366" />
+<TGConnectingPoint num="6" id="5367" />
+<TGConnectingPoint num="7" id="5368" />
<extraparam>
<info value="Des::GPS" taskName="GPS" referenceTaskName="Des" priority="0" operation="GPS" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1102" id="5407" >
-<cdparam x="1502" y="605" />
+<COMPONENT type="1102" id="5419" >
+<cdparam x="1316" y="606" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="CANBus" value="name" />
-<TGConnectingPoint num="0" id="5383" />
-<TGConnectingPoint num="1" id="5384" />
-<TGConnectingPoint num="2" id="5385" />
-<TGConnectingPoint num="3" id="5386" />
-<TGConnectingPoint num="4" id="5387" />
-<TGConnectingPoint num="5" id="5388" />
-<TGConnectingPoint num="6" id="5389" />
-<TGConnectingPoint num="7" id="5390" />
-<TGConnectingPoint num="8" id="5391" />
-<TGConnectingPoint num="9" id="5392" />
-<TGConnectingPoint num="10" id="5393" />
-<TGConnectingPoint num="11" id="5394" />
-<TGConnectingPoint num="12" id="5395" />
-<TGConnectingPoint num="13" id="5396" />
-<TGConnectingPoint num="14" id="5397" />
-<TGConnectingPoint num="15" id="5398" />
-<TGConnectingPoint num="16" id="5399" />
-<TGConnectingPoint num="17" id="5400" />
-<TGConnectingPoint num="18" id="5401" />
-<TGConnectingPoint num="19" id="5402" />
-<TGConnectingPoint num="20" id="5403" />
-<TGConnectingPoint num="21" id="5404" />
-<TGConnectingPoint num="22" id="5405" />
-<TGConnectingPoint num="23" id="5406" />
+<TGConnectingPoint num="0" id="5395" />
+<TGConnectingPoint num="1" id="5396" />
+<TGConnectingPoint num="2" id="5397" />
+<TGConnectingPoint num="3" id="5398" />
+<TGConnectingPoint num="4" id="5399" />
+<TGConnectingPoint num="5" id="5400" />
+<TGConnectingPoint num="6" id="5401" />
+<TGConnectingPoint num="7" id="5402" />
+<TGConnectingPoint num="8" id="5403" />
+<TGConnectingPoint num="9" id="5404" />
+<TGConnectingPoint num="10" id="5405" />
+<TGConnectingPoint num="11" id="5406" />
+<TGConnectingPoint num="12" id="5407" />
+<TGConnectingPoint num="13" id="5408" />
+<TGConnectingPoint num="14" id="5409" />
+<TGConnectingPoint num="15" id="5410" />
+<TGConnectingPoint num="16" id="5411" />
+<TGConnectingPoint num="17" id="5412" />
+<TGConnectingPoint num="18" id="5413" />
+<TGConnectingPoint num="19" id="5414" />
+<TGConnectingPoint num="20" id="5415" />
+<TGConnectingPoint num="21" id="5416" />
+<TGConnectingPoint num="22" id="5417" />
+<TGConnectingPoint num="23" id="5418" />
<extraparam>
<info stereotype="BUS-RR" nodeName="CANBus" />
<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="5441" >
-<cdparam x="1653" y="680" />
+<COMPONENT type="1100" id="5453" >
+<cdparam x="1467" y="681" />
<sizeparam width="250" height="103" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="vehicle" value="name" />
-<TGConnectingPoint num="0" id="5417" />
-<TGConnectingPoint num="1" id="5418" />
-<TGConnectingPoint num="2" id="5419" />
-<TGConnectingPoint num="3" id="5420" />
-<TGConnectingPoint num="4" id="5421" />
-<TGConnectingPoint num="5" id="5422" />
-<TGConnectingPoint num="6" id="5423" />
-<TGConnectingPoint num="7" id="5424" />
-<TGConnectingPoint num="8" id="5425" />
-<TGConnectingPoint num="9" id="5426" />
-<TGConnectingPoint num="10" id="5427" />
-<TGConnectingPoint num="11" id="5428" />
-<TGConnectingPoint num="12" id="5429" />
-<TGConnectingPoint num="13" id="5430" />
-<TGConnectingPoint num="14" id="5431" />
-<TGConnectingPoint num="15" id="5432" />
-<TGConnectingPoint num="16" id="5433" />
-<TGConnectingPoint num="17" id="5434" />
-<TGConnectingPoint num="18" id="5435" />
-<TGConnectingPoint num="19" id="5436" />
-<TGConnectingPoint num="20" id="5437" />
-<TGConnectingPoint num="21" id="5438" />
-<TGConnectingPoint num="22" id="5439" />
-<TGConnectingPoint num="23" id="5440" />
+<TGConnectingPoint num="0" id="5429" />
+<TGConnectingPoint num="1" id="5430" />
+<TGConnectingPoint num="2" id="5431" />
+<TGConnectingPoint num="3" id="5432" />
+<TGConnectingPoint num="4" id="5433" />
+<TGConnectingPoint num="5" id="5434" />
+<TGConnectingPoint num="6" id="5435" />
+<TGConnectingPoint num="7" id="5436" />
+<TGConnectingPoint num="8" id="5437" />
+<TGConnectingPoint num="9" id="5438" />
+<TGConnectingPoint num="10" id="5439" />
+<TGConnectingPoint num="11" id="5440" />
+<TGConnectingPoint num="12" id="5441" />
+<TGConnectingPoint num="13" id="5442" />
+<TGConnectingPoint num="14" id="5443" />
+<TGConnectingPoint num="15" id="5444" />
+<TGConnectingPoint num="16" id="5445" />
+<TGConnectingPoint num="17" id="5446" />
+<TGConnectingPoint num="18" id="5447" />
+<TGConnectingPoint num="19" id="5448" />
+<TGConnectingPoint num="20" id="5449" />
+<TGConnectingPoint num="21" id="5450" />
+<TGConnectingPoint num="22" id="5451" />
+<TGConnectingPoint num="23" id="5452" />
<extraparam>
<info stereotype="CPURR" nodeName="vehicle" />
<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="5416" >
-<father id="5441" num="0" />
-<cdparam x="1746" y="724" />
+<SUBCOMPONENT type="1101" id="5428" >
+<father id="5453" num="0" />
+<cdparam x="1560" y="725" />
<sizeparam width="100" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="150" minY="0" maxY="63" />
<infoparam name="TGComponent" value="Des::ECU" />
-<TGConnectingPoint num="0" id="5408" />
-<TGConnectingPoint num="1" id="5409" />
-<TGConnectingPoint num="2" id="5410" />
-<TGConnectingPoint num="3" id="5411" />
-<TGConnectingPoint num="4" id="5412" />
-<TGConnectingPoint num="5" id="5413" />
-<TGConnectingPoint num="6" id="5414" />
-<TGConnectingPoint num="7" id="5415" />
+<TGConnectingPoint num="0" id="5420" />
+<TGConnectingPoint num="1" id="5421" />
+<TGConnectingPoint num="2" id="5422" />
+<TGConnectingPoint num="3" id="5423" />
+<TGConnectingPoint num="4" id="5424" />
+<TGConnectingPoint num="5" id="5425" />
+<TGConnectingPoint num="6" id="5426" />
+<TGConnectingPoint num="7" id="5427" />
<extraparam>
<info value="Des::ECU" taskName="ECU" referenceTaskName="Des" priority="0" operation="GPS" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1102" id="5466" >
-<cdparam x="1107" y="383" />
+<COMPONENT type="1102" id="5478" >
+<cdparam x="1090" y="356" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="EthernetIHM" value="name" />
-<TGConnectingPoint num="0" id="5442" />
-<TGConnectingPoint num="1" id="5443" />
-<TGConnectingPoint num="2" id="5444" />
-<TGConnectingPoint num="3" id="5445" />
-<TGConnectingPoint num="4" id="5446" />
-<TGConnectingPoint num="5" id="5447" />
-<TGConnectingPoint num="6" id="5448" />
-<TGConnectingPoint num="7" id="5449" />
-<TGConnectingPoint num="8" id="5450" />
-<TGConnectingPoint num="9" id="5451" />
-<TGConnectingPoint num="10" id="5452" />
-<TGConnectingPoint num="11" id="5453" />
-<TGConnectingPoint num="12" id="5454" />
-<TGConnectingPoint num="13" id="5455" />
-<TGConnectingPoint num="14" id="5456" />
-<TGConnectingPoint num="15" id="5457" />
-<TGConnectingPoint num="16" id="5458" />
-<TGConnectingPoint num="17" id="5459" />
-<TGConnectingPoint num="18" id="5460" />
-<TGConnectingPoint num="19" id="5461" />
-<TGConnectingPoint num="20" id="5462" />
-<TGConnectingPoint num="21" id="5463" />
-<TGConnectingPoint num="22" id="5464" />
-<TGConnectingPoint num="23" id="5465" />
+<TGConnectingPoint num="0" id="5454" />
+<TGConnectingPoint num="1" id="5455" />
+<TGConnectingPoint num="2" id="5456" />
+<TGConnectingPoint num="3" id="5457" />
+<TGConnectingPoint num="4" id="5458" />
+<TGConnectingPoint num="5" id="5459" />
+<TGConnectingPoint num="6" id="5460" />
+<TGConnectingPoint num="7" id="5461" />
+<TGConnectingPoint num="8" id="5462" />
+<TGConnectingPoint num="9" id="5463" />
+<TGConnectingPoint num="10" id="5464" />
+<TGConnectingPoint num="11" id="5465" />
+<TGConnectingPoint num="12" id="5466" />
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+<TGConnectingPoint num="16" id="5470" />
+<TGConnectingPoint num="17" id="5471" />
+<TGConnectingPoint num="18" id="5472" />
+<TGConnectingPoint num="19" id="5473" />
+<TGConnectingPoint num="20" id="5474" />
+<TGConnectingPoint num="21" id="5475" />
+<TGConnectingPoint num="22" id="5476" />
+<TGConnectingPoint num="23" id="5477" />
<extraparam>
<info stereotype="BUS-RR" nodeName="EthernetIHM" />
<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1102" id="5491" >
-<cdparam x="1360" y="872" />
+<COMPONENT type="1102" id="5503" >
+<cdparam x="1174" y="872" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="CANV" value="name" />
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-<TGConnectingPoint num="2" id="5469" />
-<TGConnectingPoint num="3" id="5470" />
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-<TGConnectingPoint num="5" id="5472" />
-<TGConnectingPoint num="6" id="5473" />
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-<TGConnectingPoint num="8" id="5475" />
-<TGConnectingPoint num="9" id="5476" />
-<TGConnectingPoint num="10" id="5477" />
-<TGConnectingPoint num="11" id="5478" />
-<TGConnectingPoint num="12" id="5479" />
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-<TGConnectingPoint num="17" id="5484" />
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-<TGConnectingPoint num="20" id="5487" />
-<TGConnectingPoint num="21" id="5488" />
-<TGConnectingPoint num="22" id="5489" />
-<TGConnectingPoint num="23" id="5490" />
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+<TGConnectingPoint num="1" id="5480" />
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+<TGConnectingPoint num="12" id="5491" />
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+<TGConnectingPoint num="14" id="5493" />
+<TGConnectingPoint num="15" id="5494" />
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+<TGConnectingPoint num="21" id="5500" />
+<TGConnectingPoint num="22" id="5501" />
+<TGConnectingPoint num="23" id="5502" />
<extraparam>
<info stereotype="BUS-RR" nodeName="CANV" />
<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="5525" >
+<COMPONENT type="1100" id="5537" >
<cdparam x="581" y="149" />
<sizeparam width="250" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="V2X" value="name" />
-<TGConnectingPoint num="0" id="5501" />
-<TGConnectingPoint num="1" id="5502" />
-<TGConnectingPoint num="2" id="5503" />
-<TGConnectingPoint num="3" id="5504" />
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-<TGConnectingPoint num="5" id="5506" />
-<TGConnectingPoint num="6" id="5507" />
-<TGConnectingPoint num="7" id="5508" />
-<TGConnectingPoint num="8" id="5509" />
-<TGConnectingPoint num="9" id="5510" />
-<TGConnectingPoint num="10" id="5511" />
-<TGConnectingPoint num="11" id="5512" />
-<TGConnectingPoint num="12" id="5513" />
-<TGConnectingPoint num="13" id="5514" />
-<TGConnectingPoint num="14" id="5515" />
-<TGConnectingPoint num="15" id="5516" />
-<TGConnectingPoint num="16" id="5517" />
-<TGConnectingPoint num="17" id="5518" />
-<TGConnectingPoint num="18" id="5519" />
-<TGConnectingPoint num="19" id="5520" />
-<TGConnectingPoint num="20" id="5521" />
-<TGConnectingPoint num="21" id="5522" />
-<TGConnectingPoint num="22" id="5523" />
-<TGConnectingPoint num="23" id="5524" />
+<TGConnectingPoint num="0" id="5513" />
+<TGConnectingPoint num="1" id="5514" />
+<TGConnectingPoint num="2" id="5515" />
+<TGConnectingPoint num="3" id="5516" />
+<TGConnectingPoint num="4" id="5517" />
+<TGConnectingPoint num="5" id="5518" />
+<TGConnectingPoint num="6" id="5519" />
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+<TGConnectingPoint num="8" id="5521" />
+<TGConnectingPoint num="9" id="5522" />
+<TGConnectingPoint num="10" id="5523" />
+<TGConnectingPoint num="11" id="5524" />
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+<TGConnectingPoint num="13" id="5526" />
+<TGConnectingPoint num="14" id="5527" />
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+<TGConnectingPoint num="17" id="5530" />
+<TGConnectingPoint num="18" id="5531" />
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<extraparam>
<info stereotype="CPURR" nodeName="V2X" />
<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="5500" >
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+<SUBCOMPONENT type="1101" id="5512" >
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<cdparam x="667" y="199" />
<sizeparam width="90" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="160" minY="0" maxY="60" />
<infoparam name="TGComponent" value="Des::V2X" />
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-<TGConnectingPoint num="1" id="5493" />
-<TGConnectingPoint num="2" id="5494" />
-<TGConnectingPoint num="3" id="5495" />
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-<TGConnectingPoint num="5" id="5497" />
-<TGConnectingPoint num="6" id="5498" />
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<extraparam>
<info value="Des::V2X" taskName="V2X" referenceTaskName="Des" priority="0" operation="V2X" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
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<sizeparam width="321" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="InterfaceCPU" value="name" />
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<extraparam>
<info stereotype="CPURR" nodeName="InterfaceCPU" />
<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
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<sizeparam width="171" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="150" minY="0" maxY="60" />
<infoparam name="TGComponent" value="Des::ExteriorInterface" />
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-<TGConnectingPoint num="1" id="5527" />
-<TGConnectingPoint num="2" id="5528" />
-<TGConnectingPoint num="3" id="5529" />
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-<TGConnectingPoint num="5" id="5531" />
-<TGConnectingPoint num="6" id="5532" />
-<TGConnectingPoint num="7" id="5533" />
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<extraparam>
<info value="Des::ExteriorInterface" taskName="ExteriorInterface" referenceTaskName="Des" priority="0" operation="ExteriorInterface" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
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<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="internalIpadBus" value="name" />
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-<TGConnectingPoint num="1" id="5561" />
-<TGConnectingPoint num="2" id="5562" />
-<TGConnectingPoint num="3" id="5563" />
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<extraparam>
<info stereotype="BUS-RR" nodeName="internalIpadBus" />
<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="1" />
</extraparam>
</COMPONENT>
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-<sizeparam width="200" height="200" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="MemoryiPad" value="name" />
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-<TGConnectingPoint num="1" id="5586" />
-<TGConnectingPoint num="2" id="5587" />
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-<TGConnectingPoint num="12" id="5597" />
-<TGConnectingPoint num="13" id="5598" />
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-<TGConnectingPoint num="16" id="5601" />
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-<TGConnectingPoint num="21" id="5606" />
-<TGConnectingPoint num="22" id="5607" />
-<TGConnectingPoint num="23" id="5608" />
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<extraparam>
<info stereotype="MEMORY" nodeName="MemoryiPad" />
<attributes byteDataSize="4" clockRatio="1" bufferType="0" />
</extraparam>
</COMPONENT>
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="internalBus" value="name" />
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-<TGConnectingPoint num="1" id="5611" />
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-<TGConnectingPoint num="3" id="5613" />
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-<TGConnectingPoint num="11" id="5621" />
-<TGConnectingPoint num="12" id="5622" />
-<TGConnectingPoint num="13" id="5623" />
-<TGConnectingPoint num="14" id="5624" />
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-<TGConnectingPoint num="17" id="5627" />
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-<TGConnectingPoint num="21" id="5631" />
-<TGConnectingPoint num="22" id="5632" />
-<TGConnectingPoint num="23" id="5633" />
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<extraparam>
<info stereotype="BUS-RR" nodeName="internalBus" />
<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="1" />
</extraparam>
</COMPONENT>
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="MemorySystem" value="name" />
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<extraparam>
<info stereotype="MEMORY" nodeName="MemorySystem" />
<attributes byteDataSize="4" clockRatio="1" bufferType="0" />
</extraparam>
</COMPONENT>
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<hidden value="false" />
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<infoparam name="UI" value="name" />
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<extraparam>
<info stereotype="CPURR" nodeName="UI" />
<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
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<sizeparam width="79" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="171" minY="0" maxY="60" />
<infoparam name="TGComponent" value="Des::UI" />
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<extraparam>
<info value="Des::UI" taskName="UI" referenceTaskName="Des" priority="0" operation="ECU" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
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<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="WiFI" value="name" />
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<extraparam>
<info stereotype="BUS-RR" nodeName="WiFI" />
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</extraparam>
</COMPONENT>
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<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="EthernetLaser" value="name" />
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<info stereotype="BUS-RR" nodeName="EthernetLaser" />
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</extraparam>
</COMPONENT>
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<infoparam name="CANVedecom" value="name" />
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<info stereotype="BUS-CAN" nodeName="CANVedecom" />
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</extraparam>
</COMPONENT>
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</extraparam>
</COMPONENT>
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-<cdparam x="1433" y="729" />
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<hidden value="false" />
<cdrectangleparam minX="0" maxX="150" minY="0" maxY="60" />
<infoparam name="TGComponent" value="Des::MABX" />
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<extraparam>
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</extraparam>
</SUBCOMPONENT>
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="System" value="name" />
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-<TGConnectingPoint num="1" id="5822" />
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-<TGConnectingPoint num="3" id="5824" />
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-<TGConnectingPoint num="13" id="5834" />
-<TGConnectingPoint num="14" id="5835" />
-<TGConnectingPoint num="15" id="5836" />
-<TGConnectingPoint num="16" id="5837" />
-<TGConnectingPoint num="17" id="5838" />
-<TGConnectingPoint num="18" id="5839" />
-<TGConnectingPoint num="19" id="5840" />
-<TGConnectingPoint num="20" id="5841" />
-<TGConnectingPoint num="21" id="5842" />
-<TGConnectingPoint num="22" id="5843" />
-<TGConnectingPoint num="23" id="5844" />
+<TGConnectingPoint num="0" id="5833" />
+<TGConnectingPoint num="1" id="5834" />
+<TGConnectingPoint num="2" id="5835" />
+<TGConnectingPoint num="3" id="5836" />
+<TGConnectingPoint num="4" id="5837" />
+<TGConnectingPoint num="5" id="5838" />
+<TGConnectingPoint num="6" id="5839" />
+<TGConnectingPoint num="7" id="5840" />
+<TGConnectingPoint num="8" id="5841" />
+<TGConnectingPoint num="9" id="5842" />
+<TGConnectingPoint num="10" id="5843" />
+<TGConnectingPoint num="11" id="5844" />
+<TGConnectingPoint num="12" id="5845" />
+<TGConnectingPoint num="13" id="5846" />
+<TGConnectingPoint num="14" id="5847" />
+<TGConnectingPoint num="15" id="5848" />
+<TGConnectingPoint num="16" id="5849" />
+<TGConnectingPoint num="17" id="5850" />
+<TGConnectingPoint num="18" id="5851" />
+<TGConnectingPoint num="19" id="5852" />
+<TGConnectingPoint num="20" id="5853" />
+<TGConnectingPoint num="21" id="5854" />
+<TGConnectingPoint num="22" id="5855" />
+<TGConnectingPoint num="23" id="5856" />
<extraparam>
<info stereotype="CPURR" nodeName="System" />
<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="5811" >
-<father id="5845" num="0" />
-<cdparam x="830" y="835" />
-<sizeparam width="133" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="129" minY="0" maxY="104" />
-<infoparam name="TGComponent" value="Des::Supervisor" />
-<TGConnectingPoint num="0" id="5803" />
-<TGConnectingPoint num="1" id="5804" />
-<TGConnectingPoint num="2" id="5805" />
-<TGConnectingPoint num="3" id="5806" />
-<TGConnectingPoint num="4" id="5807" />
-<TGConnectingPoint num="5" id="5808" />
-<TGConnectingPoint num="6" id="5809" />
-<TGConnectingPoint num="7" id="5810" />
-<extraparam>
-<info value="Des::Supervisor" taskName="Supervisor" referenceTaskName="Des" priority="0" operation="Supervisor" fatherComponentMECType="0" />
-</extraparam>
-</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="5820" >
-<father id="5845" num="1" />
+<SUBCOMPONENT type="1101" id="5823" >
+<father id="5857" num="0" />
<cdparam x="821" y="883" />
<sizeparam width="135" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="127" minY="0" maxY="104" />
<infoparam name="TGComponent" value="Des::Perception" />
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-<TGConnectingPoint num="1" id="5813" />
-<TGConnectingPoint num="2" id="5814" />
-<TGConnectingPoint num="3" id="5815" />
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-<TGConnectingPoint num="5" id="5817" />
-<TGConnectingPoint num="6" id="5818" />
-<TGConnectingPoint num="7" id="5819" />
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+<TGConnectingPoint num="1" id="5816" />
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+<TGConnectingPoint num="5" id="5820" />
+<TGConnectingPoint num="6" id="5821" />
+<TGConnectingPoint num="7" id="5822" />
<extraparam>
<info value="Des::Perception" taskName="Perception" referenceTaskName="Des" priority="0" operation="GPS" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
+<SUBCOMPONENT type="1101" id="5832" >
+<father id="5857" num="1" />
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+<sizeparam width="133" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="129" minY="0" maxY="104" />
+<infoparam name="TGComponent" value="Des::Supervisor" />
+<TGConnectingPoint num="0" id="5824" />
+<TGConnectingPoint num="1" id="5825" />
+<TGConnectingPoint num="2" id="5826" />
+<TGConnectingPoint num="3" id="5827" />
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+<TGConnectingPoint num="5" id="5829" />
+<TGConnectingPoint num="6" id="5830" />
+<TGConnectingPoint num="7" id="5831" />
+<extraparam>
+<info value="Des::Supervisor" taskName="Supervisor" referenceTaskName="Des" priority="0" operation="Supervisor" fatherComponentMECType="0" />
+</extraparam>
+</SUBCOMPONENT>
-<COMPONENT type="1100" id="5879" >
+<COMPONENT type="1100" id="5891" >
<cdparam x="159" y="384" />
<sizeparam width="250" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="FusionCPU" value="name" />
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-<TGConnectingPoint num="1" id="5856" />
-<TGConnectingPoint num="2" id="5857" />
-<TGConnectingPoint num="3" id="5858" />
-<TGConnectingPoint num="4" id="5859" />
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-<TGConnectingPoint num="8" id="5863" />
-<TGConnectingPoint num="9" id="5864" />
-<TGConnectingPoint num="10" id="5865" />
-<TGConnectingPoint num="11" id="5866" />
-<TGConnectingPoint num="12" id="5867" />
-<TGConnectingPoint num="13" id="5868" />
-<TGConnectingPoint num="14" id="5869" />
-<TGConnectingPoint num="15" id="5870" />
-<TGConnectingPoint num="16" id="5871" />
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-<TGConnectingPoint num="18" id="5873" />
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-<TGConnectingPoint num="21" id="5876" />
-<TGConnectingPoint num="22" id="5877" />
-<TGConnectingPoint num="23" id="5878" />
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+<TGConnectingPoint num="18" id="5885" />
+<TGConnectingPoint num="19" id="5886" />
+<TGConnectingPoint num="20" id="5887" />
+<TGConnectingPoint num="21" id="5888" />
+<TGConnectingPoint num="22" id="5889" />
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<extraparam>
<info stereotype="CPURR" nodeName="FusionCPU" />
<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="5854" >
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+<SUBCOMPONENT type="1101" id="5866" >
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<cdparam x="200" y="434" />
<sizeparam width="138" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="112" minY="0" maxY="60" />
<infoparam name="TGComponent" value="Des::FusionLidar" />
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-<TGConnectingPoint num="1" id="5847" />
-<TGConnectingPoint num="2" id="5848" />
-<TGConnectingPoint num="3" id="5849" />
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-<TGConnectingPoint num="5" id="5851" />
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-<TGConnectingPoint num="7" id="5853" />
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<extraparam>
<info value="Des::FusionLidar" taskName="FusionLidar" referenceTaskName="Des" priority="0" operation="GPS" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1102" id="5904" >
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<cdparam x="158" y="687" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="CANRadar" value="name" />
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-<TGConnectingPoint num="2" id="5882" />
-<TGConnectingPoint num="3" id="5883" />
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-<TGConnectingPoint num="22" id="5902" />
-<TGConnectingPoint num="23" id="5903" />
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<extraparam>
<info stereotype="BUS-RR" nodeName="CANRadar" />
<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="1" />
</extraparam>
</COMPONENT>
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<sizeparam width="250" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Radar" value="name" />
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-<TGConnectingPoint num="2" id="5916" />
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-<TGConnectingPoint num="8" id="5922" />
-<TGConnectingPoint num="9" id="5923" />
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-<TGConnectingPoint num="12" id="5926" />
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<extraparam>
<info stereotype="CPURR" nodeName="Radar" />
<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
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<hidden value="false" />
<cdrectangleparam minX="0" maxX="146" minY="0" maxY="60" />
<infoparam name="TGComponent" value="Des::Radar" />
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-<TGConnectingPoint num="1" id="5906" />
-<TGConnectingPoint num="2" id="5907" />
-<TGConnectingPoint num="3" id="5908" />
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-<TGConnectingPoint num="6" id="5911" />
-<TGConnectingPoint num="7" id="5912" />
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<extraparam>
<info value="Des::Radar" taskName="Radar" referenceTaskName="Des" priority="0" operation="ECU" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
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<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="EthernetCamera" value="name" />
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<extraparam>
<info stereotype="BUS-RR" nodeName="EthernetCamera" />
<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="1" />
</extraparam>
</COMPONENT>
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<sizeparam width="250" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Camera" value="name" />
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-<TGConnectingPoint num="18" id="5991" />
-<TGConnectingPoint num="19" id="5992" />
-<TGConnectingPoint num="20" id="5993" />
-<TGConnectingPoint num="21" id="5994" />
-<TGConnectingPoint num="22" id="5995" />
-<TGConnectingPoint num="23" id="5996" />
+<TGConnectingPoint num="0" id="5985" />
+<TGConnectingPoint num="1" id="5986" />
+<TGConnectingPoint num="2" id="5987" />
+<TGConnectingPoint num="3" id="5988" />
+<TGConnectingPoint num="4" id="5989" />
+<TGConnectingPoint num="5" id="5990" />
+<TGConnectingPoint num="6" id="5991" />
+<TGConnectingPoint num="7" id="5992" />
+<TGConnectingPoint num="8" id="5993" />
+<TGConnectingPoint num="9" id="5994" />
+<TGConnectingPoint num="10" id="5995" />
+<TGConnectingPoint num="11" id="5996" />
+<TGConnectingPoint num="12" id="5997" />
+<TGConnectingPoint num="13" id="5998" />
+<TGConnectingPoint num="14" id="5999" />
+<TGConnectingPoint num="15" id="6000" />
+<TGConnectingPoint num="16" id="6001" />
+<TGConnectingPoint num="17" id="6002" />
+<TGConnectingPoint num="18" id="6003" />
+<TGConnectingPoint num="19" id="6004" />
+<TGConnectingPoint num="20" id="6005" />
+<TGConnectingPoint num="21" id="6006" />
+<TGConnectingPoint num="22" id="6007" />
+<TGConnectingPoint num="23" id="6008" />
<extraparam>
<info stereotype="CPURR" nodeName="Camera" />
<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="5972" >
-<father id="5997" num="0" />
+<SUBCOMPONENT type="1101" id="5984" >
+<father id="6009" num="0" />
<cdparam x="207" y="806" />
<sizeparam width="115" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="135" minY="0" maxY="60" />
<infoparam name="TGComponent" value="Des::Camera" />
-<TGConnectingPoint num="0" id="5964" />
-<TGConnectingPoint num="1" id="5965" />
-<TGConnectingPoint num="2" id="5966" />
-<TGConnectingPoint num="3" id="5967" />
-<TGConnectingPoint num="4" id="5968" />
-<TGConnectingPoint num="5" id="5969" />
-<TGConnectingPoint num="6" id="5970" />
-<TGConnectingPoint num="7" id="5971" />
+<TGConnectingPoint num="0" id="5976" />
+<TGConnectingPoint num="1" id="5977" />
+<TGConnectingPoint num="2" id="5978" />
+<TGConnectingPoint num="3" id="5979" />
+<TGConnectingPoint num="4" id="5980" />
+<TGConnectingPoint num="5" id="5981" />
+<TGConnectingPoint num="6" id="5982" />
+<TGConnectingPoint num="7" id="5983" />
<extraparam>
<info value="Des::Camera" taskName="Camera" referenceTaskName="Des" priority="0" operation="ECU" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="125" id="5998" >
+<CONNECTOR type="125" id="6010" >
<cdparam x="774" y="933" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="905" y="789" id="5822" />
-<P2 x="965" y="644" id="5328" />
+<P1 x="905" y="789" id="5834" />
+<P2 x="965" y="644" id="5340" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="5999" >
+<CONNECTOR type="125" id="6011" >
<cdparam x="840" y="602" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="629" y="594" id="5364" />
-<P2 x="840" y="619" id="5325" />
+<P1 x="840" y="596" id="5376" />
+<P2 x="840" y="619" id="5337" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6000" >
-<cdparam x="1715" y="680" />
+<CONNECTOR type="125" id="6012" >
+<cdparam x="1529" y="681" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="1715" y="680" id="5425" />
-<P2 x="1689" y="655" id="5398" />
+<P1 x="1529" y="681" id="5437" />
+<P2 x="1503" y="656" id="5410" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6001" >
-<cdparam x="1547" y="682" />
+<CONNECTOR type="125" id="6013" >
+<cdparam x="1361" y="683" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="1547" y="682" id="5787" />
-<P2 x="1564" y="655" id="5397" />
+<P1 x="1361" y="683" id="5799" />
+<P2 x="1378" y="656" id="5409" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6002" >
+<CONNECTOR type="125" id="6014" >
<cdparam x="774" y="897" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="774" y="897" id="5833" />
-<P2 x="416" y="897" id="5943" />
+<P1 x="774" y="897" id="5845" />
+<P2 x="416" y="897" id="5955" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6003" >
+<CONNECTOR type="125" id="6015" >
<cdparam x="774" y="861" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="774" y="861" id="5824" />
-<P2 x="408" y="712" id="5884" />
+<P1 x="774" y="861" id="5836" />
+<P2 x="408" y="712" id="5896" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6004" >
+<CONNECTOR type="125" id="6016" >
<cdparam x="970" y="789" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="970" y="789" id="5830" />
-<P2 x="1169" y="433" id="5456" />
+<P1 x="970" y="789" id="5842" />
+<P2 x="1152" y="406" id="5468" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6005" >
+<CONNECTOR type="125" id="6017" >
<cdparam x="1168" y="251" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="1152" y="248" id="5684" />
-<P2 x="1169" y="383" id="5450" />
+<P1 x="1152" y="248" id="5696" />
+<P2 x="1152" y="356" id="5462" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6006" >
-<cdparam x="1547" y="782" />
+<CONNECTOR type="125" id="6018" >
+<cdparam x="1361" y="783" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="1547" y="782" id="5793" />
-<P2 x="1547" y="872" id="5476" />
+<P1 x="1361" y="783" id="5805" />
+<P2 x="1361" y="872" id="5488" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6007" >
+<CONNECTOR type="125" id="6019" >
<cdparam x="1036" y="897" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="1036" y="897" id="5834" />
-<P2 x="1360" y="897" id="5470" />
+<P1 x="1036" y="897" id="5846" />
+<P2 x="1174" y="897" id="5482" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6008" >
+<CONNECTOR type="125" id="6020" >
<cdparam x="768" y="249" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="768" y="249" id="5516" />
-<P2 x="833" y="295" id="5702" />
+<P1 x="768" y="249" id="5528" />
+<P2 x="833" y="295" id="5714" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6009" >
+<CONNECTOR type="125" id="6021" >
<cdparam x="1504" y="190" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="1528" y="176" id="5597" />
-<P2 x="1495" y="176" id="5571" />
+<P1 x="1518" y="176" id="5609" />
+<P2 x="1495" y="176" id="5583" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6010" >
+<CONNECTOR type="125" id="6022" >
<cdparam x="1202" y="217" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="1215" y="223" id="5682" />
-<P2 x="1245" y="201" id="5572" />
+<P1 x="1215" y="223" id="5694" />
+<P2 x="1245" y="201" id="5584" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6011" >
+<CONNECTOR type="125" id="6023" >
<cdparam x="781" y="703" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="905" y="1043" id="5636" />
-<P2 x="905" y="1013" id="5616" />
+<P1 x="905" y="1043" id="5648" />
+<P2 x="905" y="1013" id="5628" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6012" >
+<CONNECTOR type="125" id="6024" >
<cdparam x="955" y="601" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="905" y="933" id="5827" />
-<P2 x="905" y="963" id="5611" />
+<P1 x="905" y="933" id="5839" />
+<P2 x="905" y="963" id="5623" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6013" >
+<CONNECTOR type="125" id="6025" >
<cdparam x="1017" y="406" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="896" y="377" id="5536" />
-<P2 x="896" y="345" id="5700" />
+<P1 x="896" y="377" id="5548" />
+<P2 x="896" y="345" id="5712" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6014" >
+<CONNECTOR type="125" id="6026" >
<cdparam x="1160" y="227" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="1027" y="248" id="5683" />
-<P2 x="958" y="295" id="5703" />
+<P1 x="1027" y="248" id="5695" />
+<P2 x="958" y="295" id="5715" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6015" >
+<CONNECTOR type="125" id="6027" >
<cdparam x="836" y="299" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="774" y="825" id="5831" />
-<P2 x="409" y="513" id="5730" />
+<P1 x="774" y="825" id="5843" />
+<P2 x="409" y="513" id="5742" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6016" >
+<CONNECTOR type="125" id="6028" >
<cdparam x="708" y="38" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="284" y="484" id="5861" />
-<P2 x="284" y="501" id="5720" />
+<P1 x="284" y="484" id="5873" />
+<P2 x="284" y="501" id="5732" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6017" >
-<cdparam x="1412" y="327" />
+<CONNECTOR type="125" id="6029" >
+<cdparam x="1226" y="328" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="1422" y="782" id="5792" />
-<P2 x="1422" y="799" id="5753" />
+<P1 x="1236" y="783" id="5804" />
+<P2 x="1236" y="800" id="5765" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6018" >
+<CONNECTOR type="125" id="6030" >
<cdparam x="1070" y="350" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="1036" y="825" id="5832" />
-<P2 x="1287" y="824" id="5747" />
+<P1 x="1036" y="825" id="5844" />
+<P2 x="1101" y="825" id="5759" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6019" >
+<CONNECTOR type="125" id="6031" >
<cdparam x="707" y="291" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="283" y="671" id="5920" />
-<P2 x="283" y="687" id="5881" />
+<P1 x="283" y="671" id="5932" />
+<P2 x="283" y="687" id="5893" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="6020" >
+<CONNECTOR type="125" id="6032" >
<cdparam x="712" y="407" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="291" y="856" id="5979" />
-<P2 x="291" y="872" id="5940" />
+<P1 x="291" y="856" id="5991" />
+<P2 x="291" y="872" id="5952" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
diff --git a/src/tmltranslator/toavatar/TML2Avatar.java b/src/tmltranslator/toavatar/TML2Avatar.java
index ee1be820f6a4afcbd984b93755dc09368e991371..9affe40b7aa51a0079bff047670b8c348089cef3 100644
--- a/src/tmltranslator/toavatar/TML2Avatar.java
+++ b/src/tmltranslator/toavatar/TML2Avatar.java
@@ -97,11 +97,14 @@ public class TML2Avatar {
AvatarSpecification avspec;
ArrayList<String> attrsToCheck;
List<String> allStates;
- public TML2Avatar(TMLMapping tmlmap) {
+ boolean mc = false;
+ boolean security=false;
+ public TML2Avatar(TMLMapping tmlmap, boolean modelcheck, boolean sec) {
this.tmlmap = tmlmap;
this.tmlmodel = tmlmap.getTMLModeling();
allStates = new ArrayList<String>();
attrsToCheck=new ArrayList<String>();
+
}
public void checkConnections(){
@@ -650,263 +653,240 @@ public class TML2Avatar {
//Might be encrypt or decrypt
AvatarState as = new AvatarState(ae.getValue()+"_"+ae.getName(), ae.getReferenceObject());
tran = new AvatarTransition(block, "__after_"+ae.getName(), ae.getReferenceObject());
- //For now, get rid of the action. It won't translate anyway
- //tran.addAction(((TMLActivityElementWithAction) ae).getAction());
- if (ae.securityPattern!=null && ae.getName().contains("encrypt")){
- secPatterns.add(ae.securityPattern);
- block.addAttribute(new AvatarAttribute(ae.securityPattern.name, AvatarType.INTEGER, block, null));
- block.addAttribute(new AvatarAttribute(ae.securityPattern.name+"_encrypted", AvatarType.INTEGER, block, null));
- if (ae.securityPattern.type.equals("Advanced")){
- tran.addAction(ae.securityPattern.formula);
- }
- else if (ae.securityPattern.type.equals("Symmetric Encryption")){
- if (!ae.securityPattern.nonce.isEmpty()){
- block.addAttribute(new AvatarAttribute("nonce_"+ae.securityPattern.nonce, AvatarType.INTEGER, block, null));
- AvatarMethod concat2 = new AvatarMethod("concat2",ae);
- concat2.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
- concat2.addParameter(block.getAvatarAttributeWithName("nonce_"+ae.securityPattern.nonce));
- if (block.getAvatarAttributeWithName(ae.securityPattern.name) !=null && block.getAvatarAttributeWithName("nonce_"+ae.securityPattern.nonce)!=null){
- block.addMethod(concat2);
- }
- tran.addAction(ae.securityPattern.name+"=concat2("+ae.securityPattern.name + ",nonce_"+ae.securityPattern.nonce+")");
- }
- //Securing a key instead of data
- if (!ae.securityPattern.key.isEmpty()){
- block.addAttribute(new AvatarAttribute(ae.securityPattern.key, AvatarType.INTEGER, block,null));
- AvatarMethod sencrypt = new AvatarMethod("sencrypt", ae);
- sencrypt.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.key));
- sencrypt.addParameter(block.getAvatarAttributeWithName("key_"+ae.securityPattern.name));
- if (block.getAvatarAttributeWithName(ae.securityPattern.key)!=null && block.getAvatarAttributeWithName("key_"+ae.securityPattern.name)!=null){
- block.addMethod(sencrypt);
+ if (security || ae.securityPattern==null){
+ if (ae.securityPattern!=null && ae.getName().contains("encrypt")){
+ secPatterns.add(ae.securityPattern);
+ block.addAttribute(new AvatarAttribute(ae.securityPattern.name, AvatarType.INTEGER, block, null));
+ block.addAttribute(new AvatarAttribute(ae.securityPattern.name+"_encrypted", AvatarType.INTEGER, block, null));
+ if (ae.securityPattern.type.equals("Advanced")){
+ tran.addAction(ae.securityPattern.formula);
+ }
+ else if (ae.securityPattern.type.equals("Symmetric Encryption")){
+ if (!ae.securityPattern.nonce.isEmpty()){
+ block.addAttribute(new AvatarAttribute("nonce_"+ae.securityPattern.nonce, AvatarType.INTEGER, block, null));
+ AvatarMethod concat2 = new AvatarMethod("concat2",ae);
+ concat2.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
+ concat2.addParameter(block.getAvatarAttributeWithName("nonce_"+ae.securityPattern.nonce));
+ if (block.getAvatarAttributeWithName(ae.securityPattern.name) !=null && block.getAvatarAttributeWithName("nonce_"+ae.securityPattern.nonce)!=null){
+ block.addMethod(concat2);
+ }
+ tran.addAction(ae.securityPattern.name+"=concat2("+ae.securityPattern.name + ",nonce_"+ae.securityPattern.nonce+")");
}
- tran.addAction("encryptedKey_"+ ae.securityPattern.key + " = sencrypt(key_"+ae.securityPattern.key+", key_"+ae.securityPattern.name+")");
+ //Securing a key instead of data
+ if (!ae.securityPattern.key.isEmpty()){
+ block.addAttribute(new AvatarAttribute(ae.securityPattern.key, AvatarType.INTEGER, block,null));
+ AvatarMethod sencrypt = new AvatarMethod("sencrypt", ae);
+ sencrypt.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.key));
+ sencrypt.addParameter(block.getAvatarAttributeWithName("key_"+ae.securityPattern.name));
+ if (block.getAvatarAttributeWithName(ae.securityPattern.key)!=null && block.getAvatarAttributeWithName("key_"+ae.securityPattern.name)!=null){
+ block.addMethod(sencrypt);
+ }
+ tran.addAction("encryptedKey_"+ ae.securityPattern.key + " = sencrypt(key_"+ae.securityPattern.key+", key_"+ae.securityPattern.name+")");
- }
- else {
- block.addAttribute(new AvatarAttribute(ae.securityPattern.name, AvatarType.INTEGER, block,null));
- AvatarMethod sencrypt = new AvatarMethod("sencrypt", ae);
- sencrypt.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
- sencrypt.addParameter(block.getAvatarAttributeWithName("key_"+ae.securityPattern.name));
- if (block.getAvatarAttributeWithName(ae.securityPattern.name)!=null && block.getAvatarAttributeWithName("key_"+ae.securityPattern.name)!=null){
- block.addMethod(sencrypt);
}
- tran.addAction(ae.securityPattern.name+"_encrypted = sencrypt("+ae.securityPattern.name+", key_"+ae.securityPattern.name+")");
-
-
- }
- ae.securityPattern.originTask=block.getName();
- ae.securityPattern.state1=as;
- }
- else if (ae.securityPattern.type.equals("Asymmetric Encryption")){
- System.out.println("AENCRYPT " + ae.securityPattern.name + " " + ae.securityPattern.key);
- if (!ae.securityPattern.nonce.isEmpty()){
- block.addAttribute(new AvatarAttribute("nonce_"+ae.securityPattern.nonce, AvatarType.INTEGER, block, null));
- AvatarMethod concat2 = new AvatarMethod("concat2",ae);
- concat2.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
- concat2.addParameter(block.getAvatarAttributeWithName("nonce_"+ae.securityPattern.nonce));
- if (block.getAvatarAttributeWithName(ae.securityPattern.name) !=null && block.getAvatarAttributeWithName("nonce_"+ae.securityPattern.nonce)!=null){
- block.addMethod(concat2);
- }
- tran.addAction(ae.securityPattern.name+"=concat2("+ae.securityPattern.name + ",nonce_"+ae.securityPattern.nonce+")");
- }
- //Securing a key instead of data
- if (!ae.securityPattern.key.isEmpty()){
- AvatarMethod aencrypt = new AvatarMethod("aencrypt", ae);
- block.addAttribute(new AvatarAttribute("encryptedKey_"+ae.securityPattern.key, AvatarType.INTEGER, block,null));
- aencrypt.addParameter(block.getAvatarAttributeWithName("key_"+ae.securityPattern.key));
- aencrypt.addParameter(block.getAvatarAttributeWithName("pubKey_"+ae.securityPattern.name));
- if (block.getAvatarAttributeWithName("key_"+ae.securityPattern.key)!=null && block.getAvatarAttributeWithName("pubKey_"+ae.securityPattern.name)!=null){
- block.addMethod(aencrypt);
+ else {
+ block.addAttribute(new AvatarAttribute(ae.securityPattern.name, AvatarType.INTEGER, block,null));
+ AvatarMethod sencrypt = new AvatarMethod("sencrypt", ae);
+ sencrypt.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
+ sencrypt.addParameter(block.getAvatarAttributeWithName("key_"+ae.securityPattern.name));
+ if (block.getAvatarAttributeWithName(ae.securityPattern.name)!=null && block.getAvatarAttributeWithName("key_"+ae.securityPattern.name)!=null){
+ block.addMethod(sencrypt);
+ }
+ tran.addAction(ae.securityPattern.name+"_encrypted = sencrypt("+ae.securityPattern.name+", key_"+ae.securityPattern.name+")");
}
- tran.addAction("encryptedKey_"+ ae.securityPattern.key + " = aencrypt(key_"+ae.securityPattern.key+", pubKey_"+ae.securityPattern.name+")");
-
- }
- else {
- AvatarMethod aencrypt = new AvatarMethod("aencrypt", ae);
- aencrypt.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
- aencrypt.addParameter(block.getAvatarAttributeWithName("pubKey_"+ae.securityPattern.name));
- if (block.getAvatarAttributeWithName("pubKey_"+ae.securityPattern.name)!=null && block.getAvatarAttributeWithName(ae.securityPattern.name)!=null){
- block.addMethod(aencrypt);
+ ae.securityPattern.originTask=block.getName();
+ ae.securityPattern.state1=as;
+ }
+ else if (ae.securityPattern.type.equals("Asymmetric Encryption")){
+ if (!ae.securityPattern.nonce.isEmpty()){
+ block.addAttribute(new AvatarAttribute("nonce_"+ae.securityPattern.nonce, AvatarType.INTEGER, block, null));
+ AvatarMethod concat2 = new AvatarMethod("concat2",ae);
+ concat2.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
+ concat2.addParameter(block.getAvatarAttributeWithName("nonce_"+ae.securityPattern.nonce));
+ if (block.getAvatarAttributeWithName(ae.securityPattern.name) !=null && block.getAvatarAttributeWithName("nonce_"+ae.securityPattern.nonce)!=null){
+ block.addMethod(concat2);
+ }
+ tran.addAction(ae.securityPattern.name+"=concat2("+ae.securityPattern.name + ",nonce_"+ae.securityPattern.nonce+")");
+ }
+ //Securing a key instead of data
+ if (!ae.securityPattern.key.isEmpty()){
+ AvatarMethod aencrypt = new AvatarMethod("aencrypt", ae);
+ block.addAttribute(new AvatarAttribute("encryptedKey_"+ae.securityPattern.key, AvatarType.INTEGER, block,null));
+ aencrypt.addParameter(block.getAvatarAttributeWithName("key_"+ae.securityPattern.key));
+ aencrypt.addParameter(block.getAvatarAttributeWithName("pubKey_"+ae.securityPattern.name));
+ if (block.getAvatarAttributeWithName("key_"+ae.securityPattern.key)!=null && block.getAvatarAttributeWithName("pubKey_"+ae.securityPattern.name)!=null){
+ block.addMethod(aencrypt);
+ }
+ tran.addAction("encryptedKey_"+ ae.securityPattern.key + " = aencrypt(key_"+ae.securityPattern.key+", pubKey_"+ae.securityPattern.name+")");
+ }
+ else {
+ AvatarMethod aencrypt = new AvatarMethod("aencrypt", ae);
+ aencrypt.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
+ aencrypt.addParameter(block.getAvatarAttributeWithName("pubKey_"+ae.securityPattern.name));
+ if (block.getAvatarAttributeWithName("pubKey_"+ae.securityPattern.name)!=null && block.getAvatarAttributeWithName(ae.securityPattern.name)!=null){
+ block.addMethod(aencrypt);
+ }
+ tran.addAction(ae.securityPattern.name+"_encrypted = aencrypt("+ae.securityPattern.name+", pubKey_"+ae.securityPattern.name+")");
}
- tran.addAction(ae.securityPattern.name+"_encrypted = aencrypt("+ae.securityPattern.name+", pubKey_"+ae.securityPattern.name+")");
+ ae.securityPattern.originTask=block.getName();
+ ae.securityPattern.state1=as;
}
- ae.securityPattern.originTask=block.getName();
- ae.securityPattern.state1=as;
- }
- else if (ae.securityPattern.type.equals("Nonce")){
- block.addAttribute(new AvatarAttribute("nonce_"+ae.securityPattern.name, AvatarType.INTEGER, block, null));
- }
- else if (ae.securityPattern.type.equals("Hash")){
- AvatarMethod hash = new AvatarMethod("hash", ae);
- hash.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
- if (block.getAvatarAttributeWithName(ae.securityPattern.name)!=null){
- block.addMethod(hash);
+ else if (ae.securityPattern.type.equals("Nonce")){
+ block.addAttribute(new AvatarAttribute("nonce_"+ae.securityPattern.name, AvatarType.INTEGER, block, null));
}
- tran.addAction(ae.securityPattern.name+"_encrypted = hash("+ae.securityPattern.name+")");
- }
-
- else if (ae.securityPattern.type.equals("MAC")){
- AvatarMethod mac = new AvatarMethod("MAC", ae);
- mac.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
- mac.addParameter(block.getAvatarAttributeWithName("key_"+ae.securityPattern.name));
- if (block.getAvatarAttributeWithName(ae.securityPattern.name)!=null && block.getAvatarAttributeWithName("key_"+ae.securityPattern.name)!=null){
- block.addMethod(mac);
- }
- tran.addAction(ae.securityPattern.name+"_encrypted = MAC("+ae.securityPattern.name+",key_"+ae.securityPattern.name+")");
- }
- AvatarAttributeState authOrigin = new AvatarAttributeState(ae.securityPattern.name+"1",ae.getReferenceObject(),block.getAvatarAttributeWithName(ae.securityPattern.name), as);
- signalAuthOriginMap.put(ae.securityPattern.name, authOrigin);
- as.addNext(tran);
- elementList.add(as);
- elementList.add(tran);
- }
- else if (ae.securityPattern!=null && ae.getName().contains("decrypt")){
- block.addAttribute(new AvatarAttribute(ae.securityPattern.name, AvatarType.INTEGER, block, null));
- block.addAttribute(new AvatarAttribute(ae.securityPattern.name+"_encrypted", AvatarType.INTEGER, block, null));
- if (ae.securityPattern.type.equals("Symmetric Encryption")){
-
- if (ae.securityPattern.key.isEmpty()){
- AvatarMethod sdecrypt = new AvatarMethod("sdecrypt", ae);
- block.addAttribute(new AvatarAttribute(ae.securityPattern.name, AvatarType.INTEGER, block,null));
- sdecrypt.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name+"_encrypted"));
- sdecrypt.addParameter(block.getAvatarAttributeWithName("key_"+ae.securityPattern.name));
- if (block.getAvatarAttributeWithName(ae.securityPattern.name+"_encrypted")!=null && block.getAvatarAttributeWithName("key_"+ae.securityPattern.name)!=null){
- block.addMethod(sdecrypt);
+ else if (ae.securityPattern.type.equals("Hash")){
+ AvatarMethod hash = new AvatarMethod("hash", ae);
+ hash.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
+ if (block.getAvatarAttributeWithName(ae.securityPattern.name)!=null){
+ block.addMethod(hash);
}
- tran.addAction(ae.securityPattern.name+" = sdecrypt("+ae.securityPattern.name+"_encrypted, key_"+ae.securityPattern.name+")");
-
+ tran.addAction(ae.securityPattern.name+"_encrypted = hash("+ae.securityPattern.name+")");
}
- else {
- AvatarMethod sdecrypt = new AvatarMethod("sdecrypt", ae);
- sdecrypt.addParameter(block.getAvatarAttributeWithName("encryptedKey_"+ae.securityPattern.key));
- block.addAttribute(new AvatarAttribute("key_"+ae.securityPattern.key, AvatarType.INTEGER, block,null));
- sdecrypt.addParameter(block.getAvatarAttributeWithName("key_"+ae.securityPattern.key));
- if (block.getAvatarAttributeWithName("encryptedKey_"+ae.securityPattern.key)!=null && block.getAvatarAttributeWithName("key_"+ae.securityPattern.name)!=null){
- block.addMethod(sdecrypt);
+ else if (ae.securityPattern.type.equals("MAC")){
+ AvatarMethod mac = new AvatarMethod("MAC", ae);
+ mac.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
+ mac.addParameter(block.getAvatarAttributeWithName("key_"+ae.securityPattern.name));
+ if (block.getAvatarAttributeWithName(ae.securityPattern.name)!=null && block.getAvatarAttributeWithName("key_"+ae.securityPattern.name)!=null){
+ block.addMethod(mac);
}
- tran.addAction(ae.securityPattern.key+" = sdecrypt(encryptedKey_"+ae.securityPattern.key+", key_"+ae.securityPattern.name+")");
-
+ tran.addAction(ae.securityPattern.name+"_encrypted = MAC("+ae.securityPattern.name+",key_"+ae.securityPattern.name+")");
}
-
- elementList.add(as);
+ AvatarAttributeState authOrigin = new AvatarAttributeState(ae.securityPattern.name+"1",ae.getReferenceObject(),block.getAvatarAttributeWithName(ae.securityPattern.name), as);
+ signalAuthOriginMap.put(ae.securityPattern.name, authOrigin);
+ as.addNext(tran);
+ elementList.add(as);
elementList.add(tran);
- as.addNext(tran);
-
- if (!ae.securityPattern.nonce.isEmpty()){
- block.addAttribute(new AvatarAttribute("testnonce_"+ae.securityPattern.nonce, AvatarType.INTEGER, block, null));
- AvatarMethod get2 = new AvatarMethod("get2",ae);
- get2.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
- get2.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
- get2.addParameter(block.getAvatarAttributeWithName("testnonce_"+ae.securityPattern.nonce));
- if (block.getAvatarAttributeWithName(ae.securityPattern.name)!=null && block.getAvatarAttributeWithName(ae.securityPattern.name)!=null && block.getAvatarAttributeWithName("testnonce_"+ae.securityPattern.nonce)!=null) {
- block.addMethod(get2);
- }
- tran.addAction("get2("+ae.securityPattern.name + ","+ae.securityPattern.name+",testnonce_"+ae.securityPattern.nonce+")");
-
- AvatarState guardState = new AvatarState(ae.getName()+"_guarded", ae.getReferenceObject());
- tran.addNext(guardState);
- tran=new AvatarTransition(block, "__guard_"+ae.getName(), ae.getReferenceObject());
- guardState.addNext(tran);
-
- tran.setGuard("testnonce_"+ae.securityPattern.nonce+"== nonce_" + ae.securityPattern.nonce);
- }
-
-
- AvatarState dummy = new AvatarState(ae.getName()+"_dummy", ae.getReferenceObject());
- ae.securityPattern.state2=dummy;
- tran.addNext(dummy);
- tran = new AvatarTransition(block, "__after_"+ae.getName(), ae.getReferenceObject());
- dummy.addNext(tran);
- elementList.add(dummy);
- elementList.add(tran);
- if (ae.securityPattern.nonce.isEmpty()){
- AvatarAttributeState authDest = new AvatarAttributeState(ae.securityPattern.name+"2",ae.getReferenceObject(),block.getAvatarAttributeWithName(ae.securityPattern.name), dummy);
- signalAuthDestMap.put(ae.securityPattern.name, authDest);
- }
- else {
-
- AvatarAttributeState authDest = new AvatarAttributeState(ae.securityPattern.name+"3",ae.getReferenceObject(),block.getAvatarAttributeWithName(ae.securityPattern.name), dummy);
- signalAuthDestMap.put(ae.securityPattern.name, authDest);
- }
-
-
- }
- else if (ae.securityPattern.type.equals("Asymmetric Encryption")){
-
- AvatarMethod adecrypt = new AvatarMethod("adecrypt", ae);
-
- if (ae.securityPattern.key.isEmpty()){
- block.addAttribute(new AvatarAttribute(ae.securityPattern.name+"_encrypted",AvatarType.INTEGER,block,null));
- block.addAttribute(new AvatarAttribute(ae.securityPattern.name,AvatarType.INTEGER,block,null));
- adecrypt.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name+"_encrypted"));
- adecrypt.addParameter(block.getAvatarAttributeWithName("privKey_"+ae.securityPattern.name));
- if (block.getAvatarAttributeWithName(ae.securityPattern.name+"_encrypted")!=null && block.getAvatarAttributeWithName("privKey_"+ae.securityPattern.name)!= null){
- block.addMethod(adecrypt);
+ }
+ else if (ae.securityPattern!=null && ae.getName().contains("decrypt")){
+ block.addAttribute(new AvatarAttribute(ae.securityPattern.name, AvatarType.INTEGER, block, null));
+ block.addAttribute(new AvatarAttribute(ae.securityPattern.name+"_encrypted", AvatarType.INTEGER, block, null));
+ if (ae.securityPattern.type.equals("Symmetric Encryption")){
+ if (ae.securityPattern.key.isEmpty()){
+ AvatarMethod sdecrypt = new AvatarMethod("sdecrypt", ae);
+ block.addAttribute(new AvatarAttribute(ae.securityPattern.name, AvatarType.INTEGER, block,null));
+ sdecrypt.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name+"_encrypted"));
+ sdecrypt.addParameter(block.getAvatarAttributeWithName("key_"+ae.securityPattern.name));
+ if (block.getAvatarAttributeWithName(ae.securityPattern.name+"_encrypted")!=null && block.getAvatarAttributeWithName("key_"+ae.securityPattern.name)!=null){
+ block.addMethod(sdecrypt);
+ }
+ tran.addAction(ae.securityPattern.name+" = sdecrypt("+ae.securityPattern.name+"_encrypted, key_"+ae.securityPattern.name+")");
}
- tran.addAction(ae.securityPattern.name+" = adecrypt("+ae.securityPattern.name+"_encrypted, privKey_"+ae.securityPattern.name+")");
- }
- else {
- block.addAttribute(new AvatarAttribute("encryptedKey_"+ae.securityPattern.key,AvatarType.INTEGER,block,null));
- adecrypt.addParameter(block.getAvatarAttributeWithName("encryptedKey_"+ae.securityPattern.key));
- adecrypt.addParameter(block.getAvatarAttributeWithName("privKey_"+ae.securityPattern.name));
- block.addAttribute(new AvatarAttribute("key_"+ae.securityPattern.key, AvatarType.INTEGER, block,null));
- if (block.getAvatarAttributeWithName("encryptedKey_"+ae.securityPattern.key)!=null && block.getAvatarAttributeWithName("privKey_"+ae.securityPattern.name)!= null){
- block.addMethod(adecrypt);
+ else {
+ AvatarMethod sdecrypt = new AvatarMethod("sdecrypt", ae);
+ sdecrypt.addParameter(block.getAvatarAttributeWithName("encryptedKey_"+ae.securityPattern.key));
+ block.addAttribute(new AvatarAttribute("key_"+ae.securityPattern.key, AvatarType.INTEGER, block,null));
+ sdecrypt.addParameter(block.getAvatarAttributeWithName("key_"+ae.securityPattern.key));
+ if (block.getAvatarAttributeWithName("encryptedKey_"+ae.securityPattern.key)!=null && block.getAvatarAttributeWithName("key_"+ae.securityPattern.name)!=null){
+ block.addMethod(sdecrypt);
+ }
+ tran.addAction(ae.securityPattern.key+" = sdecrypt(encryptedKey_"+ae.securityPattern.key+", key_"+ae.securityPattern.name+")");
+ }
+ elementList.add(as);
+ elementList.add(tran);
+ as.addNext(tran);
+ if (!ae.securityPattern.nonce.isEmpty()){
+ block.addAttribute(new AvatarAttribute("testnonce_"+ae.securityPattern.nonce, AvatarType.INTEGER, block, null));
+ AvatarMethod get2 = new AvatarMethod("get2",ae);
+ get2.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
+ get2.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
+ get2.addParameter(block.getAvatarAttributeWithName("testnonce_"+ae.securityPattern.nonce));
+ if (block.getAvatarAttributeWithName(ae.securityPattern.name)!=null && block.getAvatarAttributeWithName(ae.securityPattern.name)!=null && block.getAvatarAttributeWithName("testnonce_"+ae.securityPattern.nonce)!=null) {
+ block.addMethod(get2);
+ }
+ tran.addAction("get2("+ae.securityPattern.name + ","+ae.securityPattern.name+",testnonce_"+ae.securityPattern.nonce+")");
+ AvatarState guardState = new AvatarState(ae.getName()+"_guarded", ae.getReferenceObject());
+ tran.addNext(guardState);
+ tran=new AvatarTransition(block, "__guard_"+ae.getName(), ae.getReferenceObject());
+ guardState.addNext(tran);
+ tran.setGuard("testnonce_"+ae.securityPattern.nonce+"== nonce_" + ae.securityPattern.nonce);
+ }
+ AvatarState dummy = new AvatarState(ae.getName()+"_dummy", ae.getReferenceObject());
+ ae.securityPattern.state2=dummy;
+ tran.addNext(dummy);
+ tran = new AvatarTransition(block, "__after_"+ae.getName(), ae.getReferenceObject());
+ dummy.addNext(tran);
+ elementList.add(dummy);
+ elementList.add(tran);
+ if (ae.securityPattern.nonce.isEmpty()){
+ AvatarAttributeState authDest = new AvatarAttributeState(ae.securityPattern.name+"2",ae.getReferenceObject(),block.getAvatarAttributeWithName(ae.securityPattern.name), dummy);
+ signalAuthDestMap.put(ae.securityPattern.name, authDest);
+ }
+ else {
+ AvatarAttributeState authDest = new AvatarAttributeState(ae.securityPattern.name+"3",ae.getReferenceObject(),block.getAvatarAttributeWithName(ae.securityPattern.name), dummy);
+ signalAuthDestMap.put(ae.securityPattern.name, authDest);
}
- tran.addAction("key_"+ae.securityPattern.key+" = adecrypt(encryptedKey_"+ae.securityPattern.key+", privKey_"+ae.securityPattern.name+")");
}
- elementList.add(as);
- elementList.add(tran);
- as.addNext(tran);
- if (!ae.securityPattern.nonce.isEmpty()){
- block.addAttribute(new AvatarAttribute("testnonce_"+ae.securityPattern.nonce, AvatarType.INTEGER, block, null));
- AvatarMethod get2 = new AvatarMethod("get2",ae);
- get2.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
- get2.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
- get2.addParameter(block.getAvatarAttributeWithName("testnonce_"+ae.securityPattern.nonce));
- if (block.getAvatarAttributeWithName(ae.securityPattern.name)!=null && block.getAvatarAttributeWithName(ae.securityPattern.name)!=null && block.getAvatarAttributeWithName("testnonce_"+ae.securityPattern.nonce)!=null) {
- block.addMethod(get2);
- }
- tran.addAction("get2("+ae.securityPattern.name + ","+ae.securityPattern.name+",testnonce_"+ae.securityPattern.nonce+")");
-
- AvatarState guardState = new AvatarState(ae.getName()+"_guarded", ae.getReferenceObject());
- tran.addNext(guardState);
- tran=new AvatarTransition(block, "__guard_"+ae.getName(), ae.getReferenceObject());
- guardState.addNext(tran);
-
- tran.setGuard("testnonce_"+ae.securityPattern.nonce+"== nonce_" + ae.securityPattern.nonce);
+ else if (ae.securityPattern.type.equals("Asymmetric Encryption")){
+ AvatarMethod adecrypt = new AvatarMethod("adecrypt", ae);
+ if (ae.securityPattern.key.isEmpty()){
+ block.addAttribute(new AvatarAttribute(ae.securityPattern.name+"_encrypted",AvatarType.INTEGER,block,null));
+ block.addAttribute(new AvatarAttribute(ae.securityPattern.name,AvatarType.INTEGER,block,null));
+ adecrypt.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name+"_encrypted"));
+ adecrypt.addParameter(block.getAvatarAttributeWithName("privKey_"+ae.securityPattern.name));
+ if (block.getAvatarAttributeWithName(ae.securityPattern.name+"_encrypted")!=null && block.getAvatarAttributeWithName("privKey_"+ae.securityPattern.name)!= null){
+ block.addMethod(adecrypt);
+ }
+ tran.addAction(ae.securityPattern.name+" = adecrypt("+ae.securityPattern.name+"_encrypted, privKey_"+ae.securityPattern.name+")");
+ }
+ else {
+ block.addAttribute(new AvatarAttribute("encryptedKey_"+ae.securityPattern.key,AvatarType.INTEGER,block,null));
+ adecrypt.addParameter(block.getAvatarAttributeWithName("encryptedKey_"+ae.securityPattern.key));
+ adecrypt.addParameter(block.getAvatarAttributeWithName("privKey_"+ae.securityPattern.name));
+ block.addAttribute(new AvatarAttribute("key_"+ae.securityPattern.key, AvatarType.INTEGER, block,null));
+ if (block.getAvatarAttributeWithName("encryptedKey_"+ae.securityPattern.key)!=null && block.getAvatarAttributeWithName("privKey_"+ae.securityPattern.name)!= null){
+ block.addMethod(adecrypt);
+ }
+ tran.addAction("key_"+ae.securityPattern.key+" = adecrypt(encryptedKey_"+ae.securityPattern.key+", privKey_"+ae.securityPattern.name+")");
+ }
+ elementList.add(as);
+ elementList.add(tran);
+ as.addNext(tran);
+ if (!ae.securityPattern.nonce.isEmpty()){
+ block.addAttribute(new AvatarAttribute("testnonce_"+ae.securityPattern.nonce, AvatarType.INTEGER, block, null));
+ AvatarMethod get2 = new AvatarMethod("get2",ae);
+ get2.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
+ get2.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name));
+ get2.addParameter(block.getAvatarAttributeWithName("testnonce_"+ae.securityPattern.nonce));
+ if (block.getAvatarAttributeWithName(ae.securityPattern.name)!=null && block.getAvatarAttributeWithName(ae.securityPattern.name)!=null && block.getAvatarAttributeWithName("testnonce_"+ae.securityPattern.nonce)!=null) {
+ block.addMethod(get2);
+ }
+ tran.addAction("get2("+ae.securityPattern.name + ","+ae.securityPattern.name+",testnonce_"+ae.securityPattern.nonce+")");
+ AvatarState guardState = new AvatarState(ae.getName()+"_guarded", ae.getReferenceObject());
+ tran.addNext(guardState);
+ tran=new AvatarTransition(block, "__guard_"+ae.getName(), ae.getReferenceObject());
+ guardState.addNext(tran);
+ tran.setGuard("testnonce_"+ae.securityPattern.nonce+"== nonce_" + ae.securityPattern.nonce);
+ }
+ AvatarState dummy = new AvatarState(ae.getName()+"_dummy", ae.getReferenceObject());
+ tran.addNext(dummy);
+ tran = new AvatarTransition(block, "__after_"+ae.getName(), ae.getReferenceObject());
+ dummy.addNext(tran);
+ elementList.add(dummy);
+ elementList.add(tran);
+ ae.securityPattern.state2=dummy;
+ if (ae.securityPattern.nonce.isEmpty()){
+ AvatarAttributeState authDest = new AvatarAttributeState(ae.securityPattern.name+"2",ae.getReferenceObject(),block.getAvatarAttributeWithName(ae.securityPattern.name), dummy);
+ signalAuthDestMap.put(ae.securityPattern.name, authDest);
+ }
+ else {
+ AvatarAttributeState authDest = new AvatarAttributeState(ae.securityPattern.name+"3",ae.getReferenceObject(),block.getAvatarAttributeWithName(ae.securityPattern.name), dummy);
+ signalAuthDestMap.put(ae.securityPattern.name, authDest);
+ }
+ }
+ else if (ae.securityPattern.type.equals("MAC")){
+ AvatarMethod verifymac = new AvatarMethod("MAC", ae);
+ verifymac.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name+"_encrypted"));
+ verifymac.addParameter(block.getAvatarAttributeWithName("key_"+ae.securityPattern.name));
+ if (block.getAvatarAttributeWithName(ae.securityPattern.name+"_encrypted")!=null && block.getAvatarAttributeWithName("key_"+ae.securityPattern.name)!=null){
+ block.addMethod(verifymac);
+ }
+ tran.addAction(ae.securityPattern.name+"=verifyMAC("+ae.securityPattern.name+"_encrypted, key_"+ae.securityPattern.name+")");
+ elementList.add(tran);
+ elementList.add(as);
+ as.addNext(tran);
}
-
-
- AvatarState dummy = new AvatarState(ae.getName()+"_dummy", ae.getReferenceObject());
- tran.addNext(dummy);
- tran = new AvatarTransition(block, "__after_"+ae.getName(), ae.getReferenceObject());
- dummy.addNext(tran);
- elementList.add(dummy);
- elementList.add(tran);
- ae.securityPattern.state2=dummy;
- if (ae.securityPattern.nonce.isEmpty()){
- AvatarAttributeState authDest = new AvatarAttributeState(ae.securityPattern.name+"2",ae.getReferenceObject(),block.getAvatarAttributeWithName(ae.securityPattern.name), dummy);
- signalAuthDestMap.put(ae.securityPattern.name, authDest);
- }
- else {
- AvatarAttributeState authDest = new AvatarAttributeState(ae.securityPattern.name+"3",ae.getReferenceObject(),block.getAvatarAttributeWithName(ae.securityPattern.name), dummy);
- signalAuthDestMap.put(ae.securityPattern.name, authDest);
- }
- }
- else if (ae.securityPattern.type.equals("MAC")){
- AvatarMethod verifymac = new AvatarMethod("MAC", ae);
- verifymac.addParameter(block.getAvatarAttributeWithName(ae.securityPattern.name+"_encrypted"));
- verifymac.addParameter(block.getAvatarAttributeWithName("key_"+ae.securityPattern.name));
- if (block.getAvatarAttributeWithName(ae.securityPattern.name+"_encrypted")!=null && block.getAvatarAttributeWithName("key_"+ae.securityPattern.name)!=null){
- block.addMethod(verifymac);
- }
- tran.addAction(ae.securityPattern.name+"=verifyMAC("+ae.securityPattern.name+"_encrypted, key_"+ae.securityPattern.name+")");
- elementList.add(tran);
- elementList.add(as);
- as.addNext(tran);
- }
- //Can't decrypt hash or nonce
+ //Can't decrypt hash or nonce
+ }
}
else {
as.addNext(tran);
@@ -1268,10 +1248,14 @@ public class TML2Avatar {
request.checkAuth = p.checkAuth || request.checkAuth;
}
}
-
+ //AvatarBlock top = new AvatarBlock("TOP__TOP", avspec, null);
+ //avspec.addBlock(top);
+ //asm = top.getAvatarStateMachine();
+
ArrayList<TMLTask> tasks = tmlmap.getTMLModeling().getTasks();
for (TMLTask task:tasks){
AvatarBlock block = new AvatarBlock(task.getName(), avspec, task.getReferenceObject());
+ // block.setFather(top);
taskBlockMap.put(task, block);
avspec.addBlock(block);
}
@@ -1479,16 +1463,21 @@ public class TML2Avatar {
ar.setPrivate(originDestMap.get(channel.getOriginTask().getName()+"__"+channel.getDestinationTask().getName())==1);
}
if (channel.getType()==TMLChannel.BRBW){
- ar.setAsynchronous(false);
+ ar.setAsynchronous(true);
+ ar.setSizeOfFIFO(channel.getSize());
+ ar.setBlocking(true);
}
else if (channel.getType()==TMLChannel.BRNBW){
ar.setAsynchronous(true);
ar.setSizeOfFIFO(channel.getSize());
+ ar.setBlocking(false);
}
else {
//Create new block, hope for best
- fifo = createFifo();
- ar.setAsynchronous(false);
+ if (mc){
+ fifo = createFifo();
+ ar.setAsynchronous(false);
+ }
}
//Find in signal
@@ -1518,14 +1507,14 @@ public class TML2Avatar {
sig2.add(new AvatarSignal(channel.getOriginTask().getName()+"__OUT__"+channel.getName(), AvatarSignal.OUT, null));
}
if (sig1.size()==1 && sig2.size()==1){
- if (channel.getType()==TMLChannel.NBRNBW){
+ if (channel.getType()==TMLChannel.NBRNBW && mc){
AvatarSignal read = fifo.getSignalByName("readSignal");
ar.block2= fifo;
ar.addSignals(sig2.get(0), read);
AvatarRelation ar2= new AvatarRelation(channel.getName()+"2", fifo, taskBlockMap.get(channel.getDestinationTask()), channel.getReferenceObject());
AvatarSignal write = fifo.getSignalByName("writeSignal");
ar2.addSignals(write, sig1.get(0));
- ar2.setAsynchronous(true);
+ ar2.setAsynchronous(false);
avspec.addRelation(ar2);
}
else {
@@ -1615,6 +1604,7 @@ public class TML2Avatar {
//Throw error
System.out.println("Could not match for " + request.getName());
}
+ ar.setAsynchronous(false);
avspec.addRelation(ar);
}
}
@@ -1654,6 +1644,17 @@ public class TML2Avatar {
//Throw error
System.out.println("Could not match for " + event.getName());
}
+ if (event.isBlocking()){
+ ar.setAsynchronous(true);
+ ar.setBlocking(true);
+ ar.setSizeOfFIFO(event.getMaxSize());
+ }
+ else {
+ ar.setAsynchronous(true);
+ ar.setBlocking(false);
+ ar.setSizeOfFIFO(event.getMaxSize());
+
+ }
avspec.addRelation(ar);
}
for (AvatarSignal sig: signals){
diff --git a/src/tmltranslator/toavatar/TML2AvatarDP.java b/src/tmltranslator/toavatar/TML2AvatarDP.java
index 25b1ab51bd2ff52837459569b2458513cd8cb14e..4b0c776e56e69ee3968a0b22622fd28768767b77 100644
--- a/src/tmltranslator/toavatar/TML2AvatarDP.java
+++ b/src/tmltranslator/toavatar/TML2AvatarDP.java
@@ -70,11 +70,18 @@ public class TML2AvatarDP {
private Map<AvatarStateMachineElement, TGComponent> SMDMap = new HashMap<AvatarStateMachineElement, TGComponent>();
public Map<String, Set<String>> originDestMap = new HashMap<String, Set<String>>();
public Map<String, AvatarBDBlock> blockMap = new HashMap<String, AvatarBDBlock>();
- public TML2AvatarDP(TMLMapping tmlmapping) {
+ boolean mc;
+ boolean security;
+ AvatarSpecification avspec;
+ public TML2AvatarDP(TMLMapping tmlmapping, boolean modelcheck, boolean sec) {
tmlmap = tmlmapping;
+ mc= modelcheck;
+ security=sec;
+ }
+ public TML2AvatarDP(AvatarSpecification av) {
+ avspec=av;
}
-
public void commMap(AvatarSpecification avspec){
//Create a map of all connections
/*TMLModeling tmlmodel=tmlmap.getTMLModeling();
@@ -212,13 +219,20 @@ public class TML2AvatarDP {
return;
}
public void translate() {
- TML2Avatar tml2av = new TML2Avatar(tmlmap);
+ TML2Avatar tml2av = new TML2Avatar(tmlmap,mc,security);
+ avspec = tml2av.generateAvatarSpec("1");
+ drawPanel();
//Create AvatarDesignDiagram
+ }
+ public void drawPanel(){
if (adp ==null){
return;
}
+ if (avspec==null){
+ return;
+ }
AvatarBDPanel abd = adp.abdp;
- AvatarSpecification avspec = tml2av.generateAvatarSpec("1");
+
//Find all blocks, create blocks from left
int xpos=10;
int ypos=10;
@@ -288,19 +302,28 @@ public class TML2AvatarDP {
for (String bl1: originDestMap.keySet()){
for (String bl2:originDestMap.get(bl1)){
Vector points=new Vector();
- TGConnectingPoint p1= blockMap.get(bl1).getFreeTGConnectingPoint(blockMap.get(bl1).getX(), blockMap.get(bl1).getY());
- TGConnectingPoint p2=blockMap.get(bl2).getFreeTGConnectingPoint(blockMap.get(bl2).getX(),blockMap.get(bl2).getY());
- AvatarBDPortConnector conn = new AvatarBDPortConnector(0, 0, 0, 0, 0, 0, true, null, abd, p1, p2, points);
//Add Relations to connector
for (AvatarRelation ar:avspec.getRelations()){
- System.out.println(bl1 +" "+ ar.block1.getName() + " "+ ar.block2.getName());
if (ar.block1.getName().contains(bl1) && ar.block2.getName().contains(bl2) || ar.block1.getName().contains(bl2) && ar.block2.getName().contains(bl1)){
+ //TGConnectingPoint p1= blockMap.get(bl1).getFreeTGConnectingPoint(blockMap.get(bl1).getX(), blockMap.get(bl1).getY());
+ TGConnectingPoint p1= blockMap.get(bl1).findFirstFreeTGConnectingPoint(true,true);
+ TGConnectingPoint p2= blockMap.get(bl2).findFirstFreeTGConnectingPoint(true,true);
+ // TGConnectingPoint p2=blockMap.get(bl2).getFreeTGConnectingPoint(blockMap.get(bl2).getX(),blockMap.get(bl2).getY());
+ AvatarBDPortConnector conn = new AvatarBDPortConnector(0, 0, 0, 0, 0, 0, true, null, abd, p1, p2, points);
+ conn.setAsynchronous(ar.isAsynchronous());
+ conn.setBlocking(ar.isBlocking());
+ conn.setPrivate(ar.isPrivate());
+ conn.setSizeOfFIFO(ar.getSizeOfFIFO());
+ System.out.println(bl1 +" "+ ar.block1.getName() + " "+ ar.block2.getName());
conn.addSignal("in " +ar.getSignal1(0).getName(),true,true);
conn.addSignal("out " +ar.getSignal2(0).getName(), false,false);
System.out.println("Added Signals");
conn.updateAllSignals();
- }
+ p1.setFree(false);
+ p2.setFree(false);
+ abd.addComponent(conn, 0,0,false,true);
+ }
}
/*for (ui.AvatarSignal sig:blockMap.get(bl1).getSignalList()){
for (ui.AvatarSignal sig2: blockMap.get(bl2).getSignalList()){
@@ -310,8 +333,6 @@ public class TML2AvatarDP {
}
}
}*/
- abd.addComponent(conn, 0,0,false,true);
- System.out.println("size " +conn.getAssociationSignals().size());
}
}
ypos+=100;
diff --git a/src/ui/GTURTLEModeling.java b/src/ui/GTURTLEModeling.java
index f858b1ad935f4833dce4a3ab04dbcef7a95fb503..c43a4ef188de68946c9abd97995578f1cf1efee3 100755
--- a/src/ui/GTURTLEModeling.java
+++ b/src/ui/GTURTLEModeling.java
@@ -1144,13 +1144,29 @@ public class GTURTLEModeling {
}
System.out.println("Mapping finished");
}
+ public AvatarSpecification translateTML2AvatarMC(){
+ if (tmap !=null){
+ t2a=new TML2Avatar(tmap,true,false);
+ TML2AvatarDP tml2avatardp = new TML2AvatarDP(tmap,true,false);
+ tml2avatardp.adp = mgui.getFirstAvatarDesignPanelFound();
+ tml2avatardp.translate();
+ avatarspec = t2a.generateAvatarSpec("10");
+ }
+ else if (tmlm!=null){
+ tmap = tmlm.getDefaultMapping();
+ tmap.setTMLDesignPanel((TMLComponentDesignPanel)mgui.getCurrentTURTLEPanel());
+ t2a=new TML2Avatar(tmap,false,true);
+ avatarspec = t2a.generateAvatarSpec("10");
+ }
+ return avatarspec;
+ }
public boolean generateProVerifFromAVATAR(String _path, int _stateReachability, boolean _typed, String loopLimit) {
if (avatarspec !=null){
//use avspec
}
else if (tmap!=null){
- t2a = new TML2Avatar(tmap);
- TML2AvatarDP tml2avatardp = new TML2AvatarDP(tmap);
+ t2a = new TML2Avatar(tmap,false,true);
+ TML2AvatarDP tml2avatardp = new TML2AvatarDP(tmap,false,true);
tml2avatardp.adp = mgui.getFirstAvatarDesignPanelFound();
tml2avatardp.translate();
avatarspec = t2a.generateAvatarSpec(loopLimit);
@@ -1159,7 +1175,7 @@ public class GTURTLEModeling {
//Generate default mapping
tmap = tmlm.getDefaultMapping();
tmap.setTMLDesignPanel((TMLComponentDesignPanel)mgui.getCurrentTURTLEPanel());
- t2a=new TML2Avatar(tmap);
+ t2a=new TML2Avatar(tmap,false,true);
avatarspec = t2a.generateAvatarSpec(loopLimit);
}
else if (avatarspec == null){
diff --git a/src/ui/MainGUI.java b/src/ui/MainGUI.java
index b6e02188564d6120451e89cab0e82d2ccc94947d..f7c27925dee25f3f080a5e9c45abad4cea1838bb 100755
--- a/src/ui/MainGUI.java
+++ b/src/ui/MainGUI.java
@@ -4261,6 +4261,9 @@ public class MainGUI implements ActionListener, WindowListener, KeyListener, Pe
public void avatarModelChecker() {
TraceManager.addDev("Execute avatar model checker");
+ if (gtm.getAvatarSpecification()==null){
+ gtm.translateTML2AvatarMC();
+ }
JDialogAvatarModelChecker jmc = new JDialogAvatarModelChecker(frame, this, "Avatar: Model Checking", gtm.getAvatarSpecification(), ConfigurationTTool.TGraphPath);
jmc.setSize(550, 600);
GraphicLib.centerOnParent(jmc);
diff --git a/src/ui/avatarbd/AvatarBDPortConnector.java b/src/ui/avatarbd/AvatarBDPortConnector.java
index 06457221f7cda8ed7d10f42a276436a469812901..731ead78ec5abbd839b5823f0b3e5ceefd63ff41 100644
--- a/src/ui/avatarbd/AvatarBDPortConnector.java
+++ b/src/ui/avatarbd/AvatarBDPortConnector.java
@@ -713,18 +713,27 @@ public class AvatarBDPortConnector extends TGConnectorWithCommentConnectionPoint
return asynchronous;
}
+ public void setAsynchronous(boolean asy){
+ asynchronous=asy;
+ }
public int getSizeOfFIFO() {
return sizeOfFIFO;
}
-
+ public void setSizeOfFIFO(int size){
+ sizeOfFIFO=size;
+ }
public boolean isBlocking() {
return blockingFIFO;
}
-
+ public void setBlocking(boolean b){
+ blockingFIFO=b;
+ }
public boolean isPrivate() {
return isPrivate;
}
-
+ public void setPrivate(boolean pr){
+ isPrivate=pr;
+ }
public boolean isBroadcast() {
return isBroadcast;
}