From 57f3f9b056b7a5faf65d070004bb9cdee0ae5b33 Mon Sep 17 00:00:00 2001
From: Letitia Li <letitia.li@telecom-paristech.fr>
Date: Thu, 27 Oct 2016 10:39:49 +0200
Subject: [PATCH] Firewall interactive simulation working

---
 modeling/vehicle.xml     | 11509 ++++++++++++++++++++++++++-----------
 src/ui/GTMLModeling.java |    61 +-
 src/ui/TGComponent.java  |     6 +-
 3 files changed, 8296 insertions(+), 3280 deletions(-)

diff --git a/modeling/vehicle.xml b/modeling/vehicle.xml
index 9ae9349e27..4bc9c3cdb0 100644
--- a/modeling/vehicle.xml
+++ b/modeling/vehicle.xml
@@ -6428,1203 +6428,6458 @@
 
 
 
+<Modeling type="AVATAR Design" nameTab="AvatarDesign" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="4000" minY="10" maxY="1500" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<Validated value="Perception;Supervisor;MABX;UI;ExteriorInterface;ECU;Sensors;IMU;GPS;Camera;FusionLidar;Radar;V2X;" />
+<Ignored value="" />
+
+<COMPONENT type="5003" id="10143" >
+<cdparam x="1369" y="856" />
+<sizeparam width="210" height="100" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="DataType0" value="calculatedData" />
+<TGConnectingPoint num="0" id="10144" />
+<TGConnectingPoint num="1" id="10145" />
+<TGConnectingPoint num="2" id="10146" />
+<TGConnectingPoint num="3" id="10147" />
+<TGConnectingPoint num="4" id="10148" />
+<TGConnectingPoint num="5" id="10149" />
+<TGConnectingPoint num="6" id="10150" />
+<TGConnectingPoint num="7" id="10151" />
+<extraparam>
+<Attribute access="0" id="value" value="" type="8" typeOther="" />
+<Attribute access="0" id="reliability" value="" type="8" typeOther="" />
+<Attribute access="0" id="confidence" value="" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5003" id="10072" >
+<cdparam x="1695" y="724" />
+<sizeparam width="173" height="112" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="DataType0" value="mapCoordinate" />
+<TGConnectingPoint num="0" id="10073" />
+<TGConnectingPoint num="1" id="10074" />
+<TGConnectingPoint num="2" id="10075" />
+<TGConnectingPoint num="3" id="10076" />
+<TGConnectingPoint num="4" id="10077" />
+<TGConnectingPoint num="5" id="10078" />
+<TGConnectingPoint num="6" id="10079" />
+<TGConnectingPoint num="7" id="10080" />
+<extraparam>
+<Attribute access="0" id="x" value="" type="8" typeOther="" />
+<Attribute access="0" id="y" value="" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5003" id="9953" >
+<cdparam x="1368" y="724" />
+<sizeparam width="211" height="104" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="DataType0" value="vehCommand" />
+<TGConnectingPoint num="0" id="9954" />
+<TGConnectingPoint num="1" id="9955" />
+<TGConnectingPoint num="2" id="9956" />
+<TGConnectingPoint num="3" id="9957" />
+<TGConnectingPoint num="4" id="9958" />
+<TGConnectingPoint num="5" id="9959" />
+<TGConnectingPoint num="6" id="9960" />
+<TGConnectingPoint num="7" id="9961" />
+<extraparam>
+<Attribute access="0" id="accel" value="" type="8" typeOther="" />
+<Attribute access="0" id="brake" value="" type="8" typeOther="" />
+<Attribute access="0" id="steeringAngle" value="" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5002" id="9924" >
+<cdparam x="1142" y="684" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="9925" />
+<P1  x="1142" y="684" id="3806" />
+<P2  x="1142" y="726" id="9899" />
+<AutomaticDrawing  data="true" />
+<extraparam>
+<iso value="in V2XOut(int V2Idata, int V2Vdata)" />
+<osd value="out V2Xdata(int V2Idata, int V2Vdata)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="9897" >
+<cdparam x="1017" y="726" />
+<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="Block0" value="V2X" />
+<TGConnectingPoint num="0" id="9898" />
+<TGConnectingPoint num="1" id="9899" />
+<TGConnectingPoint num="2" id="9900" />
+<TGConnectingPoint num="3" id="9901" />
+<TGConnectingPoint num="4" id="9902" />
+<TGConnectingPoint num="5" id="9903" />
+<TGConnectingPoint num="6" id="9904" />
+<TGConnectingPoint num="7" id="9905" />
+<TGConnectingPoint num="8" id="9906" />
+<TGConnectingPoint num="9" id="9907" />
+<TGConnectingPoint num="10" id="9908" />
+<TGConnectingPoint num="11" id="9909" />
+<TGConnectingPoint num="12" id="9910" />
+<TGConnectingPoint num="13" id="9911" />
+<TGConnectingPoint num="14" id="9912" />
+<TGConnectingPoint num="15" id="9913" />
+<TGConnectingPoint num="16" id="9914" />
+<TGConnectingPoint num="17" id="9915" />
+<TGConnectingPoint num="18" id="9916" />
+<TGConnectingPoint num="19" id="9917" />
+<TGConnectingPoint num="20" id="9918" />
+<TGConnectingPoint num="21" id="9919" />
+<TGConnectingPoint num="22" id="9920" />
+<TGConnectingPoint num="23" id="9921" />
+<extraparam>
+<CryptoBlock value="true" />
+<Attribute access="0" id="V2Idata" value="" type="8" typeOther="" />
+<Attribute access="0" id="V2Vdata" value="" type="8" typeOther="" />
+<Method value="Message aencrypt(Message msg, Key k)" />
+<Method value="Message adecrypt(Message msg, Key k)" />
+<Method value="Key pk(Key k)" />
+<Method value="Message sign(Message msg, Key k)" />
+<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
+<Method value="Message cert(Key k, Message msg)" />
+<Method value="bool verifyCert(Message cert, Key k)" />
+<Method value="Key getpk(Message cert)" />
+<Method value="Message sencrypt(Message msg, Key k)" />
+<Method value="Message sdecrypt(Message msg, Key k)" />
+<Method value="Message hash(Message msg)" />
+<Method value="Message MAC(Message msg, Key k)" />
+<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
+<Method value="Message concat2(Message msg1, Message msg2)" />
+<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
+<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Method value="get2(Message msg, Message msg1, Message msg2)" />
+<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
+<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Signal value="out V2Xdata(int V2Idata, int V2Vdata)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5003" id="9285" >
+<cdparam x="252" y="769" />
+<sizeparam width="163" height="81" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="DataType1" value="Key" />
+<TGConnectingPoint num="0" id="9286" />
+<TGConnectingPoint num="1" id="9287" />
+<TGConnectingPoint num="2" id="9288" />
+<TGConnectingPoint num="3" id="9289" />
+<TGConnectingPoint num="4" id="9290" />
+<TGConnectingPoint num="5" id="9291" />
+<TGConnectingPoint num="6" id="9292" />
+<TGConnectingPoint num="7" id="9293" />
+<extraparam>
+<Attribute access="0" id="data" value="" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5003" id="9276" >
+<cdparam x="77" y="769" />
+<sizeparam width="166" height="81" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="DataType0" value="Message" />
+<TGConnectingPoint num="0" id="9277" />
+<TGConnectingPoint num="1" id="9278" />
+<TGConnectingPoint num="2" id="9279" />
+<TGConnectingPoint num="3" id="9280" />
+<TGConnectingPoint num="4" id="9281" />
+<TGConnectingPoint num="5" id="9282" />
+<TGConnectingPoint num="6" id="9283" />
+<TGConnectingPoint num="7" id="9284" />
+<extraparam>
+<Attribute access="0" id="data" value="" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5002" id="3667" >
+<cdparam x="0" y="0" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3666" />
+<P1  x="885" y="293" id="4011" />
+<P2  x="1017" y="294" id="3712" />
+<AutomaticDrawing  data="true" />
+<extraparam>
+<isd value="in IMUdata(int IMUdata)" />
+<isd value="in radarData(int radarData)" />
+<isd value="in GPSRTKdata(int GPSRTKdata)" />
+<isd value="in lidarData(int lidarData)" />
+<isd value="in camData(int camData)" />
+<oso value="out IMUdata(int IMUdata)" />
+<oso value="out radarData(int radarData)" />
+<oso value="out GPSRTKdata(int GPSRTKdata)" />
+<oso value="out lidarData(int lidarData)" />
+<oso value="out camData(int camData)" />
+<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="3673" >
+<cdparam x="0" y="0" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3672" />
+<P1  x="1267" y="344" id="3707" />
+<P2  x="1716" y="485" id="3725" />
+<AutomaticDrawing  data="true" />
+<extraparam>
+<isd value="in percStatus()" />
+<oso value="out percStatus()" />
+<FIFOType asynchronous="false" size="1024" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="3675" >
+<cdparam x="0" y="0" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3674" />
+<P1  x="1345" y="245" id="3753" />
+<P2  x="1267" y="244" id="3704" />
+<AutomaticDrawing  data="true" />
+<extraparam>
+<iso value="in commandOut(vehCommand command)" />
+<osd value="out commandOut(vehCommand command)" />
+<isd value="in vehStatus()" />
+<oso value="out vehStatus()" />
+<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="3679" >
+<cdparam x="0" y="0" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3678" />
+<P1  x="1595" y="245" id="3754" />
+<P2  x="1710" y="246" id="3828" />
+<AutomaticDrawing  data="true" />
+<extraparam>
+<isd value="in ECUin(vehCommand command)" />
+<oso value="out ECUin(vehCommand command)" />
+<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="3681" >
+<cdparam x="0" y="0" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3680" />
+<P1  x="1470" y="345" id="3756" />
+<P2  x="1841" y="485" id="3726" />
+<AutomaticDrawing  data="true" />
+<extraparam>
+<isd value="in ECUStatus()" />
+<oso value="out ECUStatus()" />
+<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="3685" >
+<cdparam x="0" y="0" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3684" />
+<P1  x="1017" y="584" id="3803" />
+<P2  x="885" y="583" id="4013" />
+<AutomaticDrawing  data="true" />
+<extraparam>
+<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="3687" >
+<cdparam x="0" y="0" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3686" />
+<P1  x="1142" y="484" id="3801" />
+<P2  x="1142" y="344" id="3706" />
+<AutomaticDrawing  data="true" />
+<extraparam>
+<isd value="in destOut()" />
+<isd value="in V2Vdata(int V2Vdata)" />
+<isd value="in V2Idata(int V2Idata)" />
+<oso value="out destOut(mapCoordinate destination)" />
+<oso value="out V2Vdata(int V2Vdata)" />
+<oso value="out V2Idata(int V2Idata)" />
+<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="3693" >
+<cdparam x="0" y="0" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3692" />
+<P1  x="1357" y="585" id="3778" />
+<P2  x="1267" y="584" id="3804" />
+<AutomaticDrawing  data="true" />
+<extraparam>
+<isd value="in UIout(mapCoordinate destination)" />
+<oso value="out UIout(mapCoordinate destination)" />
+<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="3695" >
+<cdparam x="0" y="0" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3694" />
+<P1  x="1607" y="585" id="3779" />
+<P2  x="1716" y="585" id="3728" />
+<AutomaticDrawing  data="true" />
+<extraparam>
+<FIFOType asynchronous="false" size="1024" blocking="false" private="false" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5000" id="3724" >
+<cdparam x="1017" y="144" />
+<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="Block0" value="Perception" />
+<TGConnectingPoint num="0" id="3700" />
+<TGConnectingPoint num="1" id="3701" />
+<TGConnectingPoint num="2" id="3702" />
+<TGConnectingPoint num="3" id="3703" />
+<TGConnectingPoint num="4" id="3704" />
+<TGConnectingPoint num="5" id="3705" />
+<TGConnectingPoint num="6" id="3706" />
+<TGConnectingPoint num="7" id="3707" />
+<TGConnectingPoint num="8" id="3708" />
+<TGConnectingPoint num="9" id="3709" />
+<TGConnectingPoint num="10" id="3710" />
+<TGConnectingPoint num="11" id="3711" />
+<TGConnectingPoint num="12" id="3712" />
+<TGConnectingPoint num="13" id="3713" />
+<TGConnectingPoint num="14" id="3714" />
+<TGConnectingPoint num="15" id="3715" />
+<TGConnectingPoint num="16" id="3716" />
+<TGConnectingPoint num="17" id="3717" />
+<TGConnectingPoint num="18" id="3718" />
+<TGConnectingPoint num="19" id="3719" />
+<TGConnectingPoint num="20" id="3720" />
+<TGConnectingPoint num="21" id="3721" />
+<TGConnectingPoint num="22" id="3722" />
+<TGConnectingPoint num="23" id="3723" />
+<extraparam>
+<CryptoBlock value="true" />
+<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
+<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
+<Attribute access="0" id="IMUdata" value="" type="8" typeOther="" />
+<Attribute access="0" id="GPSRTKdata" value="" type="8" typeOther="" />
+<Attribute access="0" id="camData" value="" type="8" typeOther="" />
+<Attribute access="0" id="radarData" value="" type="8" typeOther="" />
+<Attribute access="0" id="lidarData" value="" type="8" typeOther="" />
+<Attribute access="0" id="V2Vdata" value="" type="8" typeOther="" />
+<Attribute access="0" id="V2Idata" value="" type="8" typeOther="" />
+<Attribute access="0" id="infoObstacles" value="0" type="8" typeOther="" />
+<Attribute access="0" id="infoMarkings" value="0" type="8" typeOther="" />
+<Attribute access="0" id="infoInfrastructure" value="0" type="8" typeOther="" />
+<Attribute access="0" id="infoVehicle" value="0" type="8" typeOther="" />
+<Attribute access="0" id="command" value="" type="5" typeOther="vehCommand" />
+<Attribute access="0" id="environmentCondition" value="" type="8" typeOther="" />
+<Method value="Message aencrypt(Message msg, Key k)" />
+<Method value="Message adecrypt(Message msg, Key k)" />
+<Method value="Key pk(Key k)" />
+<Method value="Message sign(Message msg, Key k)" />
+<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
+<Method value="Message cert(Key k, Message msg)" />
+<Method value="bool verifyCert(Message cert, Key k)" />
+<Method value="Key getpk(Message cert)" />
+<Method value="Message sencrypt(Message msg, Key k)" />
+<Method value="Message sdecrypt(Message msg, Key k)" />
+<Method value="Message hash(Message msg)" />
+<Method value="Message MAC(Message msg, Key k)" />
+<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
+<Method value="Message concat2(Message msg1, Message msg2)" />
+<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
+<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Method value="get2(Message msg, Message msg1, Message msg2)" />
+<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
+<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Signal value="in IMUdata(int IMUdata)" />
+<Signal value="in vehStatus()" />
+<Signal value="in destOut()" />
+<Signal value="out commandOut(vehCommand command)" />
+<Signal value="out percStatus()" />
+<Signal value="in radarData(int radarData)" />
+<Signal value="in lidarData(int lidarData)" />
+<Signal value="in camData(int camData)" />
+<Signal value="in GPSRTKdata(int GPSRTKdata)" />
+<Signal value="in V2Vdata(int V2Vdata)" />
+<Signal value="in V2Idata(int V2Idata)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="3749" >
+<cdparam x="1716" y="485" />
+<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="Block0" value="Supervisor" />
+<TGConnectingPoint num="0" id="3725" />
+<TGConnectingPoint num="1" id="3726" />
+<TGConnectingPoint num="2" id="3727" />
+<TGConnectingPoint num="3" id="3728" />
+<TGConnectingPoint num="4" id="3729" />
+<TGConnectingPoint num="5" id="3730" />
+<TGConnectingPoint num="6" id="3731" />
+<TGConnectingPoint num="7" id="3732" />
+<TGConnectingPoint num="8" id="3733" />
+<TGConnectingPoint num="9" id="3734" />
+<TGConnectingPoint num="10" id="3735" />
+<TGConnectingPoint num="11" id="3736" />
+<TGConnectingPoint num="12" id="3737" />
+<TGConnectingPoint num="13" id="3738" />
+<TGConnectingPoint num="14" id="3739" />
+<TGConnectingPoint num="15" id="3740" />
+<TGConnectingPoint num="16" id="3741" />
+<TGConnectingPoint num="17" id="3742" />
+<TGConnectingPoint num="18" id="3743" />
+<TGConnectingPoint num="19" id="3744" />
+<TGConnectingPoint num="20" id="3745" />
+<TGConnectingPoint num="21" id="3746" />
+<TGConnectingPoint num="22" id="3747" />
+<TGConnectingPoint num="23" id="3748" />
+<extraparam>
+<CryptoBlock value="true" />
+<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
+<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
+<Attribute access="0" id="error" value="false" type="4" typeOther="" />
+<Attribute access="0" id="Design__percStatus__chData" value="0" type="8" typeOther="" />
+<Attribute access="0" id="Design__ECUStatus__chData" value="0" type="8" typeOther="" />
+<Method value="Message aencrypt(Message msg, Key k)" />
+<Method value="Message adecrypt(Message msg, Key k)" />
+<Method value="Key pk(Key k)" />
+<Method value="Message sign(Message msg, Key k)" />
+<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
+<Method value="Message cert(Key k, Message msg)" />
+<Method value="bool verifyCert(Message cert, Key k)" />
+<Method value="Key getpk(Message cert)" />
+<Method value="Message sencrypt(Message msg, Key k)" />
+<Method value="Message sdecrypt(Message msg, Key k)" />
+<Method value="Message hash(Message msg)" />
+<Method value="Message MAC(Message msg, Key k)" />
+<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
+<Method value="Message concat2(Message msg1, Message msg2)" />
+<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
+<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Method value="get2(Message msg, Message msg1, Message msg2)" />
+<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
+<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Signal value="in percStatus()" />
+<Signal value="in ECUStatus()" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="3774" >
+<cdparam x="1345" y="145" />
+<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="Block0" value="MABX" />
+<TGConnectingPoint num="0" id="3750" />
+<TGConnectingPoint num="1" id="3751" />
+<TGConnectingPoint num="2" id="3752" />
+<TGConnectingPoint num="3" id="3753" />
+<TGConnectingPoint num="4" id="3754" />
+<TGConnectingPoint num="5" id="3755" />
+<TGConnectingPoint num="6" id="3756" />
+<TGConnectingPoint num="7" id="3757" />
+<TGConnectingPoint num="8" id="3758" />
+<TGConnectingPoint num="9" id="3759" />
+<TGConnectingPoint num="10" id="3760" />
+<TGConnectingPoint num="11" id="3761" />
+<TGConnectingPoint num="12" id="3762" />
+<TGConnectingPoint num="13" id="3763" />
+<TGConnectingPoint num="14" id="3764" />
+<TGConnectingPoint num="15" id="3765" />
+<TGConnectingPoint num="16" id="3766" />
+<TGConnectingPoint num="17" id="3767" />
+<TGConnectingPoint num="18" id="3768" />
+<TGConnectingPoint num="19" id="3769" />
+<TGConnectingPoint num="20" id="3770" />
+<TGConnectingPoint num="21" id="3771" />
+<TGConnectingPoint num="22" id="3772" />
+<TGConnectingPoint num="23" id="3773" />
+<extraparam>
+<CryptoBlock value="true" />
+<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
+<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
+<Attribute access="0" id="command" value="" type="5" typeOther="vehCommand" />
+<Attribute access="0" id="maxAccel" value="" type="8" typeOther="" />
+<Attribute access="0" id="maxBrake" value="" type="8" typeOther="" />
+<Method value="Message aencrypt(Message msg, Key k)" />
+<Method value="Message adecrypt(Message msg, Key k)" />
+<Method value="Key pk(Key k)" />
+<Method value="Message sign(Message msg, Key k)" />
+<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
+<Method value="Message cert(Key k, Message msg)" />
+<Method value="bool verifyCert(Message cert, Key k)" />
+<Method value="Key getpk(Message cert)" />
+<Method value="Message sencrypt(Message msg, Key k)" />
+<Method value="Message sdecrypt(Message msg, Key k)" />
+<Method value="Message hash(Message msg)" />
+<Method value="Message MAC(Message msg, Key k)" />
+<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
+<Method value="Message concat2(Message msg1, Message msg2)" />
+<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
+<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Method value="get2(Message msg, Message msg1, Message msg2)" />
+<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
+<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Signal value="out ECUin(vehCommand command)" />
+<Signal value="out ECUStatus()" />
+<Signal value="out vehStatus()" />
+<Signal value="in commandOut(vehCommand command)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="3799" >
+<cdparam x="1357" y="485" />
+<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="Block0" value="UI" />
+<TGConnectingPoint num="0" id="3775" />
+<TGConnectingPoint num="1" id="3776" />
+<TGConnectingPoint num="2" id="3777" />
+<TGConnectingPoint num="3" id="3778" />
+<TGConnectingPoint num="4" id="3779" />
+<TGConnectingPoint num="5" id="3780" />
+<TGConnectingPoint num="6" id="3781" />
+<TGConnectingPoint num="7" id="3782" />
+<TGConnectingPoint num="8" id="3783" />
+<TGConnectingPoint num="9" id="3784" />
+<TGConnectingPoint num="10" id="3785" />
+<TGConnectingPoint num="11" id="3786" />
+<TGConnectingPoint num="12" id="3787" />
+<TGConnectingPoint num="13" id="3788" />
+<TGConnectingPoint num="14" id="3789" />
+<TGConnectingPoint num="15" id="3790" />
+<TGConnectingPoint num="16" id="3791" />
+<TGConnectingPoint num="17" id="3792" />
+<TGConnectingPoint num="18" id="3793" />
+<TGConnectingPoint num="19" id="3794" />
+<TGConnectingPoint num="20" id="3795" />
+<TGConnectingPoint num="21" id="3796" />
+<TGConnectingPoint num="22" id="3797" />
+<TGConnectingPoint num="23" id="3798" />
+<extraparam>
+<CryptoBlock value="true" />
+<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
+<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
+<Attribute access="0" id="destination" value="" type="5" typeOther="mapCoordinate" />
+<Method value="Message aencrypt(Message msg, Key k)" />
+<Method value="Message adecrypt(Message msg, Key k)" />
+<Method value="Key pk(Key k)" />
+<Method value="Message sign(Message msg, Key k)" />
+<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
+<Method value="Message cert(Key k, Message msg)" />
+<Method value="bool verifyCert(Message cert, Key k)" />
+<Method value="Key getpk(Message cert)" />
+<Method value="Message sencrypt(Message msg, Key k)" />
+<Method value="Message sdecrypt(Message msg, Key k)" />
+<Method value="Message hash(Message msg)" />
+<Method value="Message MAC(Message msg, Key k)" />
+<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
+<Method value="Message concat2(Message msg1, Message msg2)" />
+<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
+<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Method value="get2(Message msg, Message msg1, Message msg2)" />
+<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
+<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Signal value="out UIout(mapCoordinate destination)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="3824" >
+<cdparam x="1017" y="484" />
+<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="Block0" value="ExteriorInterface" />
+<TGConnectingPoint num="0" id="3800" />
+<TGConnectingPoint num="1" id="3801" />
+<TGConnectingPoint num="2" id="3802" />
+<TGConnectingPoint num="3" id="3803" />
+<TGConnectingPoint num="4" id="3804" />
+<TGConnectingPoint num="5" id="3805" />
+<TGConnectingPoint num="6" id="3806" />
+<TGConnectingPoint num="7" id="3807" />
+<TGConnectingPoint num="8" id="3808" />
+<TGConnectingPoint num="9" id="3809" />
+<TGConnectingPoint num="10" id="3810" />
+<TGConnectingPoint num="11" id="3811" />
+<TGConnectingPoint num="12" id="3812" />
+<TGConnectingPoint num="13" id="3813" />
+<TGConnectingPoint num="14" id="3814" />
+<TGConnectingPoint num="15" id="3815" />
+<TGConnectingPoint num="16" id="3816" />
+<TGConnectingPoint num="17" id="3817" />
+<TGConnectingPoint num="18" id="3818" />
+<TGConnectingPoint num="19" id="3819" />
+<TGConnectingPoint num="20" id="3820" />
+<TGConnectingPoint num="21" id="3821" />
+<TGConnectingPoint num="22" id="3822" />
+<TGConnectingPoint num="23" id="3823" />
+<extraparam>
+<CryptoBlock value="true" />
+<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
+<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
+<Attribute access="0" id="V2Vdata" value="0" type="8" typeOther="" />
+<Attribute access="0" id="V2Idata" value="0" type="8" typeOther="" />
+<Attribute access="0" id="destination" value="" type="5" typeOther="mapCoordinate" />
+<Method value="Message aencrypt(Message msg, Key k)" />
+<Method value="Message adecrypt(Message msg, Key k)" />
+<Method value="Key pk(Key k)" />
+<Method value="Message sign(Message msg, Key k)" />
+<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
+<Method value="Message cert(Key k, Message msg)" />
+<Method value="bool verifyCert(Message cert, Key k)" />
+<Method value="Key getpk(Message cert)" />
+<Method value="Message sencrypt(Message msg, Key k)" />
+<Method value="Message sdecrypt(Message msg, Key k)" />
+<Method value="Message hash(Message msg)" />
+<Method value="Message MAC(Message msg, Key k)" />
+<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
+<Method value="Message concat2(Message msg1, Message msg2)" />
+<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
+<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Method value="get2(Message msg, Message msg1, Message msg2)" />
+<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
+<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Signal value="in V2XOut(int V2Idata, int V2Vdata)" />
+<Signal value="in UIout(mapCoordinate destination)" />
+<Signal value="out destOut(mapCoordinate destination)" />
+<Signal value="out V2Vdata(int V2Vdata)" />
+<Signal value="out V2Idata(int V2Idata)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="3849" >
+<cdparam x="1710" y="146" />
+<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="Block0" value="ECU" />
+<TGConnectingPoint num="0" id="3825" />
+<TGConnectingPoint num="1" id="3826" />
+<TGConnectingPoint num="2" id="3827" />
+<TGConnectingPoint num="3" id="3828" />
+<TGConnectingPoint num="4" id="3829" />
+<TGConnectingPoint num="5" id="3830" />
+<TGConnectingPoint num="6" id="3831" />
+<TGConnectingPoint num="7" id="3832" />
+<TGConnectingPoint num="8" id="3833" />
+<TGConnectingPoint num="9" id="3834" />
+<TGConnectingPoint num="10" id="3835" />
+<TGConnectingPoint num="11" id="3836" />
+<TGConnectingPoint num="12" id="3837" />
+<TGConnectingPoint num="13" id="3838" />
+<TGConnectingPoint num="14" id="3839" />
+<TGConnectingPoint num="15" id="3840" />
+<TGConnectingPoint num="16" id="3841" />
+<TGConnectingPoint num="17" id="3842" />
+<TGConnectingPoint num="18" id="3843" />
+<TGConnectingPoint num="19" id="3844" />
+<TGConnectingPoint num="20" id="3845" />
+<TGConnectingPoint num="21" id="3846" />
+<TGConnectingPoint num="22" id="3847" />
+<TGConnectingPoint num="23" id="3848" />
+<extraparam>
+<CryptoBlock value="true" />
+<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
+<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
+<Attribute access="0" id="command" value="" type="5" typeOther="vehCommand" />
+<Method value="Message aencrypt(Message msg, Key k)" />
+<Method value="Message adecrypt(Message msg, Key k)" />
+<Method value="Key pk(Key k)" />
+<Method value="Message sign(Message msg, Key k)" />
+<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
+<Method value="Message cert(Key k, Message msg)" />
+<Method value="bool verifyCert(Message cert, Key k)" />
+<Method value="Key getpk(Message cert)" />
+<Method value="Message sencrypt(Message msg, Key k)" />
+<Method value="Message sdecrypt(Message msg, Key k)" />
+<Method value="Message hash(Message msg)" />
+<Method value="Message MAC(Message msg, Key k)" />
+<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
+<Method value="Message concat2(Message msg1, Message msg2)" />
+<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
+<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Method value="get2(Message msg, Message msg1, Message msg2)" />
+<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
+<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Signal value="in ECUin(vehCommand command)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="4024" >
+<cdparam x="75" y="148" />
+<sizeparam width="810" height="581" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="4000" minY="10" maxY="1500" />
+<infoparam name="Block0" value="Sensors" />
+<TGConnectingPoint num="0" id="4000" />
+<TGConnectingPoint num="1" id="4001" />
+<TGConnectingPoint num="2" id="4002" />
+<TGConnectingPoint num="3" id="4003" />
+<TGConnectingPoint num="4" id="4004" />
+<TGConnectingPoint num="5" id="4005" />
+<TGConnectingPoint num="6" id="4006" />
+<TGConnectingPoint num="7" id="4007" />
+<TGConnectingPoint num="8" id="4008" />
+<TGConnectingPoint num="9" id="4009" />
+<TGConnectingPoint num="10" id="4010" />
+<TGConnectingPoint num="11" id="4011" />
+<TGConnectingPoint num="12" id="4012" />
+<TGConnectingPoint num="13" id="4013" />
+<TGConnectingPoint num="14" id="4014" />
+<TGConnectingPoint num="15" id="4015" />
+<TGConnectingPoint num="16" id="4016" />
+<TGConnectingPoint num="17" id="4017" />
+<TGConnectingPoint num="18" id="4018" />
+<TGConnectingPoint num="19" id="4019" />
+<TGConnectingPoint num="20" id="4020" />
+<TGConnectingPoint num="21" id="4021" />
+<TGConnectingPoint num="22" id="4022" />
+<TGConnectingPoint num="23" id="4023" />
+<extraparam>
+<CryptoBlock value="false" />
+<Signal value="out IMUdata(int IMUdata)" />
+<Signal value="out radarData(int radarData)" />
+<Signal value="out GPSRTKdata(int GPSRTKdata)" />
+<Signal value="out lidarData(int lidarData)" />
+<Signal value="out camData(int camData)" />
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="5000" id="3899" >
+<father id="4024" num="0" />
+<cdparam x="91" y="301" />
+<sizeparam width="248" height="197" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="562" minY="0" maxY="384" />
+<infoparam name="Block0" value="IMU" />
+<TGConnectingPoint num="0" id="3875" />
+<TGConnectingPoint num="1" id="3876" />
+<TGConnectingPoint num="2" id="3877" />
+<TGConnectingPoint num="3" id="3878" />
+<TGConnectingPoint num="4" id="3879" />
+<TGConnectingPoint num="5" id="3880" />
+<TGConnectingPoint num="6" id="3881" />
+<TGConnectingPoint num="7" id="3882" />
+<TGConnectingPoint num="8" id="3883" />
+<TGConnectingPoint num="9" id="3884" />
+<TGConnectingPoint num="10" id="3885" />
+<TGConnectingPoint num="11" id="3886" />
+<TGConnectingPoint num="12" id="3887" />
+<TGConnectingPoint num="13" id="3888" />
+<TGConnectingPoint num="14" id="3889" />
+<TGConnectingPoint num="15" id="3890" />
+<TGConnectingPoint num="16" id="3891" />
+<TGConnectingPoint num="17" id="3892" />
+<TGConnectingPoint num="18" id="3893" />
+<TGConnectingPoint num="19" id="3894" />
+<TGConnectingPoint num="20" id="3895" />
+<TGConnectingPoint num="21" id="3896" />
+<TGConnectingPoint num="22" id="3897" />
+<TGConnectingPoint num="23" id="3898" />
+<extraparam>
+<CryptoBlock value="true" />
+<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
+<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
+<Attribute access="0" id="Design__IMUdata__chData" value="0" type="8" typeOther="" />
+<Attribute access="0" id="IMUdata" value="0" type="8" typeOther="" />
+<Method value="Message aencrypt(Message msg, Key k)" />
+<Method value="Message adecrypt(Message msg, Key k)" />
+<Method value="Key pk(Key k)" />
+<Method value="Message sign(Message msg, Key k)" />
+<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
+<Method value="Message cert(Key k, Message msg)" />
+<Method value="bool verifyCert(Message cert, Key k)" />
+<Method value="Key getpk(Message cert)" />
+<Method value="Message sencrypt(Message msg, Key k)" />
+<Method value="Message sdecrypt(Message msg, Key k)" />
+<Method value="Message hash(Message msg)" />
+<Method value="Message MAC(Message msg, Key k)" />
+<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
+<Method value="Message concat2(Message msg1, Message msg2)" />
+<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
+<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Method value="get2(Message msg, Message msg1, Message msg2)" />
+<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
+<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="5000" id="3924" >
+<father id="4024" num="1" />
+<cdparam x="92" y="515" />
+<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="560" minY="0" maxY="381" />
+<infoparam name="Block0" value="GPS" />
+<TGConnectingPoint num="0" id="3900" />
+<TGConnectingPoint num="1" id="3901" />
+<TGConnectingPoint num="2" id="3902" />
+<TGConnectingPoint num="3" id="3903" />
+<TGConnectingPoint num="4" id="3904" />
+<TGConnectingPoint num="5" id="3905" />
+<TGConnectingPoint num="6" id="3906" />
+<TGConnectingPoint num="7" id="3907" />
+<TGConnectingPoint num="8" id="3908" />
+<TGConnectingPoint num="9" id="3909" />
+<TGConnectingPoint num="10" id="3910" />
+<TGConnectingPoint num="11" id="3911" />
+<TGConnectingPoint num="12" id="3912" />
+<TGConnectingPoint num="13" id="3913" />
+<TGConnectingPoint num="14" id="3914" />
+<TGConnectingPoint num="15" id="3915" />
+<TGConnectingPoint num="16" id="3916" />
+<TGConnectingPoint num="17" id="3917" />
+<TGConnectingPoint num="18" id="3918" />
+<TGConnectingPoint num="19" id="3919" />
+<TGConnectingPoint num="20" id="3920" />
+<TGConnectingPoint num="21" id="3921" />
+<TGConnectingPoint num="22" id="3922" />
+<TGConnectingPoint num="23" id="3923" />
+<extraparam>
+<CryptoBlock value="true" />
+<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
+<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
+<Attribute access="0" id="GPSRTKdata" value="" type="8" typeOther="" />
+<Method value="Message aencrypt(Message msg, Key k)" />
+<Method value="Message adecrypt(Message msg, Key k)" />
+<Method value="Key pk(Key k)" />
+<Method value="Message sign(Message msg, Key k)" />
+<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
+<Method value="Message cert(Key k, Message msg)" />
+<Method value="bool verifyCert(Message cert, Key k)" />
+<Method value="Key getpk(Message cert)" />
+<Method value="Message sencrypt(Message msg, Key k)" />
+<Method value="Message sdecrypt(Message msg, Key k)" />
+<Method value="Message hash(Message msg)" />
+<Method value="Message MAC(Message msg, Key k)" />
+<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
+<Method value="Message concat2(Message msg1, Message msg2)" />
+<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
+<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Method value="get2(Message msg, Message msg1, Message msg2)" />
+<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
+<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="5000" id="3949" >
+<father id="4024" num="2" />
+<cdparam x="351" y="300" />
+<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="560" minY="0" maxY="381" />
+<infoparam name="Block0" value="Camera" />
+<TGConnectingPoint num="0" id="3925" />
+<TGConnectingPoint num="1" id="3926" />
+<TGConnectingPoint num="2" id="3927" />
+<TGConnectingPoint num="3" id="3928" />
+<TGConnectingPoint num="4" id="3929" />
+<TGConnectingPoint num="5" id="3930" />
+<TGConnectingPoint num="6" id="3931" />
+<TGConnectingPoint num="7" id="3932" />
+<TGConnectingPoint num="8" id="3933" />
+<TGConnectingPoint num="9" id="3934" />
+<TGConnectingPoint num="10" id="3935" />
+<TGConnectingPoint num="11" id="3936" />
+<TGConnectingPoint num="12" id="3937" />
+<TGConnectingPoint num="13" id="3938" />
+<TGConnectingPoint num="14" id="3939" />
+<TGConnectingPoint num="15" id="3940" />
+<TGConnectingPoint num="16" id="3941" />
+<TGConnectingPoint num="17" id="3942" />
+<TGConnectingPoint num="18" id="3943" />
+<TGConnectingPoint num="19" id="3944" />
+<TGConnectingPoint num="20" id="3945" />
+<TGConnectingPoint num="21" id="3946" />
+<TGConnectingPoint num="22" id="3947" />
+<TGConnectingPoint num="23" id="3948" />
+<extraparam>
+<CryptoBlock value="true" />
+<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
+<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
+<Attribute access="0" id="signal" value="0" type="8" typeOther="" />
+<Attribute access="0" id="cameraInterval" value="0" type="8" typeOther="" />
+<Attribute access="0" id="Design__CamData__chData" value="0" type="8" typeOther="" />
+<Attribute access="0" id="camData" value="" type="8" typeOther="" />
+<Method value="Message aencrypt(Message msg, Key k)" />
+<Method value="Message adecrypt(Message msg, Key k)" />
+<Method value="Key pk(Key k)" />
+<Method value="Message sign(Message msg, Key k)" />
+<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
+<Method value="Message cert(Key k, Message msg)" />
+<Method value="bool verifyCert(Message cert, Key k)" />
+<Method value="Key getpk(Message cert)" />
+<Method value="Message sencrypt(Message msg, Key k)" />
+<Method value="Message sdecrypt(Message msg, Key k)" />
+<Method value="Message hash(Message msg)" />
+<Method value="Message MAC(Message msg, Key k)" />
+<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
+<Method value="Message concat2(Message msg1, Message msg2)" />
+<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
+<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Method value="get2(Message msg, Message msg1, Message msg2)" />
+<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
+<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="5000" id="3974" >
+<father id="4024" num="3" />
+<cdparam x="618" y="512" />
+<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="560" minY="0" maxY="381" />
+<infoparam name="Block0" value="FusionLidar" />
+<TGConnectingPoint num="0" id="3950" />
+<TGConnectingPoint num="1" id="3951" />
+<TGConnectingPoint num="2" id="3952" />
+<TGConnectingPoint num="3" id="3953" />
+<TGConnectingPoint num="4" id="3954" />
+<TGConnectingPoint num="5" id="3955" />
+<TGConnectingPoint num="6" id="3956" />
+<TGConnectingPoint num="7" id="3957" />
+<TGConnectingPoint num="8" id="3958" />
+<TGConnectingPoint num="9" id="3959" />
+<TGConnectingPoint num="10" id="3960" />
+<TGConnectingPoint num="11" id="3961" />
+<TGConnectingPoint num="12" id="3962" />
+<TGConnectingPoint num="13" id="3963" />
+<TGConnectingPoint num="14" id="3964" />
+<TGConnectingPoint num="15" id="3965" />
+<TGConnectingPoint num="16" id="3966" />
+<TGConnectingPoint num="17" id="3967" />
+<TGConnectingPoint num="18" id="3968" />
+<TGConnectingPoint num="19" id="3969" />
+<TGConnectingPoint num="20" id="3970" />
+<TGConnectingPoint num="21" id="3971" />
+<TGConnectingPoint num="22" id="3972" />
+<TGConnectingPoint num="23" id="3973" />
+<extraparam>
+<CryptoBlock value="true" />
+<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
+<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
+<Attribute access="0" id="signal" value="0" type="8" typeOther="" />
+<Attribute access="0" id="fusionInterval" value="0" type="8" typeOther="" />
+<Attribute access="0" id="Design__LidarData__chData" value="0" type="8" typeOther="" />
+<Attribute access="0" id="lidarData" value="" type="8" typeOther="" />
+<Method value="Message aencrypt(Message msg, Key k)" />
+<Method value="Message adecrypt(Message msg, Key k)" />
+<Method value="Key pk(Key k)" />
+<Method value="Message sign(Message msg, Key k)" />
+<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
+<Method value="Message cert(Key k, Message msg)" />
+<Method value="bool verifyCert(Message cert, Key k)" />
+<Method value="Key getpk(Message cert)" />
+<Method value="Message sencrypt(Message msg, Key k)" />
+<Method value="Message sdecrypt(Message msg, Key k)" />
+<Method value="Message hash(Message msg)" />
+<Method value="Message MAC(Message msg, Key k)" />
+<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
+<Method value="Message concat2(Message msg1, Message msg2)" />
+<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
+<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Method value="get2(Message msg, Message msg1, Message msg2)" />
+<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
+<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="5000" id="3999" >
+<father id="4024" num="4" />
+<cdparam x="618" y="299" />
+<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="3600" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="560" minY="0" maxY="381" />
+<infoparam name="Block0" value="Radar" />
+<TGConnectingPoint num="0" id="3975" />
+<TGConnectingPoint num="1" id="3976" />
+<TGConnectingPoint num="2" id="3977" />
+<TGConnectingPoint num="3" id="3978" />
+<TGConnectingPoint num="4" id="3979" />
+<TGConnectingPoint num="5" id="3980" />
+<TGConnectingPoint num="6" id="3981" />
+<TGConnectingPoint num="7" id="3982" />
+<TGConnectingPoint num="8" id="3983" />
+<TGConnectingPoint num="9" id="3984" />
+<TGConnectingPoint num="10" id="3985" />
+<TGConnectingPoint num="11" id="3986" />
+<TGConnectingPoint num="12" id="3987" />
+<TGConnectingPoint num="13" id="3988" />
+<TGConnectingPoint num="14" id="3989" />
+<TGConnectingPoint num="15" id="3990" />
+<TGConnectingPoint num="16" id="3991" />
+<TGConnectingPoint num="17" id="3992" />
+<TGConnectingPoint num="18" id="3993" />
+<TGConnectingPoint num="19" id="3994" />
+<TGConnectingPoint num="20" id="3995" />
+<TGConnectingPoint num="21" id="3996" />
+<TGConnectingPoint num="22" id="3997" />
+<TGConnectingPoint num="23" id="3998" />
+<extraparam>
+<CryptoBlock value="true" />
+<Attribute access="0" id="tmp" value="0" type="8" typeOther="" />
+<Attribute access="0" id="loop_index" value="0" type="8" typeOther="" />
+<Attribute access="0" id="signal" value="0" type="8" typeOther="" />
+<Attribute access="0" id="radarInterval" value="0" type="8" typeOther="" />
+<Attribute access="0" id="Design__RadarData__chData" value="0" type="8" typeOther="" />
+<Attribute access="0" id="radarData" value="" type="8" typeOther="" />
+<Method value="Message aencrypt(Message msg, Key k)" />
+<Method value="Message adecrypt(Message msg, Key k)" />
+<Method value="Key pk(Key k)" />
+<Method value="Message sign(Message msg, Key k)" />
+<Method value="bool verifySign(Message msg1, Message sig, Key k)" />
+<Method value="Message cert(Key k, Message msg)" />
+<Method value="bool verifyCert(Message cert, Key k)" />
+<Method value="Key getpk(Message cert)" />
+<Method value="Message sencrypt(Message msg, Key k)" />
+<Method value="Message sdecrypt(Message msg, Key k)" />
+<Method value="Message hash(Message msg)" />
+<Method value="Message MAC(Message msg, Key k)" />
+<Method value="bool verifyMAC(Message msg, Key k, Message macmsg)" />
+<Method value="Message concat2(Message msg1, Message msg2)" />
+<Method value="Message concat3(Message msg1, Message msg2, Message msg3)" />
+<Method value="Message concat4(Message msg1, Message msg2, Message msg3, Message msg4)" />
+<Method value="get2(Message msg, Message msg1, Message msg2)" />
+<Method value="get3(Message msg, Message msg1, Message msg2, Message msg3)" />
+<Method value="get4(Message msg, Message msg1, Message msg2, Message msg3, Message msg4)" />
+</extraparam>
+</SUBCOMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Perception" minX="10" maxX="2500" minY="10" maxY="2500" >
+<CONNECTOR type="5102" id="10136" >
+<cdparam x="229" y="753" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10137" />
+<P1  x="229" y="753" id="10119" />
+<P2  x="486" y="774" id="9480" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10138" >
+<father id="10136" num="0" />
+<cdparam x="229" y="793" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="10139" />
+<TGConnectingPoint num="1" id="10140" />
+<TGConnectingPoint num="2" id="10141" />
+<TGConnectingPoint num="3" id="10142" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5106" id="10088" >
+<cdparam x="127" y="703" />
+<sizeparam width="165" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="State" value="fusionPerceptionMap" />
+<TGConnectingPoint num="0" id="10089" />
+<TGConnectingPoint num="1" id="10090" />
+<TGConnectingPoint num="2" id="10091" />
+<TGConnectingPoint num="3" id="10092" />
+<TGConnectingPoint num="4" id="10093" />
+<TGConnectingPoint num="5" id="10094" />
+<TGConnectingPoint num="6" id="10095" />
+<TGConnectingPoint num="7" id="10096" />
+<TGConnectingPoint num="8" id="10097" />
+<TGConnectingPoint num="9" id="10098" />
+<TGConnectingPoint num="10" id="10099" />
+<TGConnectingPoint num="11" id="10100" />
+<TGConnectingPoint num="12" id="10101" />
+<TGConnectingPoint num="13" id="10102" />
+<TGConnectingPoint num="14" id="10103" />
+<TGConnectingPoint num="15" id="10104" />
+<TGConnectingPoint num="16" id="10105" />
+<TGConnectingPoint num="17" id="10106" />
+<TGConnectingPoint num="18" id="10107" />
+<TGConnectingPoint num="19" id="10108" />
+<TGConnectingPoint num="20" id="10109" />
+<TGConnectingPoint num="21" id="10110" />
+<TGConnectingPoint num="22" id="10111" />
+<TGConnectingPoint num="23" id="10112" />
+<TGConnectingPoint num="24" id="10113" />
+<TGConnectingPoint num="25" id="10114" />
+<TGConnectingPoint num="26" id="10115" />
+<TGConnectingPoint num="27" id="10116" />
+<TGConnectingPoint num="28" id="10117" />
+<TGConnectingPoint num="29" id="10118" />
+<TGConnectingPoint num="30" id="10119" />
+<TGConnectingPoint num="31" id="10120" />
+<TGConnectingPoint num="32" id="10121" />
+<TGConnectingPoint num="33" id="10122" />
+<TGConnectingPoint num="34" id="10123" />
+<TGConnectingPoint num="35" id="10124" />
+<TGConnectingPoint num="36" id="10125" />
+<TGConnectingPoint num="37" id="10126" />
+<TGConnectingPoint num="38" id="10127" />
+<TGConnectingPoint num="39" id="10128" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5102" id="10081" >
+<cdparam x="380" y="636" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10082" />
+<P1  x="380" y="636" id="4640" />
+<P2  x="511" y="774" id="9481" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10083" >
+<father id="10081" num="0" />
+<cdparam x="380" y="676" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="10084" />
+<TGConnectingPoint num="1" id="10085" />
+<TGConnectingPoint num="2" id="10086" />
+<TGConnectingPoint num="3" id="10087" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9731" >
+<cdparam x="493" y="1184" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9732" />
+<P1  x="493" y="1184" id="4484" />
+<P2  x="498" y="1237" id="4427" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9733" >
+<father id="9731" num="0" />
+<cdparam x="493" y="1224" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9734" />
+<TGConnectingPoint num="1" id="9735" />
+<TGConnectingPoint num="2" id="9736" />
+<TGConnectingPoint num="3" id="9737" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9724" >
+<cdparam x="816" y="947" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9725" />
+<P1  x="816" y="947" id="9648" />
+<P2  x="557" y="1111" id="4487" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9726" >
+<father id="9724" num="0" />
+<cdparam x="816" y="987" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9727" />
+<TGConnectingPoint num="1" id="9728" />
+<TGConnectingPoint num="2" id="9729" />
+<TGConnectingPoint num="3" id="9730" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9717" >
+<cdparam x="623" y="959" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9718" />
+<P1  x="623" y="959" id="9552" />
+<P2  x="524" y="1111" id="4496" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9719" >
+<father id="9717" num="0" />
+<cdparam x="623" y="999" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9720" />
+<TGConnectingPoint num="1" id="9721" />
+<TGConnectingPoint num="2" id="9722" />
+<TGConnectingPoint num="3" id="9723" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9710" >
+<cdparam x="411" y="951" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9711" />
+<P1  x="411" y="951" id="9600" />
+<P2  x="460" y="1111" id="4495" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9712" >
+<father id="9710" num="0" />
+<cdparam x="411" y="991" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9713" />
+<TGConnectingPoint num="1" id="9714" />
+<TGConnectingPoint num="2" id="9715" />
+<TGConnectingPoint num="3" id="9716" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9703" >
+<cdparam x="206" y="953" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9704" />
+<P1  x="206" y="953" id="9511" />
+<P2  x="396" y="1111" id="4494" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9705" >
+<father id="9703" num="0" />
+<cdparam x="206" y="993" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9706" />
+<TGConnectingPoint num="1" id="9707" />
+<TGConnectingPoint num="2" id="9708" />
+<TGConnectingPoint num="3" id="9709" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9696" >
+<cdparam x="445" y="1402" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9697" />
+<P1  x="498" y="1447" id="4269" />
+<P2  x="498" y="1480" id="4216" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9698" >
+<father id="9696" num="0" />
+<cdparam x="445" y="1442" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9699" />
+<TGConnectingPoint num="1" id="9700" />
+<TGConnectingPoint num="2" id="9701" />
+<TGConnectingPoint num="3" id="9702" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9689" >
+<cdparam x="486" y="824" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9690" />
+<P1  x="486" y="824" id="9492" />
+<P2  x="206" y="891" id="9506" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9691" >
+<father id="9689" num="0" />
+<cdparam x="486" y="864" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9692" />
+<TGConnectingPoint num="1" id="9693" />
+<TGConnectingPoint num="2" id="9694" />
+<TGConnectingPoint num="3" id="9695" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5106" id="9641" >
+<cdparam x="766" y="897" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="State" value="calcTrajMap" />
+<TGConnectingPoint num="0" id="9642" />
+<TGConnectingPoint num="1" id="9643" />
+<TGConnectingPoint num="2" id="9644" />
+<TGConnectingPoint num="3" id="9645" />
+<TGConnectingPoint num="4" id="9646" />
+<TGConnectingPoint num="5" id="9647" />
+<TGConnectingPoint num="6" id="9648" />
+<TGConnectingPoint num="7" id="9649" />
+<TGConnectingPoint num="8" id="9650" />
+<TGConnectingPoint num="9" id="9651" />
+<TGConnectingPoint num="10" id="9652" />
+<TGConnectingPoint num="11" id="9653" />
+<TGConnectingPoint num="12" id="9654" />
+<TGConnectingPoint num="13" id="9655" />
+<TGConnectingPoint num="14" id="9656" />
+<TGConnectingPoint num="15" id="9657" />
+<TGConnectingPoint num="16" id="9658" />
+<TGConnectingPoint num="17" id="9659" />
+<TGConnectingPoint num="18" id="9660" />
+<TGConnectingPoint num="19" id="9661" />
+<TGConnectingPoint num="20" id="9662" />
+<TGConnectingPoint num="21" id="9663" />
+<TGConnectingPoint num="22" id="9664" />
+<TGConnectingPoint num="23" id="9665" />
+<TGConnectingPoint num="24" id="9666" />
+<TGConnectingPoint num="25" id="9667" />
+<TGConnectingPoint num="26" id="9668" />
+<TGConnectingPoint num="27" id="9669" />
+<TGConnectingPoint num="28" id="9670" />
+<TGConnectingPoint num="29" id="9671" />
+<TGConnectingPoint num="30" id="9672" />
+<TGConnectingPoint num="31" id="9673" />
+<TGConnectingPoint num="32" id="9674" />
+<TGConnectingPoint num="33" id="9675" />
+<TGConnectingPoint num="34" id="9676" />
+<TGConnectingPoint num="35" id="9677" />
+<TGConnectingPoint num="36" id="9678" />
+<TGConnectingPoint num="37" id="9679" />
+<TGConnectingPoint num="38" id="9680" />
+<TGConnectingPoint num="39" id="9681" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="9593" >
+<cdparam x="343" y="901" />
+<sizeparam width="137" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="State" value="calcTrajMarkings" />
+<TGConnectingPoint num="0" id="9594" />
+<TGConnectingPoint num="1" id="9595" />
+<TGConnectingPoint num="2" id="9596" />
+<TGConnectingPoint num="3" id="9597" />
+<TGConnectingPoint num="4" id="9598" />
+<TGConnectingPoint num="5" id="9599" />
+<TGConnectingPoint num="6" id="9600" />
+<TGConnectingPoint num="7" id="9601" />
+<TGConnectingPoint num="8" id="9602" />
+<TGConnectingPoint num="9" id="9603" />
+<TGConnectingPoint num="10" id="9604" />
+<TGConnectingPoint num="11" id="9605" />
+<TGConnectingPoint num="12" id="9606" />
+<TGConnectingPoint num="13" id="9607" />
+<TGConnectingPoint num="14" id="9608" />
+<TGConnectingPoint num="15" id="9609" />
+<TGConnectingPoint num="16" id="9610" />
+<TGConnectingPoint num="17" id="9611" />
+<TGConnectingPoint num="18" id="9612" />
+<TGConnectingPoint num="19" id="9613" />
+<TGConnectingPoint num="20" id="9614" />
+<TGConnectingPoint num="21" id="9615" />
+<TGConnectingPoint num="22" id="9616" />
+<TGConnectingPoint num="23" id="9617" />
+<TGConnectingPoint num="24" id="9618" />
+<TGConnectingPoint num="25" id="9619" />
+<TGConnectingPoint num="26" id="9620" />
+<TGConnectingPoint num="27" id="9621" />
+<TGConnectingPoint num="28" id="9622" />
+<TGConnectingPoint num="29" id="9623" />
+<TGConnectingPoint num="30" id="9624" />
+<TGConnectingPoint num="31" id="9625" />
+<TGConnectingPoint num="32" id="9626" />
+<TGConnectingPoint num="33" id="9627" />
+<TGConnectingPoint num="34" id="9628" />
+<TGConnectingPoint num="35" id="9629" />
+<TGConnectingPoint num="36" id="9630" />
+<TGConnectingPoint num="37" id="9631" />
+<TGConnectingPoint num="38" id="9632" />
+<TGConnectingPoint num="39" id="9633" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="9545" >
+<cdparam x="549" y="909" />
+<sizeparam width="149" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="State" value="calcTrajTracking" />
+<TGConnectingPoint num="0" id="9546" />
+<TGConnectingPoint num="1" id="9547" />
+<TGConnectingPoint num="2" id="9548" />
+<TGConnectingPoint num="3" id="9549" />
+<TGConnectingPoint num="4" id="9550" />
+<TGConnectingPoint num="5" id="9551" />
+<TGConnectingPoint num="6" id="9552" />
+<TGConnectingPoint num="7" id="9553" />
+<TGConnectingPoint num="8" id="9554" />
+<TGConnectingPoint num="9" id="9555" />
+<TGConnectingPoint num="10" id="9556" />
+<TGConnectingPoint num="11" id="9557" />
+<TGConnectingPoint num="12" id="9558" />
+<TGConnectingPoint num="13" id="9559" />
+<TGConnectingPoint num="14" id="9560" />
+<TGConnectingPoint num="15" id="9561" />
+<TGConnectingPoint num="16" id="9562" />
+<TGConnectingPoint num="17" id="9563" />
+<TGConnectingPoint num="18" id="9564" />
+<TGConnectingPoint num="19" id="9565" />
+<TGConnectingPoint num="20" id="9566" />
+<TGConnectingPoint num="21" id="9567" />
+<TGConnectingPoint num="22" id="9568" />
+<TGConnectingPoint num="23" id="9569" />
+<TGConnectingPoint num="24" id="9570" />
+<TGConnectingPoint num="25" id="9571" />
+<TGConnectingPoint num="26" id="9572" />
+<TGConnectingPoint num="27" id="9573" />
+<TGConnectingPoint num="28" id="9574" />
+<TGConnectingPoint num="29" id="9575" />
+<TGConnectingPoint num="30" id="9576" />
+<TGConnectingPoint num="31" id="9577" />
+<TGConnectingPoint num="32" id="9578" />
+<TGConnectingPoint num="33" id="9579" />
+<TGConnectingPoint num="34" id="9580" />
+<TGConnectingPoint num="35" id="9581" />
+<TGConnectingPoint num="36" id="9582" />
+<TGConnectingPoint num="37" id="9583" />
+<TGConnectingPoint num="38" id="9584" />
+<TGConnectingPoint num="39" id="9585" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="9504" >
+<cdparam x="128" y="891" />
+<sizeparam width="156" height="62" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="State" value="calcTrajSteering" />
+<TGConnectingPoint num="0" id="9505" />
+<TGConnectingPoint num="1" id="9506" />
+<TGConnectingPoint num="2" id="9507" />
+<TGConnectingPoint num="3" id="9508" />
+<TGConnectingPoint num="4" id="9509" />
+<TGConnectingPoint num="5" id="9510" />
+<TGConnectingPoint num="6" id="9511" />
+<TGConnectingPoint num="7" id="9512" />
+<TGConnectingPoint num="8" id="9513" />
+<TGConnectingPoint num="9" id="9514" />
+<TGConnectingPoint num="10" id="9515" />
+<TGConnectingPoint num="11" id="9516" />
+<TGConnectingPoint num="12" id="9517" />
+<TGConnectingPoint num="13" id="9518" />
+<TGConnectingPoint num="14" id="9519" />
+<TGConnectingPoint num="15" id="9520" />
+<TGConnectingPoint num="16" id="9521" />
+<TGConnectingPoint num="17" id="9522" />
+<TGConnectingPoint num="18" id="9523" />
+<TGConnectingPoint num="19" id="9524" />
+<TGConnectingPoint num="20" id="9525" />
+<TGConnectingPoint num="21" id="9526" />
+<TGConnectingPoint num="22" id="9527" />
+<TGConnectingPoint num="23" id="9528" />
+<TGConnectingPoint num="24" id="9529" />
+<TGConnectingPoint num="25" id="9530" />
+<TGConnectingPoint num="26" id="9531" />
+<TGConnectingPoint num="27" id="9532" />
+<TGConnectingPoint num="28" id="9533" />
+<TGConnectingPoint num="29" id="9534" />
+<TGConnectingPoint num="30" id="9535" />
+<TGConnectingPoint num="31" id="9536" />
+<TGConnectingPoint num="32" id="9537" />
+<TGConnectingPoint num="33" id="9538" />
+<TGConnectingPoint num="34" id="9539" />
+<TGConnectingPoint num="35" id="9540" />
+<TGConnectingPoint num="36" id="9541" />
+<TGConnectingPoint num="37" id="9542" />
+<TGConnectingPoint num="38" id="9543" />
+<TGConnectingPoint num="39" id="9544" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="9463" >
+<cdparam x="474" y="774" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="State" value="calcPlanning" />
+<TGConnectingPoint num="0" id="9464" />
+<TGConnectingPoint num="1" id="9465" />
+<TGConnectingPoint num="2" id="9466" />
+<TGConnectingPoint num="3" id="9467" />
+<TGConnectingPoint num="4" id="9468" />
+<TGConnectingPoint num="5" id="9469" />
+<TGConnectingPoint num="6" id="9470" />
+<TGConnectingPoint num="7" id="9471" />
+<TGConnectingPoint num="8" id="9472" />
+<TGConnectingPoint num="9" id="9473" />
+<TGConnectingPoint num="10" id="9474" />
+<TGConnectingPoint num="11" id="9475" />
+<TGConnectingPoint num="12" id="9476" />
+<TGConnectingPoint num="13" id="9477" />
+<TGConnectingPoint num="14" id="9478" />
+<TGConnectingPoint num="15" id="9479" />
+<TGConnectingPoint num="16" id="9480" />
+<TGConnectingPoint num="17" id="9481" />
+<TGConnectingPoint num="18" id="9482" />
+<TGConnectingPoint num="19" id="9483" />
+<TGConnectingPoint num="20" id="9484" />
+<TGConnectingPoint num="21" id="9485" />
+<TGConnectingPoint num="22" id="9486" />
+<TGConnectingPoint num="23" id="9487" />
+<TGConnectingPoint num="24" id="9488" />
+<TGConnectingPoint num="25" id="9489" />
+<TGConnectingPoint num="26" id="9490" />
+<TGConnectingPoint num="27" id="9491" />
+<TGConnectingPoint num="28" id="9492" />
+<TGConnectingPoint num="29" id="9493" />
+<TGConnectingPoint num="30" id="9494" />
+<TGConnectingPoint num="31" id="9495" />
+<TGConnectingPoint num="32" id="9496" />
+<TGConnectingPoint num="33" id="9497" />
+<TGConnectingPoint num="34" id="9498" />
+<TGConnectingPoint num="35" id="9499" />
+<TGConnectingPoint num="36" id="9500" />
+<TGConnectingPoint num="37" id="9501" />
+<TGConnectingPoint num="38" id="9502" />
+<TGConnectingPoint num="39" id="9503" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5102" id="9449" >
+<cdparam x="465" y="474" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9450" />
+<P1  x="465" y="474" id="4716" />
+<P2  x="559" y="556" id="4531" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9451" >
+<father id="9449" num="0" />
+<cdparam x="465" y="514" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9452" />
+<TGConnectingPoint num="1" id="9453" />
+<TGConnectingPoint num="2" id="9454" />
+<TGConnectingPoint num="3" id="9455" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9442" >
+<cdparam x="425" y="474" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9443" />
+<P1  x="425" y="474" id="4692" />
+<P2  x="380" y="555" id="4635" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9444" >
+<father id="9442" num="0" />
+<cdparam x="425" y="514" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9445" />
+<TGConnectingPoint num="1" id="9446" />
+<TGConnectingPoint num="2" id="9447" />
+<TGConnectingPoint num="3" id="9448" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9435" >
+<cdparam x="297" y="474" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9436" />
+<P1  x="297" y="474" id="4714" />
+<P2  x="159" y="555" id="4739" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9437" >
+<father id="9435" num="0" />
+<cdparam x="297" y="514" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9438" />
+<TGConnectingPoint num="1" id="9439" />
+<TGConnectingPoint num="2" id="9440" />
+<TGConnectingPoint num="3" id="9441" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5106" id="9387" >
+<cdparam x="637" y="556" />
+<sizeparam width="163" height="81" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="State" value="calcInfrastructure" />
+<TGConnectingPoint num="0" id="9388" />
+<TGConnectingPoint num="1" id="9389" />
+<TGConnectingPoint num="2" id="9390" />
+<TGConnectingPoint num="3" id="9391" />
+<TGConnectingPoint num="4" id="9392" />
+<TGConnectingPoint num="5" id="9393" />
+<TGConnectingPoint num="6" id="9394" />
+<TGConnectingPoint num="7" id="9395" />
+<TGConnectingPoint num="8" id="9396" />
+<TGConnectingPoint num="9" id="9397" />
+<TGConnectingPoint num="10" id="9398" />
+<TGConnectingPoint num="11" id="9399" />
+<TGConnectingPoint num="12" id="9400" />
+<TGConnectingPoint num="13" id="9401" />
+<TGConnectingPoint num="14" id="9402" />
+<TGConnectingPoint num="15" id="9403" />
+<TGConnectingPoint num="16" id="9404" />
+<TGConnectingPoint num="17" id="9405" />
+<TGConnectingPoint num="18" id="9406" />
+<TGConnectingPoint num="19" id="9407" />
+<TGConnectingPoint num="20" id="9408" />
+<TGConnectingPoint num="21" id="9409" />
+<TGConnectingPoint num="22" id="9410" />
+<TGConnectingPoint num="23" id="9411" />
+<TGConnectingPoint num="24" id="9412" />
+<TGConnectingPoint num="25" id="9413" />
+<TGConnectingPoint num="26" id="9414" />
+<TGConnectingPoint num="27" id="9415" />
+<TGConnectingPoint num="28" id="9416" />
+<TGConnectingPoint num="29" id="9417" />
+<TGConnectingPoint num="30" id="9418" />
+<TGConnectingPoint num="31" id="9419" />
+<TGConnectingPoint num="32" id="9420" />
+<TGConnectingPoint num="33" id="9421" />
+<TGConnectingPoint num="34" id="9422" />
+<TGConnectingPoint num="35" id="9423" />
+<TGConnectingPoint num="36" id="9424" />
+<TGConnectingPoint num="37" id="9425" />
+<TGConnectingPoint num="38" id="9426" />
+<TGConnectingPoint num="39" id="9427" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5102" id="9380" >
+<cdparam x="597" y="186" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9381" />
+<P1  x="597" y="186" id="4849" />
+<P2  x="768" y="292" id="9309" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9382" >
+<father id="9380" num="0" />
+<cdparam x="597" y="226" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9383" />
+<TGConnectingPoint num="1" id="9384" />
+<TGConnectingPoint num="2" id="9385" />
+<TGConnectingPoint num="3" id="9386" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9373" >
+<cdparam x="668" y="307" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9374" />
+<P1  x="666" y="288" id="9350" />
+<P2  x="509" y="424" id="4695" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9375" >
+<father id="9373" num="0" />
+<cdparam x="668" y="347" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9376" />
+<TGConnectingPoint num="1" id="9377" />
+<TGConnectingPoint num="2" id="9378" />
+<TGConnectingPoint num="3" id="9379" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9366" >
+<cdparam x="547" y="186" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9367" />
+<P1  x="547" y="186" id="4873" />
+<P2  x="666" y="258" id="9349" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9368" >
+<father id="9366" num="0" />
+<cdparam x="547" y="226" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9369" />
+<TGConnectingPoint num="1" id="9370" />
+<TGConnectingPoint num="2" id="9371" />
+<TGConnectingPoint num="3" id="9372" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5104" id="9348" >
+<cdparam x="599" y="263" />
+<sizeparam width="134" 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="2500" />
+<infoparam name="Receive signal" value="V2Vdata(V2Vdata)" />
+<TGConnectingPoint num="0" id="9349" />
+<TGConnectingPoint num="1" id="9350" />
+<TGConnectingPoint num="2" id="9351" />
+<TGConnectingPoint num="3" id="9352" />
+<TGConnectingPoint num="4" id="9353" />
+<TGConnectingPoint num="5" id="9354" />
+<TGConnectingPoint num="6" id="9355" />
+<TGConnectingPoint num="7" id="9356" />
+<TGConnectingPoint num="8" id="9357" />
+<TGConnectingPoint num="9" id="9358" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="9308" >
+<cdparam x="706" y="297" />
+<sizeparam width="124" 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="2500" />
+<infoparam name="Receive signal" value="V2Idata(V2Idata)" />
+<TGConnectingPoint num="0" id="9309" />
+<TGConnectingPoint num="1" id="9310" />
+<TGConnectingPoint num="2" id="9311" />
+<TGConnectingPoint num="3" id="9312" />
+<TGConnectingPoint num="4" id="9313" />
+<TGConnectingPoint num="5" id="9314" />
+<TGConnectingPoint num="6" id="9315" />
+<TGConnectingPoint num="7" id="9316" />
+<TGConnectingPoint num="8" id="9317" />
+<TGConnectingPoint num="9" id="9318" />
+</COMPONENT>
+
+<CONNECTOR type="5102" id="9301" >
+<cdparam x="407" y="311" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9302" />
+<P1  x="401" y="338" id="4832" />
+<P2  x="381" y="424" id="4703" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9303" >
+<father id="9301" num="0" />
+<cdparam x="407" y="351" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9304" />
+<TGConnectingPoint num="1" id="9305" />
+<TGConnectingPoint num="2" id="9306" />
+<TGConnectingPoint num="3" id="9307" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9294" >
+<cdparam x="262" y="186" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9295" />
+<P1  x="262" y="186" id="4870" />
+<P2  x="211" y="309" id="4779" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9296" >
+<father id="9294" num="0" />
+<cdparam x="262" y="226" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9297" />
+<TGConnectingPoint num="1" id="9298" />
+<TGConnectingPoint num="2" id="9299" />
+<TGConnectingPoint num="3" id="9300" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4031" >
+<cdparam x="450" y="190" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4030" />
+<P1  x="407" y="186" id="4848" />
+<P2  x="401" y="308" id="4831" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4029" >
+<father id="4031" num="0" />
+<cdparam x="450" y="230" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4025" />
+<TGConnectingPoint num="1" id="4026" />
+<TGConnectingPoint num="2" id="4027" />
+<TGConnectingPoint num="3" id="4028" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4038" >
+<cdparam x="683" y="1433" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4037" />
+<P1  x="498" y="1285" id="4432" />
+<P2  x="498" y="1334" id="4280" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4036" >
+<father id="4038" num="0" />
+<cdparam x="683" y="1473" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4032" />
+<TGConnectingPoint num="1" id="4033" />
+<TGConnectingPoint num="2" id="4034" />
+<TGConnectingPoint num="3" id="4035" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4045" >
+<cdparam x="498" y="1510" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4044" />
+<P1  x="498" y="1510" id="4217" />
+<P2  x="493" y="1580" id="4214" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4043" >
+<father id="4045" num="0" />
+<cdparam x="498" y="1550" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4039" />
+<TGConnectingPoint num="1" id="4040" />
+<TGConnectingPoint num="2" id="4041" />
+<TGConnectingPoint num="3" id="4042" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4052" >
+<cdparam x="415" y="465" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4051" />
+<P1  x="211" y="339" id="4780" />
+<P2  x="297" y="424" id="4702" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4050" >
+<father id="4052" num="0" />
+<cdparam x="415" y="505" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4046" />
+<TGConnectingPoint num="1" id="4047" />
+<TGConnectingPoint num="2" id="4048" />
+<TGConnectingPoint num="3" id="4049" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4059" >
+<cdparam x="415" y="665" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4058" />
+<P1  x="312" y="288" id="4728" />
+<P2  x="341" y="424" id="4694" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4057" >
+<father id="4059" num="0" />
+<cdparam x="415" y="705" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4053" />
+<TGConnectingPoint num="1" id="4054" />
+<TGConnectingPoint num="2" id="4055" />
+<TGConnectingPoint num="3" id="4056" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4066" >
+<cdparam x="415" y="865" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4065" />
+<P1  x="492" y="286" id="4676" />
+<P2  x="425" y="424" id="4687" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4064" >
+<father id="4066" num="0" />
+<cdparam x="415" y="905" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4060" />
+<TGConnectingPoint num="1" id="4061" />
+<TGConnectingPoint num="2" id="4062" />
+<TGConnectingPoint num="3" id="4063" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4087" >
+<cdparam x="450" y="1190" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4086" />
+<P1  x="502" y="186" id="4857" />
+<P2  x="586" y="291" id="4571" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4085" >
+<father id="4087" num="0" />
+<cdparam x="450" y="1230" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4081" />
+<TGConnectingPoint num="1" id="4082" />
+<TGConnectingPoint num="2" id="4083" />
+<TGConnectingPoint num="3" id="4084" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4122" >
+<cdparam x="407" y="60" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4121" />
+<P1  x="407" y="60" id="4883" />
+<P2  x="407" y="95" id="4843" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4120" >
+<father id="4122" num="0" />
+<cdparam x="407" y="100" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4116" />
+<TGConnectingPoint num="1" id="4117" />
+<TGConnectingPoint num="2" id="4118" />
+<TGConnectingPoint num="3" id="4119" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4136" >
+<cdparam x="450" y="790" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4135" />
+<P1  x="452" y="186" id="4872" />
+<P2  x="492" y="256" id="4675" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4134" >
+<father id="4136" num="0" />
+<cdparam x="450" y="830" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4130" />
+<TGConnectingPoint num="1" id="4131" />
+<TGConnectingPoint num="2" id="4132" />
+<TGConnectingPoint num="3" id="4133" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4143" >
+<cdparam x="450" y="590" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4142" />
+<P1  x="312" y="186" id="4856" />
+<P2  x="312" y="258" id="4727" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4141" >
+<father id="4143" num="0" />
+<cdparam x="450" y="630" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4137" />
+<TGConnectingPoint num="1" id="4138" />
+<TGConnectingPoint num="2" id="4139" />
+<TGConnectingPoint num="3" id="4140" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4150" >
+<cdparam x="415" y="1665" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4149" />
+<P1  x="870" y="310" id="4468" />
+<P2  x="593" y="424" id="4688" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4148" >
+<father id="4150" num="0" />
+<cdparam x="415" y="1705" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4144" />
+<TGConnectingPoint num="1" id="4145" />
+<TGConnectingPoint num="2" id="4146" />
+<TGConnectingPoint num="3" id="4147" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4171" >
+<cdparam x="415" y="1265" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4170" />
+<P1  x="586" y="321" id="4572" />
+<P2  x="465" y="424" id="4704" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4169" >
+<father id="4171" num="0" />
+<cdparam x="415" y="1305" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4165" />
+<TGConnectingPoint num="1" id="4166" />
+<TGConnectingPoint num="2" id="4167" />
+<TGConnectingPoint num="3" id="4168" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4178" >
+<cdparam x="678" y="1391" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4177" />
+<P1  x="498" y="1391" id="4285" />
+<P2  x="498" y="1417" id="4268" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4176" >
+<father id="4178" num="0" />
+<cdparam x="678" y="1431" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4172" />
+<TGConnectingPoint num="1" id="4173" />
+<TGConnectingPoint num="2" id="4174" />
+<TGConnectingPoint num="3" id="4175" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4185" >
+<cdparam x="450" y="990" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4184" />
+<P1  x="217" y="186" id="4847" />
+<P2  x="75" y="281" id="4623" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4183" >
+<father id="4185" num="0" />
+<cdparam x="450" y="1030" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4179" />
+<TGConnectingPoint num="1" id="4180" />
+<TGConnectingPoint num="2" id="4181" />
+<TGConnectingPoint num="3" id="4182" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4199" >
+<cdparam x="450" y="1590" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4198" />
+<P1  x="597" y="174" id="4869" />
+<P2  x="870" y="280" id="4467" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4197" >
+<father id="4199" num="0" />
+<cdparam x="450" y="1630" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4193" />
+<TGConnectingPoint num="1" id="4194" />
+<TGConnectingPoint num="2" id="4195" />
+<TGConnectingPoint num="3" id="4196" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4206" >
+<cdparam x="415" y="1065" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4205" />
+<P1  x="75" y="311" id="4624" />
+<P2  x="257" y="424" id="4686" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4204" >
+<father id="4206" num="0" />
+<cdparam x="415" y="1105" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4200" />
+<TGConnectingPoint num="1" id="4201" />
+<TGConnectingPoint num="2" id="4202" />
+<TGConnectingPoint num="3" id="4203" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5101" id="4215" >
+<cdparam x="483" y="1585" />
+<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="4214" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="4226" >
+<cdparam x="454" y="1485" />
+<sizeparam width="89" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="percStatus()" />
+<TGConnectingPoint num="0" id="4216" />
+<TGConnectingPoint num="1" id="4217" />
+<TGConnectingPoint num="2" id="4218" />
+<TGConnectingPoint num="3" id="4219" />
+<TGConnectingPoint num="4" id="4220" />
+<TGConnectingPoint num="5" id="4221" />
+<TGConnectingPoint num="6" id="4222" />
+<TGConnectingPoint num="7" id="4223" />
+<TGConnectingPoint num="8" id="4224" />
+<TGConnectingPoint num="9" id="4225" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="4278" >
+<cdparam x="416" y="1422" />
+<sizeparam width="164" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="commandOut(command)" />
+<TGConnectingPoint num="0" id="4268" />
+<TGConnectingPoint num="1" id="4269" />
+<TGConnectingPoint num="2" id="4270" />
+<TGConnectingPoint num="3" id="4271" />
+<TGConnectingPoint num="4" id="4272" />
+<TGConnectingPoint num="5" id="4273" />
+<TGConnectingPoint num="6" id="4274" />
+<TGConnectingPoint num="7" id="4275" />
+<TGConnectingPoint num="8" id="4276" />
+<TGConnectingPoint num="9" id="4277" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="4319" >
+<cdparam x="427" y="1334" />
+<sizeparam width="142" height="57" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="calcRegulation" />
+<TGConnectingPoint num="0" id="4279" />
+<TGConnectingPoint num="1" id="4280" />
+<TGConnectingPoint num="2" id="4281" />
+<TGConnectingPoint num="3" id="4282" />
+<TGConnectingPoint num="4" id="4283" />
+<TGConnectingPoint num="5" id="4284" />
+<TGConnectingPoint num="6" id="4285" />
+<TGConnectingPoint num="7" id="4286" />
+<TGConnectingPoint num="8" id="4287" />
+<TGConnectingPoint num="9" id="4288" />
+<TGConnectingPoint num="10" id="4289" />
+<TGConnectingPoint num="11" id="4290" />
+<TGConnectingPoint num="12" id="4291" />
+<TGConnectingPoint num="13" id="4292" />
+<TGConnectingPoint num="14" id="4293" />
+<TGConnectingPoint num="15" id="4294" />
+<TGConnectingPoint num="16" id="4295" />
+<TGConnectingPoint num="17" id="4296" />
+<TGConnectingPoint num="18" id="4297" />
+<TGConnectingPoint num="19" id="4298" />
+<TGConnectingPoint num="20" id="4299" />
+<TGConnectingPoint num="21" id="4300" />
+<TGConnectingPoint num="22" id="4301" />
+<TGConnectingPoint num="23" id="4302" />
+<TGConnectingPoint num="24" id="4303" />
+<TGConnectingPoint num="25" id="4304" />
+<TGConnectingPoint num="26" id="4305" />
+<TGConnectingPoint num="27" id="4306" />
+<TGConnectingPoint num="28" id="4307" />
+<TGConnectingPoint num="29" id="4308" />
+<TGConnectingPoint num="30" id="4309" />
+<TGConnectingPoint num="31" id="4310" />
+<TGConnectingPoint num="32" id="4311" />
+<TGConnectingPoint num="33" id="4312" />
+<TGConnectingPoint num="34" id="4313" />
+<TGConnectingPoint num="35" id="4314" />
+<TGConnectingPoint num="36" id="4315" />
+<TGConnectingPoint num="37" id="4316" />
+<TGConnectingPoint num="38" id="4317" />
+<TGConnectingPoint num="39" id="4318" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="4466" >
+<cdparam x="405" y="1237" />
+<sizeparam width="187" height="48" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="choiceComportment" />
+<TGConnectingPoint num="0" id="4426" />
+<TGConnectingPoint num="1" id="4427" />
+<TGConnectingPoint num="2" id="4428" />
+<TGConnectingPoint num="3" id="4429" />
+<TGConnectingPoint num="4" id="4430" />
+<TGConnectingPoint num="5" id="4431" />
+<TGConnectingPoint num="6" id="4432" />
+<TGConnectingPoint num="7" id="4433" />
+<TGConnectingPoint num="8" id="4434" />
+<TGConnectingPoint num="9" id="4435" />
+<TGConnectingPoint num="10" id="4436" />
+<TGConnectingPoint num="11" id="4437" />
+<TGConnectingPoint num="12" id="4438" />
+<TGConnectingPoint num="13" id="4439" />
+<TGConnectingPoint num="14" id="4440" />
+<TGConnectingPoint num="15" id="4441" />
+<TGConnectingPoint num="16" id="4442" />
+<TGConnectingPoint num="17" id="4443" />
+<TGConnectingPoint num="18" id="4444" />
+<TGConnectingPoint num="19" id="4445" />
+<TGConnectingPoint num="20" id="4446" />
+<TGConnectingPoint num="21" id="4447" />
+<TGConnectingPoint num="22" id="4448" />
+<TGConnectingPoint num="23" id="4449" />
+<TGConnectingPoint num="24" id="4450" />
+<TGConnectingPoint num="25" id="4451" />
+<TGConnectingPoint num="26" id="4452" />
+<TGConnectingPoint num="27" id="4453" />
+<TGConnectingPoint num="28" id="4454" />
+<TGConnectingPoint num="29" id="4455" />
+<TGConnectingPoint num="30" id="4456" />
+<TGConnectingPoint num="31" id="4457" />
+<TGConnectingPoint num="32" id="4458" />
+<TGConnectingPoint num="33" id="4459" />
+<TGConnectingPoint num="34" id="4460" />
+<TGConnectingPoint num="35" id="4461" />
+<TGConnectingPoint num="36" id="4462" />
+<TGConnectingPoint num="37" id="4463" />
+<TGConnectingPoint num="38" id="4464" />
+<TGConnectingPoint num="39" id="4465" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5104" id="4477" >
+<cdparam x="831" y="285" />
+<sizeparam width="78" 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="Receive signal" value="destOut()" />
+<TGConnectingPoint num="0" id="4467" />
+<TGConnectingPoint num="1" id="4468" />
+<TGConnectingPoint num="2" id="4469" />
+<TGConnectingPoint num="3" id="4470" />
+<TGConnectingPoint num="4" id="4471" />
+<TGConnectingPoint num="5" id="4472" />
+<TGConnectingPoint num="6" id="4473" />
+<TGConnectingPoint num="7" id="4474" />
+<TGConnectingPoint num="8" id="4475" />
+<TGConnectingPoint num="9" id="4476" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="4518" >
+<cdparam x="366" y="1111" />
+<sizeparam width="255" height="73" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="calcCoherenceSafety" />
+<TGConnectingPoint num="0" id="4478" />
+<TGConnectingPoint num="1" id="4479" />
+<TGConnectingPoint num="2" id="4480" />
+<TGConnectingPoint num="3" id="4481" />
+<TGConnectingPoint num="4" id="4482" />
+<TGConnectingPoint num="5" id="4483" />
+<TGConnectingPoint num="6" id="4484" />
+<TGConnectingPoint num="7" id="4485" />
+<TGConnectingPoint num="8" id="4486" />
+<TGConnectingPoint num="9" id="4487" />
+<TGConnectingPoint num="10" id="4488" />
+<TGConnectingPoint num="11" id="4489" />
+<TGConnectingPoint num="12" id="4490" />
+<TGConnectingPoint num="13" id="4491" />
+<TGConnectingPoint num="14" id="4492" />
+<TGConnectingPoint num="15" id="4493" />
+<TGConnectingPoint num="16" id="4494" />
+<TGConnectingPoint num="17" id="4495" />
+<TGConnectingPoint num="18" id="4496" />
+<TGConnectingPoint num="19" id="4497" />
+<TGConnectingPoint num="20" id="4498" />
+<TGConnectingPoint num="21" id="4499" />
+<TGConnectingPoint num="22" id="4500" />
+<TGConnectingPoint num="23" id="4501" />
+<TGConnectingPoint num="24" id="4502" />
+<TGConnectingPoint num="25" id="4503" />
+<TGConnectingPoint num="26" id="4504" />
+<TGConnectingPoint num="27" id="4505" />
+<TGConnectingPoint num="28" id="4506" />
+<TGConnectingPoint num="29" id="4507" />
+<TGConnectingPoint num="30" id="4508" />
+<TGConnectingPoint num="31" id="4509" />
+<TGConnectingPoint num="32" id="4510" />
+<TGConnectingPoint num="33" id="4511" />
+<TGConnectingPoint num="34" id="4512" />
+<TGConnectingPoint num="35" id="4513" />
+<TGConnectingPoint num="36" id="4514" />
+<TGConnectingPoint num="37" id="4515" />
+<TGConnectingPoint num="38" id="4516" />
+<TGConnectingPoint num="39" id="4517" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="4570" >
+<cdparam x="495" y="556" />
+<sizeparam width="128" height="78" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="calcMarkings" />
+<TGConnectingPoint num="0" id="4530" />
+<TGConnectingPoint num="1" id="4531" />
+<TGConnectingPoint num="2" id="4532" />
+<TGConnectingPoint num="3" id="4533" />
+<TGConnectingPoint num="4" id="4534" />
+<TGConnectingPoint num="5" id="4535" />
+<TGConnectingPoint num="6" id="4536" />
+<TGConnectingPoint num="7" id="4537" />
+<TGConnectingPoint num="8" id="4538" />
+<TGConnectingPoint num="9" id="4539" />
+<TGConnectingPoint num="10" id="4540" />
+<TGConnectingPoint num="11" id="4541" />
+<TGConnectingPoint num="12" id="4542" />
+<TGConnectingPoint num="13" id="4543" />
+<TGConnectingPoint num="14" id="4544" />
+<TGConnectingPoint num="15" id="4545" />
+<TGConnectingPoint num="16" id="4546" />
+<TGConnectingPoint num="17" id="4547" />
+<TGConnectingPoint num="18" id="4548" />
+<TGConnectingPoint num="19" id="4549" />
+<TGConnectingPoint num="20" id="4550" />
+<TGConnectingPoint num="21" id="4551" />
+<TGConnectingPoint num="22" id="4552" />
+<TGConnectingPoint num="23" id="4553" />
+<TGConnectingPoint num="24" id="4554" />
+<TGConnectingPoint num="25" id="4555" />
+<TGConnectingPoint num="26" id="4556" />
+<TGConnectingPoint num="27" id="4557" />
+<TGConnectingPoint num="28" id="4558" />
+<TGConnectingPoint num="29" id="4559" />
+<TGConnectingPoint num="30" id="4560" />
+<TGConnectingPoint num="31" id="4561" />
+<TGConnectingPoint num="32" id="4562" />
+<TGConnectingPoint num="33" id="4563" />
+<TGConnectingPoint num="34" id="4564" />
+<TGConnectingPoint num="35" id="4565" />
+<TGConnectingPoint num="36" id="4566" />
+<TGConnectingPoint num="37" id="4567" />
+<TGConnectingPoint num="38" id="4568" />
+<TGConnectingPoint num="39" id="4569" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5104" id="4581" >
+<cdparam x="496" y="296" />
+<sizeparam width="180" 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="Receive signal" value="GPSRTKdata(GPSRTKdata)" />
+<TGConnectingPoint num="0" id="4571" />
+<TGConnectingPoint num="1" id="4572" />
+<TGConnectingPoint num="2" id="4573" />
+<TGConnectingPoint num="3" id="4574" />
+<TGConnectingPoint num="4" id="4575" />
+<TGConnectingPoint num="5" id="4576" />
+<TGConnectingPoint num="6" id="4577" />
+<TGConnectingPoint num="7" id="4578" />
+<TGConnectingPoint num="8" id="4579" />
+<TGConnectingPoint num="9" id="4580" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="4633" >
+<cdparam x="10" y="286" />
+<sizeparam width="130" 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="Receive signal" value="IMUdata(IMUdata)" />
+<TGConnectingPoint num="0" id="4623" />
+<TGConnectingPoint num="1" id="4624" />
+<TGConnectingPoint num="2" id="4625" />
+<TGConnectingPoint num="3" id="4626" />
+<TGConnectingPoint num="4" id="4627" />
+<TGConnectingPoint num="5" id="4628" />
+<TGConnectingPoint num="6" id="4629" />
+<TGConnectingPoint num="7" id="4630" />
+<TGConnectingPoint num="8" id="4631" />
+<TGConnectingPoint num="9" id="4632" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="4674" >
+<cdparam x="286" y="555" />
+<sizeparam width="188" height="81" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="calcObstacles" />
+<TGConnectingPoint num="0" id="4634" />
+<TGConnectingPoint num="1" id="4635" />
+<TGConnectingPoint num="2" id="4636" />
+<TGConnectingPoint num="3" id="4637" />
+<TGConnectingPoint num="4" id="4638" />
+<TGConnectingPoint num="5" id="4639" />
+<TGConnectingPoint num="6" id="4640" />
+<TGConnectingPoint num="7" id="4641" />
+<TGConnectingPoint num="8" id="4642" />
+<TGConnectingPoint num="9" id="4643" />
+<TGConnectingPoint num="10" id="4644" />
+<TGConnectingPoint num="11" id="4645" />
+<TGConnectingPoint num="12" id="4646" />
+<TGConnectingPoint num="13" id="4647" />
+<TGConnectingPoint num="14" id="4648" />
+<TGConnectingPoint num="15" id="4649" />
+<TGConnectingPoint num="16" id="4650" />
+<TGConnectingPoint num="17" id="4651" />
+<TGConnectingPoint num="18" id="4652" />
+<TGConnectingPoint num="19" id="4653" />
+<TGConnectingPoint num="20" id="4654" />
+<TGConnectingPoint num="21" id="4655" />
+<TGConnectingPoint num="22" id="4656" />
+<TGConnectingPoint num="23" id="4657" />
+<TGConnectingPoint num="24" id="4658" />
+<TGConnectingPoint num="25" id="4659" />
+<TGConnectingPoint num="26" id="4660" />
+<TGConnectingPoint num="27" id="4661" />
+<TGConnectingPoint num="28" id="4662" />
+<TGConnectingPoint num="29" id="4663" />
+<TGConnectingPoint num="30" id="4664" />
+<TGConnectingPoint num="31" id="4665" />
+<TGConnectingPoint num="32" id="4666" />
+<TGConnectingPoint num="33" id="4667" />
+<TGConnectingPoint num="34" id="4668" />
+<TGConnectingPoint num="35" id="4669" />
+<TGConnectingPoint num="36" id="4670" />
+<TGConnectingPoint num="37" id="4671" />
+<TGConnectingPoint num="38" id="4672" />
+<TGConnectingPoint num="39" id="4673" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5104" id="4685" >
+<cdparam x="427" y="261" />
+<sizeparam width="130" 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="Receive signal" value="IMUdata(IMUdata)" />
+<TGConnectingPoint num="0" id="4675" />
+<TGConnectingPoint num="1" id="4676" />
+<TGConnectingPoint num="2" id="4677" />
+<TGConnectingPoint num="3" id="4678" />
+<TGConnectingPoint num="4" id="4679" />
+<TGConnectingPoint num="5" id="4680" />
+<TGConnectingPoint num="6" id="4681" />
+<TGConnectingPoint num="7" id="4682" />
+<TGConnectingPoint num="8" id="4683" />
+<TGConnectingPoint num="9" id="4684" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="4726" >
+<cdparam x="257" y="424" />
+<sizeparam width="336" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="endReadSensor" />
+<TGConnectingPoint num="0" id="4686" />
+<TGConnectingPoint num="1" id="4687" />
+<TGConnectingPoint num="2" id="4688" />
+<TGConnectingPoint num="3" id="4689" />
+<TGConnectingPoint num="4" id="4690" />
+<TGConnectingPoint num="5" id="4691" />
+<TGConnectingPoint num="6" id="4692" />
+<TGConnectingPoint num="7" id="4693" />
+<TGConnectingPoint num="8" id="4694" />
+<TGConnectingPoint num="9" id="4695" />
+<TGConnectingPoint num="10" id="4696" />
+<TGConnectingPoint num="11" id="4697" />
+<TGConnectingPoint num="12" id="4698" />
+<TGConnectingPoint num="13" id="4699" />
+<TGConnectingPoint num="14" id="4700" />
+<TGConnectingPoint num="15" id="4701" />
+<TGConnectingPoint num="16" id="4702" />
+<TGConnectingPoint num="17" id="4703" />
+<TGConnectingPoint num="18" id="4704" />
+<TGConnectingPoint num="19" id="4705" />
+<TGConnectingPoint num="20" id="4706" />
+<TGConnectingPoint num="21" id="4707" />
+<TGConnectingPoint num="22" id="4708" />
+<TGConnectingPoint num="23" id="4709" />
+<TGConnectingPoint num="24" id="4710" />
+<TGConnectingPoint num="25" id="4711" />
+<TGConnectingPoint num="26" id="4712" />
+<TGConnectingPoint num="27" id="4713" />
+<TGConnectingPoint num="28" id="4714" />
+<TGConnectingPoint num="29" id="4715" />
+<TGConnectingPoint num="30" id="4716" />
+<TGConnectingPoint num="31" id="4717" />
+<TGConnectingPoint num="32" id="4718" />
+<TGConnectingPoint num="33" id="4719" />
+<TGConnectingPoint num="34" id="4720" />
+<TGConnectingPoint num="35" id="4721" />
+<TGConnectingPoint num="36" id="4722" />
+<TGConnectingPoint num="37" id="4723" />
+<TGConnectingPoint num="38" id="4724" />
+<TGConnectingPoint num="39" id="4725" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5104" id="4737" >
+<cdparam x="241" y="263" />
+<sizeparam width="142" 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="Receive signal" value="lidarData(lidarData)" />
+<TGConnectingPoint num="0" id="4727" />
+<TGConnectingPoint num="1" id="4728" />
+<TGConnectingPoint num="2" id="4729" />
+<TGConnectingPoint num="3" id="4730" />
+<TGConnectingPoint num="4" id="4731" />
+<TGConnectingPoint num="5" id="4732" />
+<TGConnectingPoint num="6" id="4733" />
+<TGConnectingPoint num="7" id="4734" />
+<TGConnectingPoint num="8" id="4735" />
+<TGConnectingPoint num="9" id="4736" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="4778" >
+<cdparam x="57" y="555" />
+<sizeparam width="204" height="82" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="calcPositionInfoVehicle" />
+<TGConnectingPoint num="0" id="4738" />
+<TGConnectingPoint num="1" id="4739" />
+<TGConnectingPoint num="2" id="4740" />
+<TGConnectingPoint num="3" id="4741" />
+<TGConnectingPoint num="4" id="4742" />
+<TGConnectingPoint num="5" id="4743" />
+<TGConnectingPoint num="6" id="4744" />
+<TGConnectingPoint num="7" id="4745" />
+<TGConnectingPoint num="8" id="4746" />
+<TGConnectingPoint num="9" id="4747" />
+<TGConnectingPoint num="10" id="4748" />
+<TGConnectingPoint num="11" id="4749" />
+<TGConnectingPoint num="12" id="4750" />
+<TGConnectingPoint num="13" id="4751" />
+<TGConnectingPoint num="14" id="4752" />
+<TGConnectingPoint num="15" id="4753" />
+<TGConnectingPoint num="16" id="4754" />
+<TGConnectingPoint num="17" id="4755" />
+<TGConnectingPoint num="18" id="4756" />
+<TGConnectingPoint num="19" id="4757" />
+<TGConnectingPoint num="20" id="4758" />
+<TGConnectingPoint num="21" id="4759" />
+<TGConnectingPoint num="22" id="4760" />
+<TGConnectingPoint num="23" id="4761" />
+<TGConnectingPoint num="24" id="4762" />
+<TGConnectingPoint num="25" id="4763" />
+<TGConnectingPoint num="26" id="4764" />
+<TGConnectingPoint num="27" id="4765" />
+<TGConnectingPoint num="28" id="4766" />
+<TGConnectingPoint num="29" id="4767" />
+<TGConnectingPoint num="30" id="4768" />
+<TGConnectingPoint num="31" id="4769" />
+<TGConnectingPoint num="32" id="4770" />
+<TGConnectingPoint num="33" id="4771" />
+<TGConnectingPoint num="34" id="4772" />
+<TGConnectingPoint num="35" id="4773" />
+<TGConnectingPoint num="36" id="4774" />
+<TGConnectingPoint num="37" id="4775" />
+<TGConnectingPoint num="38" id="4776" />
+<TGConnectingPoint num="39" id="4777" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5104" id="4789" >
+<cdparam x="133" y="314" />
+<sizeparam width="156" 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="Receive signal" value="radarData(radarData)" />
+<TGConnectingPoint num="0" id="4779" />
+<TGConnectingPoint num="1" id="4780" />
+<TGConnectingPoint num="2" id="4781" />
+<TGConnectingPoint num="3" id="4782" />
+<TGConnectingPoint num="4" id="4783" />
+<TGConnectingPoint num="5" id="4784" />
+<TGConnectingPoint num="6" id="4785" />
+<TGConnectingPoint num="7" id="4786" />
+<TGConnectingPoint num="8" id="4787" />
+<TGConnectingPoint num="9" id="4788" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="4841" >
+<cdparam x="331" y="313" />
+<sizeparam width="140" 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="Receive signal" value="camData(camData)" />
+<TGConnectingPoint num="0" id="4831" />
+<TGConnectingPoint num="1" id="4832" />
+<TGConnectingPoint num="2" id="4833" />
+<TGConnectingPoint num="3" id="4834" />
+<TGConnectingPoint num="4" id="4835" />
+<TGConnectingPoint num="5" id="4836" />
+<TGConnectingPoint num="6" id="4837" />
+<TGConnectingPoint num="7" id="4838" />
+<TGConnectingPoint num="8" id="4839" />
+<TGConnectingPoint num="9" id="4840" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="4882" >
+<cdparam x="217" y="95" />
+<sizeparam width="380" height="91" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="readSensors" />
+<TGConnectingPoint num="0" id="4842" />
+<TGConnectingPoint num="1" id="4843" />
+<TGConnectingPoint num="2" id="4844" />
+<TGConnectingPoint num="3" id="4845" />
+<TGConnectingPoint num="4" id="4846" />
+<TGConnectingPoint num="5" id="4847" />
+<TGConnectingPoint num="6" id="4848" />
+<TGConnectingPoint num="7" id="4849" />
+<TGConnectingPoint num="8" id="4850" />
+<TGConnectingPoint num="9" id="4851" />
+<TGConnectingPoint num="10" id="4852" />
+<TGConnectingPoint num="11" id="4853" />
+<TGConnectingPoint num="12" id="4854" />
+<TGConnectingPoint num="13" id="4855" />
+<TGConnectingPoint num="14" id="4856" />
+<TGConnectingPoint num="15" id="4857" />
+<TGConnectingPoint num="16" id="4858" />
+<TGConnectingPoint num="17" id="4859" />
+<TGConnectingPoint num="18" id="4860" />
+<TGConnectingPoint num="19" id="4861" />
+<TGConnectingPoint num="20" id="4862" />
+<TGConnectingPoint num="21" id="4863" />
+<TGConnectingPoint num="22" id="4864" />
+<TGConnectingPoint num="23" id="4865" />
+<TGConnectingPoint num="24" id="4866" />
+<TGConnectingPoint num="25" id="4867" />
+<TGConnectingPoint num="26" id="4868" />
+<TGConnectingPoint num="27" id="4869" />
+<TGConnectingPoint num="28" id="4870" />
+<TGConnectingPoint num="29" id="4871" />
+<TGConnectingPoint num="30" id="4872" />
+<TGConnectingPoint num="31" id="4873" />
+<TGConnectingPoint num="32" id="4874" />
+<TGConnectingPoint num="33" id="4875" />
+<TGConnectingPoint num="34" id="4876" />
+<TGConnectingPoint num="35" id="4877" />
+<TGConnectingPoint num="36" id="4878" />
+<TGConnectingPoint num="37" id="4879" />
+<TGConnectingPoint num="38" id="4880" />
+<TGConnectingPoint num="39" id="4881" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="4884" >
+<cdparam x="400" y="40" />
+<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="4883" />
+</COMPONENT>
+
+<CONNECTOR type="5102" id="9359" >
+<cdparam x="758" y="277" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9360" />
+<P1  x="768" y="322" id="9310" />
+<P2  x="549" y="424" id="4705" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9361" >
+<father id="9359" num="0" />
+<cdparam x="758" y="317" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9362" />
+<TGConnectingPoint num="1" id="9363" />
+<TGConnectingPoint num="2" id="9364" />
+<TGConnectingPoint num="3" id="9365" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9428" >
+<cdparam x="662" y="611" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9429" />
+<P1  x="549" y="474" id="4717" />
+<P2  x="718" y="556" id="9389" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9430" >
+<father id="9428" num="0" />
+<cdparam x="662" y="651" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9431" />
+<TGConnectingPoint num="1" id="9432" />
+<TGConnectingPoint num="2" id="9433" />
+<TGConnectingPoint num="3" id="9434" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9586" >
+<cdparam x="188" y="1004" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9587" />
+<P1  x="524" y="824" id="9470" />
+<P2  x="623" y="909" id="9547" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9588" >
+<father id="9586" num="0" />
+<cdparam x="188" y="1044" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9589" />
+<TGConnectingPoint num="1" id="9590" />
+<TGConnectingPoint num="2" id="9591" />
+<TGConnectingPoint num="3" id="9592" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9634" >
+<cdparam x="239" y="1028" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9635" />
+<P1  x="511" y="824" id="9493" />
+<P2  x="411" y="901" id="9595" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9636" >
+<father id="9634" num="0" />
+<cdparam x="239" y="1068" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9637" />
+<TGConnectingPoint num="1" id="9638" />
+<TGConnectingPoint num="2" id="9639" />
+<TGConnectingPoint num="3" id="9640" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9682" >
+<cdparam x="205" y="1076" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9683" />
+<P1  x="536" y="824" id="9494" />
+<P2  x="816" y="897" id="9643" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9684" >
+<father id="9682" num="0" />
+<cdparam x="205" y="1116" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9685" />
+<TGConnectingPoint num="1" id="9686" />
+<TGConnectingPoint num="2" id="9687" />
+<TGConnectingPoint num="3" id="9688" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10129" >
+<cdparam x="183" y="637" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10130" />
+<P1  x="183" y="637" id="4768" />
+<P2  x="209" y="703" id="10090" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10131" >
+<father id="10129" num="0" />
+<cdparam x="183" y="677" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="10132" />
+<TGConnectingPoint num="1" id="10133" />
+<TGConnectingPoint num="2" id="10134" />
+<TGConnectingPoint num="3" id="10135" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Supervisor" minX="10" maxX="2500" minY="10" maxY="1500" >
+<CONNECTOR type="5102" id="9759" >
+<cdparam x="316" y="303" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9760" />
+<P1  x="316" y="303" id="5237" />
+<P2  x="425" y="359" id="5106" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9761" >
+<father id="9759" num="0" />
+<cdparam x="316" y="343" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9762" />
+<TGConnectingPoint num="1" id="9763" />
+<TGConnectingPoint num="2" id="9764" />
+<TGConnectingPoint num="3" id="9765" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9745" >
+<cdparam x="450" y="190" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9746" />
+<P1  x="450" y="190" id="5294" />
+<P2  x="450" y="268" id="5139" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9747" >
+<father id="9745" num="0" />
+<cdparam x="450" y="230" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9748" />
+<TGConnectingPoint num="1" id="9749" />
+<TGConnectingPoint num="2" id="9750" />
+<TGConnectingPoint num="3" id="9751" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9738" >
+<cdparam x="425" y="190" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9739" />
+<P1  x="425" y="190" id="5302" />
+<P2  x="316" y="273" id="5236" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9740" >
+<father id="9738" num="0" />
+<cdparam x="425" y="230" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9741" />
+<TGConnectingPoint num="1" id="9742" />
+<TGConnectingPoint num="2" id="9743" />
+<TGConnectingPoint num="3" id="9744" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4940" >
+<cdparam x="462" y="490" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4939" />
+<P1  x="450" y="409" id="5104" />
+<P2  x="450" y="459" id="5094" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4938" >
+<father id="4940" num="0" />
+<cdparam x="462" y="530" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4934" />
+<TGConnectingPoint num="1" id="4935" />
+<TGConnectingPoint num="2" id="4936" />
+<TGConnectingPoint num="3" id="4937" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4961" >
+<cdparam x="415" y="365" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4960" />
+<P1  x="450" y="298" id="5140" />
+<P2  x="450" y="359" id="5099" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4959" >
+<father id="4961" num="0" />
+<cdparam x="415" y="405" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4955" />
+<TGConnectingPoint num="1" id="4956" />
+<TGConnectingPoint num="2" id="4957" />
+<TGConnectingPoint num="3" id="4958" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4989" >
+<cdparam x="407" y="60" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="4988" />
+<P1  x="407" y="60" id="5329" />
+<P2  x="450" y="140" id="5289" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4987" >
+<father id="4989" num="0" />
+<cdparam x="407" y="100" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4983" />
+<TGConnectingPoint num="1" id="4984" />
+<TGConnectingPoint num="2" id="4985" />
+<TGConnectingPoint num="3" id="4986" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5101" id="5095" >
+<cdparam x="440" y="464" />
+<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="5094" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="5138" >
+<cdparam x="400" y="359" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="calc" />
+<TGConnectingPoint num="0" id="5098" />
+<TGConnectingPoint num="1" id="5099" />
+<TGConnectingPoint num="2" id="5100" />
+<TGConnectingPoint num="3" id="5101" />
+<TGConnectingPoint num="4" id="5102" />
+<TGConnectingPoint num="5" id="5103" />
+<TGConnectingPoint num="6" id="5104" />
+<TGConnectingPoint num="7" id="5105" />
+<TGConnectingPoint num="8" id="5106" />
+<TGConnectingPoint num="9" id="5107" />
+<TGConnectingPoint num="10" id="5108" />
+<TGConnectingPoint num="11" id="5109" />
+<TGConnectingPoint num="12" id="5110" />
+<TGConnectingPoint num="13" id="5111" />
+<TGConnectingPoint num="14" id="5112" />
+<TGConnectingPoint num="15" id="5113" />
+<TGConnectingPoint num="16" id="5114" />
+<TGConnectingPoint num="17" id="5115" />
+<TGConnectingPoint num="18" id="5116" />
+<TGConnectingPoint num="19" id="5117" />
+<TGConnectingPoint num="20" id="5118" />
+<TGConnectingPoint num="21" id="5119" />
+<TGConnectingPoint num="22" id="5120" />
+<TGConnectingPoint num="23" id="5121" />
+<TGConnectingPoint num="24" id="5122" />
+<TGConnectingPoint num="25" id="5123" />
+<TGConnectingPoint num="26" id="5124" />
+<TGConnectingPoint num="27" id="5125" />
+<TGConnectingPoint num="28" id="5126" />
+<TGConnectingPoint num="29" id="5127" />
+<TGConnectingPoint num="30" id="5128" />
+<TGConnectingPoint num="31" id="5129" />
+<TGConnectingPoint num="32" id="5130" />
+<TGConnectingPoint num="33" id="5131" />
+<TGConnectingPoint num="34" id="5132" />
+<TGConnectingPoint num="35" id="5133" />
+<TGConnectingPoint num="36" id="5134" />
+<TGConnectingPoint num="37" id="5135" />
+<TGConnectingPoint num="38" id="5136" />
+<TGConnectingPoint num="39" id="5137" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5104" id="5149" >
+<cdparam x="403" y="273" />
+<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="Receive signal" value="ECUStatus()" />
+<TGConnectingPoint num="0" id="5139" />
+<TGConnectingPoint num="1" id="5140" />
+<TGConnectingPoint num="2" id="5141" />
+<TGConnectingPoint num="3" id="5142" />
+<TGConnectingPoint num="4" id="5143" />
+<TGConnectingPoint num="5" id="5144" />
+<TGConnectingPoint num="6" id="5145" />
+<TGConnectingPoint num="7" id="5146" />
+<TGConnectingPoint num="8" id="5147" />
+<TGConnectingPoint num="9" id="5148" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="5246" >
+<cdparam x="268" y="278" />
+<sizeparam width="97" 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="Receive signal" value="percStatus()" />
+<TGConnectingPoint num="0" id="5236" />
+<TGConnectingPoint num="1" id="5237" />
+<TGConnectingPoint num="2" id="5238" />
+<TGConnectingPoint num="3" id="5239" />
+<TGConnectingPoint num="4" id="5240" />
+<TGConnectingPoint num="5" id="5241" />
+<TGConnectingPoint num="6" id="5242" />
+<TGConnectingPoint num="7" id="5243" />
+<TGConnectingPoint num="8" id="5244" />
+<TGConnectingPoint num="9" id="5245" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="5328" >
+<cdparam x="400" y="140" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="readStatus" />
+<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" />
+<TGConnectingPoint num="16" id="5304" />
+<TGConnectingPoint num="17" id="5305" />
+<TGConnectingPoint num="18" id="5306" />
+<TGConnectingPoint num="19" id="5307" />
+<TGConnectingPoint num="20" id="5308" />
+<TGConnectingPoint num="21" id="5309" />
+<TGConnectingPoint num="22" id="5310" />
+<TGConnectingPoint num="23" id="5311" />
+<TGConnectingPoint num="24" id="5312" />
+<TGConnectingPoint num="25" id="5313" />
+<TGConnectingPoint num="26" id="5314" />
+<TGConnectingPoint num="27" id="5315" />
+<TGConnectingPoint num="28" id="5316" />
+<TGConnectingPoint num="29" id="5317" />
+<TGConnectingPoint num="30" id="5318" />
+<TGConnectingPoint num="31" id="5319" />
+<TGConnectingPoint num="32" id="5320" />
+<TGConnectingPoint num="33" id="5321" />
+<TGConnectingPoint num="34" id="5322" />
+<TGConnectingPoint num="35" id="5323" />
+<TGConnectingPoint num="36" id="5324" />
+<TGConnectingPoint num="37" id="5325" />
+<TGConnectingPoint num="38" id="5326" />
+<TGConnectingPoint num="39" id="5327" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="5330" >
+<cdparam x="400" y="40" />
+<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="5329" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="MABX" minX="10" maxX="2500" minY="10" maxY="1500" >
+<CONNECTOR type="5102" id="10065" >
+<cdparam x="318" y="593" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10066" />
+<P1  x="321" y="593" id="10024" />
+<P2  x="320" y="614" id="5523" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10067" >
+<father id="10065" num="0" />
+<cdparam x="318" y="633" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="10068" />
+<TGConnectingPoint num="1" id="10069" />
+<TGConnectingPoint num="2" id="10070" />
+<TGConnectingPoint num="3" id="10071" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5106" id="10017" >
+<cdparam x="260" y="543" />
+<sizeparam width="122" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="sendCommand" />
+<TGConnectingPoint num="0" id="10018" />
+<TGConnectingPoint num="1" id="10019" />
+<TGConnectingPoint num="2" id="10020" />
+<TGConnectingPoint num="3" id="10021" />
+<TGConnectingPoint num="4" id="10022" />
+<TGConnectingPoint num="5" id="10023" />
+<TGConnectingPoint num="6" id="10024" />
+<TGConnectingPoint num="7" id="10025" />
+<TGConnectingPoint num="8" id="10026" />
+<TGConnectingPoint num="9" id="10027" />
+<TGConnectingPoint num="10" id="10028" />
+<TGConnectingPoint num="11" id="10029" />
+<TGConnectingPoint num="12" id="10030" />
+<TGConnectingPoint num="13" id="10031" />
+<TGConnectingPoint num="14" id="10032" />
+<TGConnectingPoint num="15" id="10033" />
+<TGConnectingPoint num="16" id="10034" />
+<TGConnectingPoint num="17" id="10035" />
+<TGConnectingPoint num="18" id="10036" />
+<TGConnectingPoint num="19" id="10037" />
+<TGConnectingPoint num="20" id="10038" />
+<TGConnectingPoint num="21" id="10039" />
+<TGConnectingPoint num="22" id="10040" />
+<TGConnectingPoint num="23" id="10041" />
+<TGConnectingPoint num="24" id="10042" />
+<TGConnectingPoint num="25" id="10043" />
+<TGConnectingPoint num="26" id="10044" />
+<TGConnectingPoint num="27" id="10045" />
+<TGConnectingPoint num="28" id="10046" />
+<TGConnectingPoint num="29" id="10047" />
+<TGConnectingPoint num="30" id="10048" />
+<TGConnectingPoint num="31" id="10049" />
+<TGConnectingPoint num="32" id="10050" />
+<TGConnectingPoint num="33" id="10051" />
+<TGConnectingPoint num="34" id="10052" />
+<TGConnectingPoint num="35" id="10053" />
+<TGConnectingPoint num="36" id="10054" />
+<TGConnectingPoint num="37" id="10055" />
+<TGConnectingPoint num="38" id="10056" />
+<TGConnectingPoint num="39" id="10057" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5102" id="10010" >
+<cdparam x="342" y="362" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10011" />
+<P1  x="342" y="362" id="5605" />
+<P2  x="352" y="428" id="9972" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10012" >
+<father id="10010" num="0" />
+<cdparam x="342" y="402" />
+<sizeparam width="40" 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="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="10013" />
+<TGConnectingPoint num="1" id="10014" />
+<TGConnectingPoint num="2" id="10015" />
+<TGConnectingPoint num="3" id="10016" />
+<extraparam>
+<guard value="[ else]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<filesToIncludeLine value="" />
+<codeToIncludeLine value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="10003" >
+<cdparam x="327" y="478" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10004" />
+<P1  x="327" y="478" id="9969" />
+<P2  x="366" y="543" id="10037" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10005" >
+<father id="10003" num="0" />
+<cdparam x="327" y="518" />
+<sizeparam width="40" 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="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="10006" />
+<TGConnectingPoint num="1" id="10007" />
+<TGConnectingPoint num="2" id="10008" />
+<TGConnectingPoint num="3" id="10009" />
+<extraparam>
+<guard value="[ else]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<filesToIncludeLine value="" />
+<codeToIncludeLine value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5106" id="9962" >
+<cdparam x="277" y="428" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="filterBraking" />
+<TGConnectingPoint num="0" id="9963" />
+<TGConnectingPoint num="1" id="9964" />
+<TGConnectingPoint num="2" id="9965" />
+<TGConnectingPoint num="3" id="9966" />
+<TGConnectingPoint num="4" id="9967" />
+<TGConnectingPoint num="5" id="9968" />
+<TGConnectingPoint num="6" id="9969" />
+<TGConnectingPoint num="7" id="9970" />
+<TGConnectingPoint num="8" id="9971" />
+<TGConnectingPoint num="9" id="9972" />
+<TGConnectingPoint num="10" id="9973" />
+<TGConnectingPoint num="11" id="9974" />
+<TGConnectingPoint num="12" id="9975" />
+<TGConnectingPoint num="13" id="9976" />
+<TGConnectingPoint num="14" id="9977" />
+<TGConnectingPoint num="15" id="9978" />
+<TGConnectingPoint num="16" id="9979" />
+<TGConnectingPoint num="17" id="9980" />
+<TGConnectingPoint num="18" id="9981" />
+<TGConnectingPoint num="19" id="9982" />
+<TGConnectingPoint num="20" id="9983" />
+<TGConnectingPoint num="21" id="9984" />
+<TGConnectingPoint num="22" id="9985" />
+<TGConnectingPoint num="23" id="9986" />
+<TGConnectingPoint num="24" id="9987" />
+<TGConnectingPoint num="25" id="9988" />
+<TGConnectingPoint num="26" id="9989" />
+<TGConnectingPoint num="27" id="9990" />
+<TGConnectingPoint num="28" id="9991" />
+<TGConnectingPoint num="29" id="9992" />
+<TGConnectingPoint num="30" id="9993" />
+<TGConnectingPoint num="31" id="9994" />
+<TGConnectingPoint num="32" id="9995" />
+<TGConnectingPoint num="33" id="9996" />
+<TGConnectingPoint num="34" id="9997" />
+<TGConnectingPoint num="35" id="9998" />
+<TGConnectingPoint num="36" id="9999" />
+<TGConnectingPoint num="37" id="10000" />
+<TGConnectingPoint num="38" id="10001" />
+<TGConnectingPoint num="39" id="10002" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5102" id="9773" >
+<cdparam x="432" y="159" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9774" />
+<P1  x="432" y="159" id="5683" />
+<P2  x="499" y="235" id="5415" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9775" >
+<father id="9773" num="0" />
+<cdparam x="432" y="199" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9776" />
+<TGConnectingPoint num="1" id="9777" />
+<TGConnectingPoint num="2" id="9778" />
+<TGConnectingPoint num="3" id="9779" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9766" >
+<cdparam x="394" y="159" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9767" />
+<P1  x="394" y="159" id="5697" />
+<P2  x="327" y="235" id="5616" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9768" >
+<father id="9766" num="0" />
+<cdparam x="394" y="199" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9769" />
+<TGConnectingPoint num="1" id="9770" />
+<TGConnectingPoint num="2" id="9771" />
+<TGConnectingPoint num="3" id="9772" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5337" >
+<cdparam x="315" y="365" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5336" />
+<P1  x="327" y="265" id="5617" />
+<P2  x="327" y="312" id="5576" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5335" >
+<father id="5337" num="0" />
+<cdparam x="315" y="405" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5331" />
+<TGConnectingPoint num="1" id="5332" />
+<TGConnectingPoint num="2" id="5333" />
+<TGConnectingPoint num="3" id="5334" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5351" >
+<cdparam x="250" y="790" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5350" />
+<P1  x="499" y="265" id="5416" />
+<P2  x="499" y="305" id="5471" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5349" >
+<father id="5351" num="0" />
+<cdparam x="250" y="830" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5345" />
+<TGConnectingPoint num="1" id="5346" />
+<TGConnectingPoint num="2" id="5347" />
+<TGConnectingPoint num="3" id="5348" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5358" >
+<cdparam x="215" y="865" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5357" />
+<P1  x="499" y="335" id="5472" />
+<P2  x="500" y="405" id="5469" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5356" >
+<father id="5358" num="0" />
+<cdparam x="215" y="905" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5352" />
+<TGConnectingPoint num="1" id="5353" />
+<TGConnectingPoint num="2" id="5354" />
+<TGConnectingPoint num="3" id="5355" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5365" >
+<cdparam x="407" y="60" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5364" />
+<P1  x="407" y="60" id="5709" />
+<P2  x="407" y="109" id="5669" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5363" >
+<father id="5365" num="0" />
+<cdparam x="407" y="100" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5359" />
+<TGConnectingPoint num="1" id="5360" />
+<TGConnectingPoint num="2" id="5361" />
+<TGConnectingPoint num="3" id="5362" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5379" >
+<cdparam x="220" y="681" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5378" />
+<P1  x="320" y="644" id="5524" />
+<P2  x="320" y="696" id="5467" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5377" >
+<father id="5379" num="0" />
+<cdparam x="220" y="721" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5373" />
+<TGConnectingPoint num="1" id="5374" />
+<TGConnectingPoint num="2" id="5375" />
+<TGConnectingPoint num="3" id="5376" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5414" >
+<cdparam x="350" y="490" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5413" />
+<P1  x="327" y="362" id="5581" />
+<P2  x="327" y="428" id="9964" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5412" >
+<father id="5414" num="0" />
+<cdparam x="130" y="396" />
+<sizeparam width="188" 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="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5408" />
+<TGConnectingPoint num="1" id="5409" />
+<TGConnectingPoint num="2" id="5410" />
+<TGConnectingPoint num="3" id="5411" />
+<extraparam>
+<guard value="[ command.accel &gt; maxAccel]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<actions value="command.accel=maxAccel" />
+<filesToIncludeLine value="" />
+<codeToIncludeLine value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="5425" >
+<cdparam x="458" y="240" />
+<sizeparam width="83" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="vehStatus()" />
+<TGConnectingPoint num="0" id="5415" />
+<TGConnectingPoint num="1" id="5416" />
+<TGConnectingPoint num="2" id="5417" />
+<TGConnectingPoint num="3" id="5418" />
+<TGConnectingPoint num="4" id="5419" />
+<TGConnectingPoint num="5" id="5420" />
+<TGConnectingPoint num="6" id="5421" />
+<TGConnectingPoint num="7" id="5422" />
+<TGConnectingPoint num="8" id="5423" />
+<TGConnectingPoint num="9" id="5424" />
+</COMPONENT>
+
+<COMPONENT type="5101" id="5468" >
+<cdparam x="310" y="701" />
+<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="5467" />
+</COMPONENT>
+
+<COMPONENT type="5101" id="5470" >
+<cdparam x="490" y="410" />
+<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="5469" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="5481" >
+<cdparam x="456" y="310" />
+<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="Send signal" value="ECUStatus()" />
+<TGConnectingPoint num="0" id="5471" />
+<TGConnectingPoint num="1" id="5472" />
+<TGConnectingPoint num="2" id="5473" />
+<TGConnectingPoint num="3" id="5474" />
+<TGConnectingPoint num="4" id="5475" />
+<TGConnectingPoint num="5" id="5476" />
+<TGConnectingPoint num="6" id="5477" />
+<TGConnectingPoint num="7" id="5478" />
+<TGConnectingPoint num="8" id="5479" />
+<TGConnectingPoint num="9" id="5480" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="5533" >
+<cdparam x="262" y="619" />
+<sizeparam width="117" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="ECUin(command)" />
+<TGConnectingPoint num="0" id="5523" />
+<TGConnectingPoint num="1" id="5524" />
+<TGConnectingPoint num="2" id="5525" />
+<TGConnectingPoint num="3" id="5526" />
+<TGConnectingPoint num="4" id="5527" />
+<TGConnectingPoint num="5" id="5528" />
+<TGConnectingPoint num="6" id="5529" />
+<TGConnectingPoint num="7" id="5530" />
+<TGConnectingPoint num="8" id="5531" />
+<TGConnectingPoint num="9" id="5532" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="5615" >
+<cdparam x="265" y="312" />
+<sizeparam width="125" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="filterAccel" />
+<TGConnectingPoint num="0" id="5575" />
+<TGConnectingPoint num="1" id="5576" />
+<TGConnectingPoint num="2" id="5577" />
+<TGConnectingPoint num="3" id="5578" />
+<TGConnectingPoint num="4" id="5579" />
+<TGConnectingPoint num="5" id="5580" />
+<TGConnectingPoint num="6" id="5581" />
+<TGConnectingPoint num="7" id="5582" />
+<TGConnectingPoint num="8" id="5583" />
+<TGConnectingPoint num="9" id="5584" />
+<TGConnectingPoint num="10" id="5585" />
+<TGConnectingPoint num="11" id="5586" />
+<TGConnectingPoint num="12" id="5587" />
+<TGConnectingPoint num="13" id="5588" />
+<TGConnectingPoint num="14" id="5589" />
+<TGConnectingPoint num="15" id="5590" />
+<TGConnectingPoint num="16" id="5591" />
+<TGConnectingPoint num="17" id="5592" />
+<TGConnectingPoint num="18" id="5593" />
+<TGConnectingPoint num="19" id="5594" />
+<TGConnectingPoint num="20" id="5595" />
+<TGConnectingPoint num="21" id="5596" />
+<TGConnectingPoint num="22" id="5597" />
+<TGConnectingPoint num="23" id="5598" />
+<TGConnectingPoint num="24" id="5599" />
+<TGConnectingPoint num="25" id="5600" />
+<TGConnectingPoint num="26" id="5601" />
+<TGConnectingPoint num="27" id="5602" />
+<TGConnectingPoint num="28" id="5603" />
+<TGConnectingPoint num="29" id="5604" />
+<TGConnectingPoint num="30" id="5605" />
+<TGConnectingPoint num="31" id="5606" />
+<TGConnectingPoint num="32" id="5607" />
+<TGConnectingPoint num="33" id="5608" />
+<TGConnectingPoint num="34" id="5609" />
+<TGConnectingPoint num="35" id="5610" />
+<TGConnectingPoint num="36" id="5611" />
+<TGConnectingPoint num="37" id="5612" />
+<TGConnectingPoint num="38" id="5613" />
+<TGConnectingPoint num="39" id="5614" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5104" id="5626" >
+<cdparam x="241" y="240" />
+<sizeparam width="172" 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="Receive signal" value="commandOut(command)" />
+<TGConnectingPoint num="0" id="5616" />
+<TGConnectingPoint num="1" id="5617" />
+<TGConnectingPoint num="2" id="5618" />
+<TGConnectingPoint num="3" id="5619" />
+<TGConnectingPoint num="4" id="5620" />
+<TGConnectingPoint num="5" id="5621" />
+<TGConnectingPoint num="6" id="5622" />
+<TGConnectingPoint num="7" id="5623" />
+<TGConnectingPoint num="8" id="5624" />
+<TGConnectingPoint num="9" id="5625" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="5708" >
+<cdparam x="357" y="109" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="init" />
+<TGConnectingPoint num="0" id="5668" />
+<TGConnectingPoint num="1" id="5669" />
+<TGConnectingPoint num="2" id="5670" />
+<TGConnectingPoint num="3" id="5671" />
+<TGConnectingPoint num="4" id="5672" />
+<TGConnectingPoint num="5" id="5673" />
+<TGConnectingPoint num="6" id="5674" />
+<TGConnectingPoint num="7" id="5675" />
+<TGConnectingPoint num="8" id="5676" />
+<TGConnectingPoint num="9" id="5677" />
+<TGConnectingPoint num="10" id="5678" />
+<TGConnectingPoint num="11" id="5679" />
+<TGConnectingPoint num="12" id="5680" />
+<TGConnectingPoint num="13" id="5681" />
+<TGConnectingPoint num="14" id="5682" />
+<TGConnectingPoint num="15" id="5683" />
+<TGConnectingPoint num="16" id="5684" />
+<TGConnectingPoint num="17" id="5685" />
+<TGConnectingPoint num="18" id="5686" />
+<TGConnectingPoint num="19" id="5687" />
+<TGConnectingPoint num="20" id="5688" />
+<TGConnectingPoint num="21" id="5689" />
+<TGConnectingPoint num="22" id="5690" />
+<TGConnectingPoint num="23" id="5691" />
+<TGConnectingPoint num="24" id="5692" />
+<TGConnectingPoint num="25" id="5693" />
+<TGConnectingPoint num="26" id="5694" />
+<TGConnectingPoint num="27" id="5695" />
+<TGConnectingPoint num="28" id="5696" />
+<TGConnectingPoint num="29" id="5697" />
+<TGConnectingPoint num="30" id="5698" />
+<TGConnectingPoint num="31" id="5699" />
+<TGConnectingPoint num="32" id="5700" />
+<TGConnectingPoint num="33" id="5701" />
+<TGConnectingPoint num="34" id="5702" />
+<TGConnectingPoint num="35" id="5703" />
+<TGConnectingPoint num="36" id="5704" />
+<TGConnectingPoint num="37" id="5705" />
+<TGConnectingPoint num="38" id="5706" />
+<TGConnectingPoint num="39" id="5707" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="5710" >
+<cdparam x="400" y="40" />
+<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="5709" />
+</COMPONENT>
+
+<CONNECTOR type="5102" id="10058" >
+<cdparam x="277" y="478" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="10059" />
+<P1  x="314" y="478" id="9992" />
+<P2  x="290" y="543" id="10026" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="10060" >
+<father id="10058" num="0" />
+<cdparam x="81" y="505" />
+<sizeparam width="194" 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="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="10061" />
+<TGConnectingPoint num="1" id="10062" />
+<TGConnectingPoint num="2" id="10063" />
+<TGConnectingPoint num="3" id="10064" />
+<extraparam>
+<guard value="[ command.brake &gt; maxBrake]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<actions value="command.brake= maxBrake" />
+<filesToIncludeLine value="" />
+<codeToIncludeLine value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="UI" minX="10" maxX="2500" minY="10" maxY="1500" >
+<CONNECTOR type="5102" id="9780" >
+<cdparam x="407" y="60" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9781" />
+<P1  x="407" y="60" id="5786" />
+<P2  x="407" y="106" id="5734" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9782" >
+<father id="9780" num="0" />
+<cdparam x="407" y="100" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9783" />
+<TGConnectingPoint num="1" id="9784" />
+<TGConnectingPoint num="2" id="9785" />
+<TGConnectingPoint num="3" id="9786" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5717" >
+<cdparam x="407" y="136" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5716" />
+<P1  x="407" y="136" id="5735" />
+<P2  x="407" y="187" id="5732" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5715" >
+<father id="5717" num="0" />
+<cdparam x="407" y="176" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5711" />
+<TGConnectingPoint num="1" id="5712" />
+<TGConnectingPoint num="2" id="5713" />
+<TGConnectingPoint num="3" id="5714" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5101" id="5733" >
+<cdparam x="397" y="192" />
+<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="5732" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="5744" >
+<cdparam x="345" y="111" />
+<sizeparam width="124" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="UIout(destination)" />
+<TGConnectingPoint num="0" id="5734" />
+<TGConnectingPoint num="1" id="5735" />
+<TGConnectingPoint num="2" id="5736" />
+<TGConnectingPoint num="3" id="5737" />
+<TGConnectingPoint num="4" id="5738" />
+<TGConnectingPoint num="5" id="5739" />
+<TGConnectingPoint num="6" id="5740" />
+<TGConnectingPoint num="7" id="5741" />
+<TGConnectingPoint num="8" id="5742" />
+<TGConnectingPoint num="9" id="5743" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="5787" >
+<cdparam x="400" y="40" />
+<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="5786" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ExteriorInterface" minX="10" maxX="2500" minY="10" maxY="1500" >
+<CONNECTOR type="5102" id="9828" >
+<cdparam x="550" y="290" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9829" />
+<P1  x="550" y="290" id="5927" />
+<P2  x="550" y="341" id="5874" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9830" >
+<father id="9828" num="0" />
+<cdparam x="550" y="330" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9831" />
+<TGConnectingPoint num="1" id="9832" />
+<TGConnectingPoint num="2" id="9833" />
+<TGConnectingPoint num="3" id="9834" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9819" >
+<cdparam x="354" y="355" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9821" />
+<P1  x="354" y="355" id="9803" />
+<P2  x="354" y="386" id="5980" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9823" >
+<father id="9819" num="0" />
+<cdparam x="354" y="395" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9824" />
+<TGConnectingPoint num="1" id="9825" />
+<TGConnectingPoint num="2" id="9826" />
+<TGConnectingPoint num="3" id="9827" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9812" >
+<cdparam x="354" y="289" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9813" />
+<P1  x="354" y="289" id="6033" />
+<P2  x="354" y="325" id="9802" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9814" >
+<father id="9812" num="0" />
+<cdparam x="354" y="329" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9815" />
+<TGConnectingPoint num="1" id="9816" />
+<TGConnectingPoint num="2" id="9817" />
+<TGConnectingPoint num="3" id="9818" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="9801" >
+<cdparam x="296" y="330" />
+<sizeparam width="116" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="V2Idata(V2Idata)" />
+<TGConnectingPoint num="0" id="9802" />
+<TGConnectingPoint num="1" id="9803" />
+<TGConnectingPoint num="2" id="9804" />
+<TGConnectingPoint num="3" id="9805" />
+<TGConnectingPoint num="4" id="9806" />
+<TGConnectingPoint num="5" id="9807" />
+<TGConnectingPoint num="6" id="9808" />
+<TGConnectingPoint num="7" id="9809" />
+<TGConnectingPoint num="8" id="9810" />
+<TGConnectingPoint num="9" id="9811" />
+</COMPONENT>
+
+<CONNECTOR type="5102" id="9794" >
+<cdparam x="425" y="190" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9795" />
+<P1  x="425" y="190" id="6139" />
+<P2  x="354" y="259" id="6032" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9796" >
+<father id="9794" num="0" />
+<cdparam x="425" y="230" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9797" />
+<TGConnectingPoint num="1" id="9798" />
+<TGConnectingPoint num="2" id="9799" />
+<TGConnectingPoint num="3" id="9800" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9787" >
+<cdparam x="475" y="190" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9788" />
+<P1  x="475" y="190" id="6140" />
+<P2  x="550" y="260" id="5926" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9789" >
+<father id="9787" num="0" />
+<cdparam x="475" y="230" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9790" />
+<TGConnectingPoint num="1" id="9791" />
+<TGConnectingPoint num="2" id="9792" />
+<TGConnectingPoint num="3" id="9793" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5801" >
+<cdparam x="407" y="60" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5800" />
+<P1  x="450" y="102" id="6166" />
+<P2  x="450" y="140" id="6126" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5799" >
+<father id="5801" num="0" />
+<cdparam x="407" y="100" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5795" />
+<TGConnectingPoint num="1" id="5796" />
+<TGConnectingPoint num="2" id="5797" />
+<TGConnectingPoint num="3" id="5798" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5829" >
+<cdparam x="550" y="371" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5828" />
+<P1  x="550" y="371" id="5875" />
+<P2  x="550" y="433" id="5872" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5827" >
+<father id="5829" num="0" />
+<cdparam x="550" y="411" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5823" />
+<TGConnectingPoint num="1" id="5824" />
+<TGConnectingPoint num="2" id="5825" />
+<TGConnectingPoint num="3" id="5826" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5843" >
+<cdparam x="354" y="416" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="5842" />
+<P1  x="354" y="416" id="5981" />
+<P2  x="354" y="452" id="5978" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5841" >
+<father id="5843" num="0" />
+<cdparam x="354" y="456" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5837" />
+<TGConnectingPoint num="1" id="5838" />
+<TGConnectingPoint num="2" id="5839" />
+<TGConnectingPoint num="3" id="5840" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5101" id="5873" >
+<cdparam x="540" y="438" />
+<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="5872" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="5884" >
+<cdparam x="480" y="346" />
+<sizeparam width="141" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="destOut(destination)" />
+<TGConnectingPoint num="0" id="5874" />
+<TGConnectingPoint num="1" id="5875" />
+<TGConnectingPoint num="2" id="5876" />
+<TGConnectingPoint num="3" id="5877" />
+<TGConnectingPoint num="4" id="5878" />
+<TGConnectingPoint num="5" id="5879" />
+<TGConnectingPoint num="6" id="5880" />
+<TGConnectingPoint num="7" id="5881" />
+<TGConnectingPoint num="8" id="5882" />
+<TGConnectingPoint num="9" id="5883" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="5936" >
+<cdparam x="484" y="265" />
+<sizeparam width="132" 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="Receive signal" value="UIout(destination)" />
+<TGConnectingPoint num="0" id="5926" />
+<TGConnectingPoint num="1" id="5927" />
+<TGConnectingPoint num="2" id="5928" />
+<TGConnectingPoint num="3" id="5929" />
+<TGConnectingPoint num="4" id="5930" />
+<TGConnectingPoint num="5" id="5931" />
+<TGConnectingPoint num="6" id="5932" />
+<TGConnectingPoint num="7" id="5933" />
+<TGConnectingPoint num="8" id="5934" />
+<TGConnectingPoint num="9" id="5935" />
+</COMPONENT>
+
+<COMPONENT type="5101" id="5979" >
+<cdparam x="344" y="457" />
+<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="5978" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="5990" >
+<cdparam x="291" y="391" />
+<sizeparam width="126" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="V2Vdata(V2Vdata)" />
+<TGConnectingPoint num="0" id="5980" />
+<TGConnectingPoint num="1" id="5981" />
+<TGConnectingPoint num="2" id="5982" />
+<TGConnectingPoint num="3" id="5983" />
+<TGConnectingPoint num="4" id="5984" />
+<TGConnectingPoint num="5" id="5985" />
+<TGConnectingPoint num="6" id="5986" />
+<TGConnectingPoint num="7" id="5987" />
+<TGConnectingPoint num="8" id="5988" />
+<TGConnectingPoint num="9" id="5989" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="6042" >
+<cdparam x="263" y="264" />
+<sizeparam width="182" 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="Receive signal" value="V2XOut(V2Idata, V2Vdata)" />
+<TGConnectingPoint num="0" id="6032" />
+<TGConnectingPoint num="1" id="6033" />
+<TGConnectingPoint num="2" id="6034" />
+<TGConnectingPoint num="3" id="6035" />
+<TGConnectingPoint num="4" id="6036" />
+<TGConnectingPoint num="5" id="6037" />
+<TGConnectingPoint num="6" id="6038" />
+<TGConnectingPoint num="7" id="6039" />
+<TGConnectingPoint num="8" id="6040" />
+<TGConnectingPoint num="9" id="6041" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="6165" >
+<cdparam x="400" y="140" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="init" />
+<TGConnectingPoint num="0" id="6125" />
+<TGConnectingPoint num="1" id="6126" />
+<TGConnectingPoint num="2" id="6127" />
+<TGConnectingPoint num="3" id="6128" />
+<TGConnectingPoint num="4" id="6129" />
+<TGConnectingPoint num="5" id="6130" />
+<TGConnectingPoint num="6" id="6131" />
+<TGConnectingPoint num="7" id="6132" />
+<TGConnectingPoint num="8" id="6133" />
+<TGConnectingPoint num="9" id="6134" />
+<TGConnectingPoint num="10" id="6135" />
+<TGConnectingPoint num="11" id="6136" />
+<TGConnectingPoint num="12" id="6137" />
+<TGConnectingPoint num="13" id="6138" />
+<TGConnectingPoint num="14" id="6139" />
+<TGConnectingPoint num="15" id="6140" />
+<TGConnectingPoint num="16" id="6141" />
+<TGConnectingPoint num="17" id="6142" />
+<TGConnectingPoint num="18" id="6143" />
+<TGConnectingPoint num="19" id="6144" />
+<TGConnectingPoint num="20" id="6145" />
+<TGConnectingPoint num="21" id="6146" />
+<TGConnectingPoint num="22" id="6147" />
+<TGConnectingPoint num="23" id="6148" />
+<TGConnectingPoint num="24" id="6149" />
+<TGConnectingPoint num="25" id="6150" />
+<TGConnectingPoint num="26" id="6151" />
+<TGConnectingPoint num="27" id="6152" />
+<TGConnectingPoint num="28" id="6153" />
+<TGConnectingPoint num="29" id="6154" />
+<TGConnectingPoint num="30" id="6155" />
+<TGConnectingPoint num="31" id="6156" />
+<TGConnectingPoint num="32" id="6157" />
+<TGConnectingPoint num="33" id="6158" />
+<TGConnectingPoint num="34" id="6159" />
+<TGConnectingPoint num="35" id="6160" />
+<TGConnectingPoint num="36" id="6161" />
+<TGConnectingPoint num="37" id="6162" />
+<TGConnectingPoint num="38" id="6163" />
+<TGConnectingPoint num="39" id="6164" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="6167" >
+<cdparam x="443" y="82" />
+<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="6166" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="ECU" minX="10" maxX="2500" minY="10" maxY="1500" >
+<CONNECTOR type="5102" id="9835" >
+<cdparam x="407" y="60" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9836" />
+<P1  x="407" y="60" id="6243" />
+<P2  x="407" y="91" id="6191" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9837" >
+<father id="9835" num="0" />
+<cdparam x="407" y="100" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9838" />
+<TGConnectingPoint num="1" id="9839" />
+<TGConnectingPoint num="2" id="9840" />
+<TGConnectingPoint num="3" id="9841" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="6188" >
+<cdparam x="407" y="121" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="6187" />
+<P1  x="407" y="121" id="6192" />
+<P2  x="407" y="171" id="6189" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6186" >
+<father id="6188" num="0" />
+<cdparam x="407" y="161" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="6182" />
+<TGConnectingPoint num="1" id="6183" />
+<TGConnectingPoint num="2" id="6184" />
+<TGConnectingPoint num="3" id="6185" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5101" id="6190" >
+<cdparam x="397" y="176" />
+<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="6189" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="6201" >
+<cdparam x="345" y="96" />
+<sizeparam width="125" 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="Receive signal" value="ECUin(command)" />
+<TGConnectingPoint num="0" id="6191" />
+<TGConnectingPoint num="1" id="6192" />
+<TGConnectingPoint num="2" id="6193" />
+<TGConnectingPoint num="3" id="6194" />
+<TGConnectingPoint num="4" id="6195" />
+<TGConnectingPoint num="5" id="6196" />
+<TGConnectingPoint num="6" id="6197" />
+<TGConnectingPoint num="7" id="6198" />
+<TGConnectingPoint num="8" id="6199" />
+<TGConnectingPoint num="9" id="6200" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="6244" >
+<cdparam x="400" y="40" />
+<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="6243" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Sensors" minX="10" maxX="2500" minY="10" maxY="1500" >
+<COMPONENT type="5100" id="6246" >
+<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="6245" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Radar" minX="10" maxX="2500" minY="10" maxY="1500" >
+<CONNECTOR type="5102" id="9842" >
+<cdparam x="407" y="60" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9843" />
+<P1  x="407" y="60" id="6370" />
+<P2  x="407" y="96" id="6277" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9844" >
+<father id="9842" num="0" />
+<cdparam x="407" y="100" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9845" />
+<TGConnectingPoint num="1" id="9846" />
+<TGConnectingPoint num="2" id="9847" />
+<TGConnectingPoint num="3" id="9848" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="6253" >
+<cdparam x="407" y="126" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="6252" />
+<P1  x="407" y="126" id="6278" />
+<P2  x="407" y="160" id="6275" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6251" >
+<father id="6253" num="0" />
+<cdparam x="407" y="166" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="6247" />
+<TGConnectingPoint num="1" id="6248" />
+<TGConnectingPoint num="2" id="6249" />
+<TGConnectingPoint num="3" id="6250" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5101" id="6276" >
+<cdparam x="397" y="165" />
+<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="6275" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="6287" >
+<cdparam x="333" y="101" />
+<sizeparam width="148" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="radarData(radarData)" />
+<TGConnectingPoint num="0" id="6277" />
+<TGConnectingPoint num="1" id="6278" />
+<TGConnectingPoint num="2" id="6279" />
+<TGConnectingPoint num="3" id="6280" />
+<TGConnectingPoint num="4" id="6281" />
+<TGConnectingPoint num="5" id="6282" />
+<TGConnectingPoint num="6" id="6283" />
+<TGConnectingPoint num="7" id="6284" />
+<TGConnectingPoint num="8" id="6285" />
+<TGConnectingPoint num="9" id="6286" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="6371" >
+<cdparam x="400" y="40" />
+<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="6370" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="FusionLidar" minX="10" maxX="2500" minY="10" maxY="1500" >
+<CONNECTOR type="5102" id="9456" >
+<cdparam x="407" y="60" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9457" />
+<P1  x="407" y="60" id="6495" />
+<P2  x="407" y="98" id="6402" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9458" >
+<father id="9456" num="0" />
+<cdparam x="407" y="100" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9459" />
+<TGConnectingPoint num="1" id="9460" />
+<TGConnectingPoint num="2" id="9461" />
+<TGConnectingPoint num="3" id="9462" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="6399" >
+<cdparam x="407" y="128" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="6398" />
+<P1  x="407" y="128" id="6403" />
+<P2  x="407" y="177" id="6400" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6397" >
+<father id="6399" num="0" />
+<cdparam x="407" y="168" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="6393" />
+<TGConnectingPoint num="1" id="6394" />
+<TGConnectingPoint num="2" id="6395" />
+<TGConnectingPoint num="3" id="6396" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5101" id="6401" >
+<cdparam x="397" y="182" />
+<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="6400" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="6412" >
+<cdparam x="340" y="103" />
+<sizeparam width="134" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="lidarData(lidarData)" />
+<TGConnectingPoint num="0" id="6402" />
+<TGConnectingPoint num="1" id="6403" />
+<TGConnectingPoint num="2" id="6404" />
+<TGConnectingPoint num="3" id="6405" />
+<TGConnectingPoint num="4" id="6406" />
+<TGConnectingPoint num="5" id="6407" />
+<TGConnectingPoint num="6" id="6408" />
+<TGConnectingPoint num="7" id="6409" />
+<TGConnectingPoint num="8" id="6410" />
+<TGConnectingPoint num="9" id="6411" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="6496" >
+<cdparam x="400" y="40" />
+<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="6495" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Camera" minX="10" maxX="2500" minY="10" maxY="1500" >
+<CONNECTOR type="5102" id="9849" >
+<cdparam x="407" y="60" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9850" />
+<P1  x="407" y="60" id="6677" />
+<P2  x="406" y="80" id="6541" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9851" >
+<father id="9849" num="0" />
+<cdparam x="407" y="100" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9852" />
+<TGConnectingPoint num="1" id="9853" />
+<TGConnectingPoint num="2" id="9854" />
+<TGConnectingPoint num="3" id="9855" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="6538" >
+<cdparam x="406" y="110" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="6537" />
+<P1  x="406" y="110" id="6542" />
+<P2  x="406" y="147" id="6539" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6536" >
+<father id="6538" num="0" />
+<cdparam x="406" y="150" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="6532" />
+<TGConnectingPoint num="1" id="6533" />
+<TGConnectingPoint num="2" id="6534" />
+<TGConnectingPoint num="3" id="6535" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5101" id="6540" >
+<cdparam x="396" y="152" />
+<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="6539" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="6551" >
+<cdparam x="340" y="85" />
+<sizeparam width="132" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="camData(camData)" />
+<TGConnectingPoint num="0" id="6541" />
+<TGConnectingPoint num="1" id="6542" />
+<TGConnectingPoint num="2" id="6543" />
+<TGConnectingPoint num="3" id="6544" />
+<TGConnectingPoint num="4" id="6545" />
+<TGConnectingPoint num="5" id="6546" />
+<TGConnectingPoint num="6" id="6547" />
+<TGConnectingPoint num="7" id="6548" />
+<TGConnectingPoint num="8" id="6549" />
+<TGConnectingPoint num="9" id="6550" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="6678" >
+<cdparam x="400" y="40" />
+<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="6677" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="GPS" minX="10" maxX="2500" minY="10" maxY="1500" >
+<CONNECTOR type="5102" id="9856" >
+<cdparam x="407" y="60" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9857" />
+<P1  x="407" y="60" id="6754" />
+<P2  x="407" y="104" id="6702" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9858" >
+<father id="9856" num="0" />
+<cdparam x="407" y="100" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9859" />
+<TGConnectingPoint num="1" id="9860" />
+<TGConnectingPoint num="2" id="9861" />
+<TGConnectingPoint num="3" id="9862" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="6699" >
+<cdparam x="407" y="134" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="6698" />
+<P1  x="407" y="134" id="6703" />
+<P2  x="407" y="182" id="6700" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6697" >
+<father id="6699" num="0" />
+<cdparam x="407" y="174" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="6693" />
+<TGConnectingPoint num="1" id="6694" />
+<TGConnectingPoint num="2" id="6695" />
+<TGConnectingPoint num="3" id="6696" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5101" id="6701" >
+<cdparam x="397" y="187" />
+<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="6700" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="6712" >
+<cdparam x="321" y="109" />
+<sizeparam width="172" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="GPSRTKdata(GPSRTKdata)" />
+<TGConnectingPoint num="0" id="6702" />
+<TGConnectingPoint num="1" id="6703" />
+<TGConnectingPoint num="2" id="6704" />
+<TGConnectingPoint num="3" id="6705" />
+<TGConnectingPoint num="4" id="6706" />
+<TGConnectingPoint num="5" id="6707" />
+<TGConnectingPoint num="6" id="6708" />
+<TGConnectingPoint num="7" id="6709" />
+<TGConnectingPoint num="8" id="6710" />
+<TGConnectingPoint num="9" id="6711" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="6755" >
+<cdparam x="400" y="40" />
+<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="6754" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="IMU" minX="10" maxX="2500" minY="10" maxY="1500" >
+<CONNECTOR type="5102" id="9863" >
+<cdparam x="407" y="60" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9864" />
+<P1  x="407" y="60" id="6879" />
+<P2  x="407" y="104" id="6786" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9865" >
+<father id="9863" num="0" />
+<cdparam x="407" y="100" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9866" />
+<TGConnectingPoint num="1" id="9867" />
+<TGConnectingPoint num="2" id="9868" />
+<TGConnectingPoint num="3" id="9869" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="6762" >
+<cdparam x="407" y="134" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="6761" />
+<P1  x="407" y="134" id="6787" />
+<P2  x="407" y="185" id="6784" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="6760" >
+<father id="6762" num="0" />
+<cdparam x="407" y="174" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="6756" />
+<TGConnectingPoint num="1" id="6757" />
+<TGConnectingPoint num="2" id="6758" />
+<TGConnectingPoint num="3" id="6759" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5101" id="6785" >
+<cdparam x="397" y="190" />
+<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="6784" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="6796" >
+<cdparam x="346" y="109" />
+<sizeparam width="122" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="IMUdata(IMUdata)" />
+<TGConnectingPoint num="0" id="6786" />
+<TGConnectingPoint num="1" id="6787" />
+<TGConnectingPoint num="2" id="6788" />
+<TGConnectingPoint num="3" id="6789" />
+<TGConnectingPoint num="4" id="6790" />
+<TGConnectingPoint num="5" id="6791" />
+<TGConnectingPoint num="6" id="6792" />
+<TGConnectingPoint num="7" id="6793" />
+<TGConnectingPoint num="8" id="6794" />
+<TGConnectingPoint num="9" id="6795" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="6880" >
+<cdparam x="400" y="40" />
+<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="6879" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="V2X" minX="10" maxX="2500" minY="10" maxY="1500" >
+<COMPONENT type="5101" id="9944" >
+<cdparam x="397" y="192" />
+<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="9945" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="9926" >
+<cdparam x="317" y="126" />
+<sizeparam width="181" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="V2Xdata(V2Idata, V2Vdata)" />
+<TGConnectingPoint num="0" id="9927" />
+<TGConnectingPoint num="1" id="9928" />
+<TGConnectingPoint num="2" id="9929" />
+<TGConnectingPoint num="3" id="9930" />
+<TGConnectingPoint num="4" id="9931" />
+<TGConnectingPoint num="5" id="9932" />
+<TGConnectingPoint num="6" id="9933" />
+<TGConnectingPoint num="7" id="9934" />
+<TGConnectingPoint num="8" id="9935" />
+<TGConnectingPoint num="9" id="9936" />
+</COMPONENT>
+
+<COMPONENT type="5100" id="9922" >
+<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="9923" />
+</COMPONENT>
+
+<CONNECTOR type="5102" id="9937" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9938" />
+<P1  x="407" y="70" id="9923" />
+<P2  x="407" y="121" id="9927" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9939" >
+<father id="9937" num="0" />
+<cdparam x="407" y="110" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9940" />
+<TGConnectingPoint num="1" id="9941" />
+<TGConnectingPoint num="2" id="9942" />
+<TGConnectingPoint num="3" id="9943" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="9946" >
+<cdparam x="407" y="151" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="9947" />
+<P1  x="407" y="151" id="9928" />
+<P2  x="407" y="187" id="9945" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="9948" >
+<father id="9946" num="0" />
+<cdparam x="407" y="191" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="9949" />
+<TGConnectingPoint num="1" id="9950" />
+<TGConnectingPoint num="2" id="9951" />
+<TGConnectingPoint num="3" id="9952" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
 <Modeling type="Avatar Analysis" nameTab="Analysis" >
 <UseCaseDiagramPanel name="Use Case Diagram 0" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="701" id="3690" >
+<COMPONENT type="701" id="6982" >
 <cdparam x="820" y="139" />
 <sizeparam width="125" height="40" 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="Use case" value="obstacleDetection" />
-<TGConnectingPoint num="0" id="3666" />
-<TGConnectingPoint num="1" id="3667" />
-<TGConnectingPoint num="2" id="3668" />
-<TGConnectingPoint num="3" id="3669" />
-<TGConnectingPoint num="4" id="3670" />
-<TGConnectingPoint num="5" id="3671" />
-<TGConnectingPoint num="6" id="3672" />
-<TGConnectingPoint num="7" id="3673" />
-<TGConnectingPoint num="8" id="3674" />
-<TGConnectingPoint num="9" id="3675" />
-<TGConnectingPoint num="10" id="3676" />
-<TGConnectingPoint num="11" id="3677" />
-<TGConnectingPoint num="12" id="3678" />
-<TGConnectingPoint num="13" id="3679" />
-<TGConnectingPoint num="14" id="3680" />
-<TGConnectingPoint num="15" id="3681" />
-<TGConnectingPoint num="16" id="3682" />
-<TGConnectingPoint num="17" id="3683" />
-<TGConnectingPoint num="18" id="3684" />
-<TGConnectingPoint num="19" id="3685" />
-<TGConnectingPoint num="20" id="3686" />
-<TGConnectingPoint num="21" id="3687" />
-<TGConnectingPoint num="22" id="3688" />
-<TGConnectingPoint num="23" id="3689" />
+<TGConnectingPoint num="0" id="6958" />
+<TGConnectingPoint num="1" id="6959" />
+<TGConnectingPoint num="2" id="6960" />
+<TGConnectingPoint num="3" id="6961" />
+<TGConnectingPoint num="4" id="6962" />
+<TGConnectingPoint num="5" id="6963" />
+<TGConnectingPoint num="6" id="6964" />
+<TGConnectingPoint num="7" id="6965" />
+<TGConnectingPoint num="8" id="6966" />
+<TGConnectingPoint num="9" id="6967" />
+<TGConnectingPoint num="10" id="6968" />
+<TGConnectingPoint num="11" id="6969" />
+<TGConnectingPoint num="12" id="6970" />
+<TGConnectingPoint num="13" id="6971" />
+<TGConnectingPoint num="14" id="6972" />
+<TGConnectingPoint num="15" id="6973" />
+<TGConnectingPoint num="16" id="6974" />
+<TGConnectingPoint num="17" id="6975" />
+<TGConnectingPoint num="18" id="6976" />
+<TGConnectingPoint num="19" id="6977" />
+<TGConnectingPoint num="20" id="6978" />
+<TGConnectingPoint num="21" id="6979" />
+<TGConnectingPoint num="22" id="6980" />
+<TGConnectingPoint num="23" id="6981" />
 <extraparam>
 <info extension="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="701" id="3715" >
+<COMPONENT type="701" id="7007" >
 <cdparam x="465" y="670" />
 <sizeparam width="127" height="40" 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="Use case" value="getMiscCommands" />
-<TGConnectingPoint num="0" id="3691" />
-<TGConnectingPoint num="1" id="3692" />
-<TGConnectingPoint num="2" id="3693" />
-<TGConnectingPoint num="3" id="3694" />
-<TGConnectingPoint num="4" id="3695" />
-<TGConnectingPoint num="5" id="3696" />
-<TGConnectingPoint num="6" id="3697" />
-<TGConnectingPoint num="7" id="3698" />
-<TGConnectingPoint num="8" id="3699" />
-<TGConnectingPoint num="9" id="3700" />
-<TGConnectingPoint num="10" id="3701" />
-<TGConnectingPoint num="11" id="3702" />
-<TGConnectingPoint num="12" id="3703" />
-<TGConnectingPoint num="13" id="3704" />
-<TGConnectingPoint num="14" id="3705" />
-<TGConnectingPoint num="15" id="3706" />
-<TGConnectingPoint num="16" id="3707" />
-<TGConnectingPoint num="17" id="3708" />
-<TGConnectingPoint num="18" id="3709" />
-<TGConnectingPoint num="19" id="3710" />
-<TGConnectingPoint num="20" id="3711" />
-<TGConnectingPoint num="21" id="3712" />
-<TGConnectingPoint num="22" id="3713" />
-<TGConnectingPoint num="23" id="3714" />
+<TGConnectingPoint num="0" id="6983" />
+<TGConnectingPoint num="1" id="6984" />
+<TGConnectingPoint num="2" id="6985" />
+<TGConnectingPoint num="3" id="6986" />
+<TGConnectingPoint num="4" id="6987" />
+<TGConnectingPoint num="5" id="6988" />
+<TGConnectingPoint num="6" id="6989" />
+<TGConnectingPoint num="7" id="6990" />
+<TGConnectingPoint num="8" id="6991" />
+<TGConnectingPoint num="9" id="6992" />
+<TGConnectingPoint num="10" id="6993" />
+<TGConnectingPoint num="11" id="6994" />
+<TGConnectingPoint num="12" id="6995" />
+<TGConnectingPoint num="13" id="6996" />
+<TGConnectingPoint num="14" id="6997" />
+<TGConnectingPoint num="15" id="6998" />
+<TGConnectingPoint num="16" id="6999" />
+<TGConnectingPoint num="17" id="7000" />
+<TGConnectingPoint num="18" id="7001" />
+<TGConnectingPoint num="19" id="7002" />
+<TGConnectingPoint num="20" id="7003" />
+<TGConnectingPoint num="21" id="7004" />
+<TGConnectingPoint num="22" id="7005" />
+<TGConnectingPoint num="23" id="7006" />
 <extraparam>
 <info extension="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="701" id="3740" >
+<COMPONENT type="701" id="7032" >
 <cdparam x="596" y="673" />
 <sizeparam width="103" height="40" 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="Use case" value="getDestination" />
-<TGConnectingPoint num="0" id="3716" />
-<TGConnectingPoint num="1" id="3717" />
-<TGConnectingPoint num="2" id="3718" />
-<TGConnectingPoint num="3" id="3719" />
-<TGConnectingPoint num="4" id="3720" />
-<TGConnectingPoint num="5" id="3721" />
-<TGConnectingPoint num="6" id="3722" />
-<TGConnectingPoint num="7" id="3723" />
-<TGConnectingPoint num="8" id="3724" />
-<TGConnectingPoint num="9" id="3725" />
-<TGConnectingPoint num="10" id="3726" />
-<TGConnectingPoint num="11" id="3727" />
-<TGConnectingPoint num="12" id="3728" />
-<TGConnectingPoint num="13" id="3729" />
-<TGConnectingPoint num="14" id="3730" />
-<TGConnectingPoint num="15" id="3731" />
-<TGConnectingPoint num="16" id="3732" />
-<TGConnectingPoint num="17" id="3733" />
-<TGConnectingPoint num="18" id="3734" />
-<TGConnectingPoint num="19" id="3735" />
-<TGConnectingPoint num="20" id="3736" />
-<TGConnectingPoint num="21" id="3737" />
-<TGConnectingPoint num="22" id="3738" />
-<TGConnectingPoint num="23" id="3739" />
+<TGConnectingPoint num="0" id="7008" />
+<TGConnectingPoint num="1" id="7009" />
+<TGConnectingPoint num="2" id="7010" />
+<TGConnectingPoint num="3" id="7011" />
+<TGConnectingPoint num="4" id="7012" />
+<TGConnectingPoint num="5" id="7013" />
+<TGConnectingPoint num="6" id="7014" />
+<TGConnectingPoint num="7" id="7015" />
+<TGConnectingPoint num="8" id="7016" />
+<TGConnectingPoint num="9" id="7017" />
+<TGConnectingPoint num="10" id="7018" />
+<TGConnectingPoint num="11" id="7019" />
+<TGConnectingPoint num="12" id="7020" />
+<TGConnectingPoint num="13" id="7021" />
+<TGConnectingPoint num="14" id="7022" />
+<TGConnectingPoint num="15" id="7023" />
+<TGConnectingPoint num="16" id="7024" />
+<TGConnectingPoint num="17" id="7025" />
+<TGConnectingPoint num="18" id="7026" />
+<TGConnectingPoint num="19" id="7027" />
+<TGConnectingPoint num="20" id="7028" />
+<TGConnectingPoint num="21" id="7029" />
+<TGConnectingPoint num="22" id="7030" />
+<TGConnectingPoint num="23" id="7031" />
 <extraparam>
 <info extension="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="701" id="3765" >
+<COMPONENT type="701" id="7057" >
 <cdparam x="914" y="392" />
 <sizeparam width="133" height="40" 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="Use case" value="UserComfortControl" />
-<TGConnectingPoint num="0" id="3741" />
-<TGConnectingPoint num="1" id="3742" />
-<TGConnectingPoint num="2" id="3743" />
-<TGConnectingPoint num="3" id="3744" />
-<TGConnectingPoint num="4" id="3745" />
-<TGConnectingPoint num="5" id="3746" />
-<TGConnectingPoint num="6" id="3747" />
-<TGConnectingPoint num="7" id="3748" />
-<TGConnectingPoint num="8" id="3749" />
-<TGConnectingPoint num="9" id="3750" />
-<TGConnectingPoint num="10" id="3751" />
-<TGConnectingPoint num="11" id="3752" />
-<TGConnectingPoint num="12" id="3753" />
-<TGConnectingPoint num="13" id="3754" />
-<TGConnectingPoint num="14" id="3755" />
-<TGConnectingPoint num="15" id="3756" />
-<TGConnectingPoint num="16" id="3757" />
-<TGConnectingPoint num="17" id="3758" />
-<TGConnectingPoint num="18" id="3759" />
-<TGConnectingPoint num="19" id="3760" />
-<TGConnectingPoint num="20" id="3761" />
-<TGConnectingPoint num="21" id="3762" />
-<TGConnectingPoint num="22" id="3763" />
-<TGConnectingPoint num="23" id="3764" />
+<TGConnectingPoint num="0" id="7033" />
+<TGConnectingPoint num="1" id="7034" />
+<TGConnectingPoint num="2" id="7035" />
+<TGConnectingPoint num="3" id="7036" />
+<TGConnectingPoint num="4" id="7037" />
+<TGConnectingPoint num="5" id="7038" />
+<TGConnectingPoint num="6" id="7039" />
+<TGConnectingPoint num="7" id="7040" />
+<TGConnectingPoint num="8" id="7041" />
+<TGConnectingPoint num="9" id="7042" />
+<TGConnectingPoint num="10" id="7043" />
+<TGConnectingPoint num="11" id="7044" />
+<TGConnectingPoint num="12" id="7045" />
+<TGConnectingPoint num="13" id="7046" />
+<TGConnectingPoint num="14" id="7047" />
+<TGConnectingPoint num="15" id="7048" />
+<TGConnectingPoint num="16" id="7049" />
+<TGConnectingPoint num="17" id="7050" />
+<TGConnectingPoint num="18" id="7051" />
+<TGConnectingPoint num="19" id="7052" />
+<TGConnectingPoint num="20" id="7053" />
+<TGConnectingPoint num="21" id="7054" />
+<TGConnectingPoint num="22" id="7055" />
+<TGConnectingPoint num="23" id="7056" />
 <extraparam>
 <info extension="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="701" id="3790" >
+<COMPONENT type="701" id="7082" >
 <cdparam x="1127" y="432" />
 <sizeparam width="128" height="40" 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="Use case" value="sendECUCommand" />
-<TGConnectingPoint num="0" id="3766" />
-<TGConnectingPoint num="1" id="3767" />
-<TGConnectingPoint num="2" id="3768" />
-<TGConnectingPoint num="3" id="3769" />
-<TGConnectingPoint num="4" id="3770" />
-<TGConnectingPoint num="5" id="3771" />
-<TGConnectingPoint num="6" id="3772" />
-<TGConnectingPoint num="7" id="3773" />
-<TGConnectingPoint num="8" id="3774" />
-<TGConnectingPoint num="9" id="3775" />
-<TGConnectingPoint num="10" id="3776" />
-<TGConnectingPoint num="11" id="3777" />
-<TGConnectingPoint num="12" id="3778" />
-<TGConnectingPoint num="13" id="3779" />
-<TGConnectingPoint num="14" id="3780" />
-<TGConnectingPoint num="15" id="3781" />
-<TGConnectingPoint num="16" id="3782" />
-<TGConnectingPoint num="17" id="3783" />
-<TGConnectingPoint num="18" id="3784" />
-<TGConnectingPoint num="19" id="3785" />
-<TGConnectingPoint num="20" id="3786" />
-<TGConnectingPoint num="21" id="3787" />
-<TGConnectingPoint num="22" id="3788" />
-<TGConnectingPoint num="23" id="3789" />
+<TGConnectingPoint num="0" id="7058" />
+<TGConnectingPoint num="1" id="7059" />
+<TGConnectingPoint num="2" id="7060" />
+<TGConnectingPoint num="3" id="7061" />
+<TGConnectingPoint num="4" id="7062" />
+<TGConnectingPoint num="5" id="7063" />
+<TGConnectingPoint num="6" id="7064" />
+<TGConnectingPoint num="7" id="7065" />
+<TGConnectingPoint num="8" id="7066" />
+<TGConnectingPoint num="9" id="7067" />
+<TGConnectingPoint num="10" id="7068" />
+<TGConnectingPoint num="11" id="7069" />
+<TGConnectingPoint num="12" id="7070" />
+<TGConnectingPoint num="13" id="7071" />
+<TGConnectingPoint num="14" id="7072" />
+<TGConnectingPoint num="15" id="7073" />
+<TGConnectingPoint num="16" id="7074" />
+<TGConnectingPoint num="17" id="7075" />
+<TGConnectingPoint num="18" id="7076" />
+<TGConnectingPoint num="19" id="7077" />
+<TGConnectingPoint num="20" id="7078" />
+<TGConnectingPoint num="21" id="7079" />
+<TGConnectingPoint num="22" id="7080" />
+<TGConnectingPoint num="23" id="7081" />
 <extraparam>
 <info extension="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="701" id="3815" >
+<COMPONENT type="701" id="7107" >
 <cdparam x="216" y="406" />
 <sizeparam width="70" height="40" 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="Use case" value="sendAlert" />
-<TGConnectingPoint num="0" id="3791" />
-<TGConnectingPoint num="1" id="3792" />
-<TGConnectingPoint num="2" id="3793" />
-<TGConnectingPoint num="3" id="3794" />
-<TGConnectingPoint num="4" id="3795" />
-<TGConnectingPoint num="5" id="3796" />
-<TGConnectingPoint num="6" id="3797" />
-<TGConnectingPoint num="7" id="3798" />
-<TGConnectingPoint num="8" id="3799" />
-<TGConnectingPoint num="9" id="3800" />
-<TGConnectingPoint num="10" id="3801" />
-<TGConnectingPoint num="11" id="3802" />
-<TGConnectingPoint num="12" id="3803" />
-<TGConnectingPoint num="13" id="3804" />
-<TGConnectingPoint num="14" id="3805" />
-<TGConnectingPoint num="15" id="3806" />
-<TGConnectingPoint num="16" id="3807" />
-<TGConnectingPoint num="17" id="3808" />
-<TGConnectingPoint num="18" id="3809" />
-<TGConnectingPoint num="19" id="3810" />
-<TGConnectingPoint num="20" id="3811" />
-<TGConnectingPoint num="21" id="3812" />
-<TGConnectingPoint num="22" id="3813" />
-<TGConnectingPoint num="23" id="3814" />
+<TGConnectingPoint num="0" id="7083" />
+<TGConnectingPoint num="1" id="7084" />
+<TGConnectingPoint num="2" id="7085" />
+<TGConnectingPoint num="3" id="7086" />
+<TGConnectingPoint num="4" id="7087" />
+<TGConnectingPoint num="5" id="7088" />
+<TGConnectingPoint num="6" id="7089" />
+<TGConnectingPoint num="7" id="7090" />
+<TGConnectingPoint num="8" id="7091" />
+<TGConnectingPoint num="9" id="7092" />
+<TGConnectingPoint num="10" id="7093" />
+<TGConnectingPoint num="11" id="7094" />
+<TGConnectingPoint num="12" id="7095" />
+<TGConnectingPoint num="13" id="7096" />
+<TGConnectingPoint num="14" id="7097" />
+<TGConnectingPoint num="15" id="7098" />
+<TGConnectingPoint num="16" id="7099" />
+<TGConnectingPoint num="17" id="7100" />
+<TGConnectingPoint num="18" id="7101" />
+<TGConnectingPoint num="19" id="7102" />
+<TGConnectingPoint num="20" id="7103" />
+<TGConnectingPoint num="21" id="7104" />
+<TGConnectingPoint num="22" id="7105" />
+<TGConnectingPoint num="23" id="7106" />
 <extraparam>
 <info extension="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="702" id="3824" >
+<COMPONENT type="702" id="7116" >
 <cdparam x="458" y="642" />
 <sizeparam width="250" height="110" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="border" value="iPadInterface" />
-<TGConnectingPoint num="0" id="3816" />
-<TGConnectingPoint num="1" id="3817" />
-<TGConnectingPoint num="2" id="3818" />
-<TGConnectingPoint num="3" id="3819" />
-<TGConnectingPoint num="4" id="3820" />
-<TGConnectingPoint num="5" id="3821" />
-<TGConnectingPoint num="6" id="3822" />
-<TGConnectingPoint num="7" id="3823" />
+<TGConnectingPoint num="0" id="7108" />
+<TGConnectingPoint num="1" id="7109" />
+<TGConnectingPoint num="2" id="7110" />
+<TGConnectingPoint num="3" id="7111" />
+<TGConnectingPoint num="4" id="7112" />
+<TGConnectingPoint num="5" id="7113" />
+<TGConnectingPoint num="6" id="7114" />
+<TGConnectingPoint num="7" id="7115" />
 </COMPONENT>
 
-<COMPONENT type="701" id="3849" >
+<COMPONENT type="701" id="7141" >
 <cdparam x="866" y="670" />
 <sizeparam width="92" height="40" 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="Use case" value="getTrafficInfo" />
-<TGConnectingPoint num="0" id="3825" />
-<TGConnectingPoint num="1" id="3826" />
-<TGConnectingPoint num="2" id="3827" />
-<TGConnectingPoint num="3" id="3828" />
-<TGConnectingPoint num="4" id="3829" />
-<TGConnectingPoint num="5" id="3830" />
-<TGConnectingPoint num="6" id="3831" />
-<TGConnectingPoint num="7" id="3832" />
-<TGConnectingPoint num="8" id="3833" />
-<TGConnectingPoint num="9" id="3834" />
-<TGConnectingPoint num="10" id="3835" />
-<TGConnectingPoint num="11" id="3836" />
-<TGConnectingPoint num="12" id="3837" />
-<TGConnectingPoint num="13" id="3838" />
-<TGConnectingPoint num="14" id="3839" />
-<TGConnectingPoint num="15" id="3840" />
-<TGConnectingPoint num="16" id="3841" />
-<TGConnectingPoint num="17" id="3842" />
-<TGConnectingPoint num="18" id="3843" />
-<TGConnectingPoint num="19" id="3844" />
-<TGConnectingPoint num="20" id="3845" />
-<TGConnectingPoint num="21" id="3846" />
-<TGConnectingPoint num="22" id="3847" />
-<TGConnectingPoint num="23" id="3848" />
+<TGConnectingPoint num="0" id="7117" />
+<TGConnectingPoint num="1" id="7118" />
+<TGConnectingPoint num="2" id="7119" />
+<TGConnectingPoint num="3" id="7120" />
+<TGConnectingPoint num="4" id="7121" />
+<TGConnectingPoint num="5" id="7122" />
+<TGConnectingPoint num="6" id="7123" />
+<TGConnectingPoint num="7" id="7124" />
+<TGConnectingPoint num="8" id="7125" />
+<TGConnectingPoint num="9" id="7126" />
+<TGConnectingPoint num="10" id="7127" />
+<TGConnectingPoint num="11" id="7128" />
+<TGConnectingPoint num="12" id="7129" />
+<TGConnectingPoint num="13" id="7130" />
+<TGConnectingPoint num="14" id="7131" />
+<TGConnectingPoint num="15" id="7132" />
+<TGConnectingPoint num="16" id="7133" />
+<TGConnectingPoint num="17" id="7134" />
+<TGConnectingPoint num="18" id="7135" />
+<TGConnectingPoint num="19" id="7136" />
+<TGConnectingPoint num="20" id="7137" />
+<TGConnectingPoint num="21" id="7138" />
+<TGConnectingPoint num="22" id="7139" />
+<TGConnectingPoint num="23" id="7140" />
 <extraparam>
 <info extension="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="701" id="3874" >
+<COMPONENT type="701" id="7166" >
 <cdparam x="736" y="661" />
 <sizeparam width="122" height="40" 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="Use case" value="getTrafficLightInfo" />
-<TGConnectingPoint num="0" id="3850" />
-<TGConnectingPoint num="1" id="3851" />
-<TGConnectingPoint num="2" id="3852" />
-<TGConnectingPoint num="3" id="3853" />
-<TGConnectingPoint num="4" id="3854" />
-<TGConnectingPoint num="5" id="3855" />
-<TGConnectingPoint num="6" id="3856" />
-<TGConnectingPoint num="7" id="3857" />
-<TGConnectingPoint num="8" id="3858" />
-<TGConnectingPoint num="9" id="3859" />
-<TGConnectingPoint num="10" id="3860" />
-<TGConnectingPoint num="11" id="3861" />
-<TGConnectingPoint num="12" id="3862" />
-<TGConnectingPoint num="13" id="3863" />
-<TGConnectingPoint num="14" id="3864" />
-<TGConnectingPoint num="15" id="3865" />
-<TGConnectingPoint num="16" id="3866" />
-<TGConnectingPoint num="17" id="3867" />
-<TGConnectingPoint num="18" id="3868" />
-<TGConnectingPoint num="19" id="3869" />
-<TGConnectingPoint num="20" id="3870" />
-<TGConnectingPoint num="21" id="3871" />
-<TGConnectingPoint num="22" id="3872" />
-<TGConnectingPoint num="23" id="3873" />
+<TGConnectingPoint num="0" id="7142" />
+<TGConnectingPoint num="1" id="7143" />
+<TGConnectingPoint num="2" id="7144" />
+<TGConnectingPoint num="3" id="7145" />
+<TGConnectingPoint num="4" id="7146" />
+<TGConnectingPoint num="5" id="7147" />
+<TGConnectingPoint num="6" id="7148" />
+<TGConnectingPoint num="7" id="7149" />
+<TGConnectingPoint num="8" id="7150" />
+<TGConnectingPoint num="9" id="7151" />
+<TGConnectingPoint num="10" id="7152" />
+<TGConnectingPoint num="11" id="7153" />
+<TGConnectingPoint num="12" id="7154" />
+<TGConnectingPoint num="13" id="7155" />
+<TGConnectingPoint num="14" id="7156" />
+<TGConnectingPoint num="15" id="7157" />
+<TGConnectingPoint num="16" id="7158" />
+<TGConnectingPoint num="17" id="7159" />
+<TGConnectingPoint num="18" id="7160" />
+<TGConnectingPoint num="19" id="7161" />
+<TGConnectingPoint num="20" id="7162" />
+<TGConnectingPoint num="21" id="7163" />
+<TGConnectingPoint num="22" id="7164" />
+<TGConnectingPoint num="23" id="7165" />
 <extraparam>
 <info extension="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="701" id="3899" >
+<COMPONENT type="701" id="7191" >
 <cdparam x="346" y="115" />
 <sizeparam width="125" height="40" 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="Use case" value="weightSensorData" />
-<TGConnectingPoint num="0" id="3875" />
-<TGConnectingPoint num="1" id="3876" />
-<TGConnectingPoint num="2" id="3877" />
-<TGConnectingPoint num="3" id="3878" />
-<TGConnectingPoint num="4" id="3879" />
-<TGConnectingPoint num="5" id="3880" />
-<TGConnectingPoint num="6" id="3881" />
-<TGConnectingPoint num="7" id="3882" />
-<TGConnectingPoint num="8" id="3883" />
-<TGConnectingPoint num="9" id="3884" />
-<TGConnectingPoint num="10" id="3885" />
-<TGConnectingPoint num="11" id="3886" />
-<TGConnectingPoint num="12" id="3887" />
-<TGConnectingPoint num="13" id="3888" />
-<TGConnectingPoint num="14" id="3889" />
-<TGConnectingPoint num="15" id="3890" />
-<TGConnectingPoint num="16" id="3891" />
-<TGConnectingPoint num="17" id="3892" />
-<TGConnectingPoint num="18" id="3893" />
-<TGConnectingPoint num="19" id="3894" />
-<TGConnectingPoint num="20" id="3895" />
-<TGConnectingPoint num="21" id="3896" />
-<TGConnectingPoint num="22" id="3897" />
-<TGConnectingPoint num="23" id="3898" />
-<extraparam>
-<info extension="" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="701" id="3924" >
-<cdparam x="317" y="384" />
-<sizeparam width="169" height="40" 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="Use case" value="checkForPossibleHacking" />
-<TGConnectingPoint num="0" id="3900" />
-<TGConnectingPoint num="1" id="3901" />
-<TGConnectingPoint num="2" id="3902" />
-<TGConnectingPoint num="3" id="3903" />
-<TGConnectingPoint num="4" id="3904" />
-<TGConnectingPoint num="5" id="3905" />
-<TGConnectingPoint num="6" id="3906" />
-<TGConnectingPoint num="7" id="3907" />
-<TGConnectingPoint num="8" id="3908" />
-<TGConnectingPoint num="9" id="3909" />
-<TGConnectingPoint num="10" id="3910" />
-<TGConnectingPoint num="11" id="3911" />
-<TGConnectingPoint num="12" id="3912" />
-<TGConnectingPoint num="13" id="3913" />
-<TGConnectingPoint num="14" id="3914" />
-<TGConnectingPoint num="15" id="3915" />
-<TGConnectingPoint num="16" id="3916" />
-<TGConnectingPoint num="17" id="3917" />
-<TGConnectingPoint num="18" id="3918" />
-<TGConnectingPoint num="19" id="3919" />
-<TGConnectingPoint num="20" id="3920" />
-<TGConnectingPoint num="21" id="3921" />
-<TGConnectingPoint num="22" id="3922" />
-<TGConnectingPoint num="23" id="3923" />
+<TGConnectingPoint num="0" id="7167" />
+<TGConnectingPoint num="1" id="7168" />
+<TGConnectingPoint num="2" id="7169" />
+<TGConnectingPoint num="3" id="7170" />
+<TGConnectingPoint num="4" id="7171" />
+<TGConnectingPoint num="5" id="7172" />
+<TGConnectingPoint num="6" id="7173" />
+<TGConnectingPoint num="7" id="7174" />
+<TGConnectingPoint num="8" id="7175" />
+<TGConnectingPoint num="9" id="7176" />
+<TGConnectingPoint num="10" id="7177" />
+<TGConnectingPoint num="11" id="7178" />
+<TGConnectingPoint num="12" id="7179" />
+<TGConnectingPoint num="13" id="7180" />
+<TGConnectingPoint num="14" id="7181" />
+<TGConnectingPoint num="15" id="7182" />
+<TGConnectingPoint num="16" id="7183" />
+<TGConnectingPoint num="17" id="7184" />
+<TGConnectingPoint num="18" id="7185" />
+<TGConnectingPoint num="19" id="7186" />
+<TGConnectingPoint num="20" id="7187" />
+<TGConnectingPoint num="21" id="7188" />
+<TGConnectingPoint num="22" id="7189" />
+<TGConnectingPoint num="23" id="7190" />
 <extraparam>
 <info extension="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="701" id="3949" >
+<COMPONENT type="701" id="7216" >
+<cdparam x="317" y="384" />
+<sizeparam width="169" height="40" 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="Use case" value="checkForPossibleHacking" />
+<TGConnectingPoint num="0" id="7192" />
+<TGConnectingPoint num="1" id="7193" />
+<TGConnectingPoint num="2" id="7194" />
+<TGConnectingPoint num="3" id="7195" />
+<TGConnectingPoint num="4" id="7196" />
+<TGConnectingPoint num="5" id="7197" />
+<TGConnectingPoint num="6" id="7198" />
+<TGConnectingPoint num="7" id="7199" />
+<TGConnectingPoint num="8" id="7200" />
+<TGConnectingPoint num="9" id="7201" />
+<TGConnectingPoint num="10" id="7202" />
+<TGConnectingPoint num="11" id="7203" />
+<TGConnectingPoint num="12" id="7204" />
+<TGConnectingPoint num="13" id="7205" />
+<TGConnectingPoint num="14" id="7206" />
+<TGConnectingPoint num="15" id="7207" />
+<TGConnectingPoint num="16" id="7208" />
+<TGConnectingPoint num="17" id="7209" />
+<TGConnectingPoint num="18" id="7210" />
+<TGConnectingPoint num="19" id="7211" />
+<TGConnectingPoint num="20" id="7212" />
+<TGConnectingPoint num="21" id="7213" />
+<TGConnectingPoint num="22" id="7214" />
+<TGConnectingPoint num="23" id="7215" />
+<extraparam>
+<info extension="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="701" id="7241" >
 <cdparam x="615" y="95" />
 <sizeparam width="104" height="40" 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="Use case" value="calculateRoute" />
-<TGConnectingPoint num="0" id="3925" />
-<TGConnectingPoint num="1" id="3926" />
-<TGConnectingPoint num="2" id="3927" />
-<TGConnectingPoint num="3" id="3928" />
-<TGConnectingPoint num="4" id="3929" />
-<TGConnectingPoint num="5" id="3930" />
-<TGConnectingPoint num="6" id="3931" />
-<TGConnectingPoint num="7" id="3932" />
-<TGConnectingPoint num="8" id="3933" />
-<TGConnectingPoint num="9" id="3934" />
-<TGConnectingPoint num="10" id="3935" />
-<TGConnectingPoint num="11" id="3936" />
-<TGConnectingPoint num="12" id="3937" />
-<TGConnectingPoint num="13" id="3938" />
-<TGConnectingPoint num="14" id="3939" />
-<TGConnectingPoint num="15" id="3940" />
-<TGConnectingPoint num="16" id="3941" />
-<TGConnectingPoint num="17" id="3942" />
-<TGConnectingPoint num="18" id="3943" />
-<TGConnectingPoint num="19" id="3944" />
-<TGConnectingPoint num="20" id="3945" />
-<TGConnectingPoint num="21" id="3946" />
-<TGConnectingPoint num="22" id="3947" />
-<TGConnectingPoint num="23" id="3948" />
+<TGConnectingPoint num="0" id="7217" />
+<TGConnectingPoint num="1" id="7218" />
+<TGConnectingPoint num="2" id="7219" />
+<TGConnectingPoint num="3" id="7220" />
+<TGConnectingPoint num="4" id="7221" />
+<TGConnectingPoint num="5" id="7222" />
+<TGConnectingPoint num="6" id="7223" />
+<TGConnectingPoint num="7" id="7224" />
+<TGConnectingPoint num="8" id="7225" />
+<TGConnectingPoint num="9" id="7226" />
+<TGConnectingPoint num="10" id="7227" />
+<TGConnectingPoint num="11" id="7228" />
+<TGConnectingPoint num="12" id="7229" />
+<TGConnectingPoint num="13" id="7230" />
+<TGConnectingPoint num="14" id="7231" />
+<TGConnectingPoint num="15" id="7232" />
+<TGConnectingPoint num="16" id="7233" />
+<TGConnectingPoint num="17" id="7234" />
+<TGConnectingPoint num="18" id="7235" />
+<TGConnectingPoint num="19" id="7236" />
+<TGConnectingPoint num="20" id="7237" />
+<TGConnectingPoint num="21" id="7238" />
+<TGConnectingPoint num="22" id="7239" />
+<TGConnectingPoint num="23" id="7240" />
 <extraparam>
 <info extension="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="702" id="3958" >
+<COMPONENT type="702" id="7250" >
 <cdparam x="730" y="635" />
 <sizeparam width="259" height="111" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="border" value="InterfaceWithExternals" />
-<TGConnectingPoint num="0" id="3950" />
-<TGConnectingPoint num="1" id="3951" />
-<TGConnectingPoint num="2" id="3952" />
-<TGConnectingPoint num="3" id="3953" />
-<TGConnectingPoint num="4" id="3954" />
-<TGConnectingPoint num="5" id="3955" />
-<TGConnectingPoint num="6" id="3956" />
-<TGConnectingPoint num="7" id="3957" />
+<TGConnectingPoint num="0" id="7242" />
+<TGConnectingPoint num="1" id="7243" />
+<TGConnectingPoint num="2" id="7244" />
+<TGConnectingPoint num="3" id="7245" />
+<TGConnectingPoint num="4" id="7246" />
+<TGConnectingPoint num="5" id="7247" />
+<TGConnectingPoint num="6" id="7248" />
+<TGConnectingPoint num="7" id="7249" />
 </COMPONENT>
 
-<COMPONENT type="701" id="3983" >
+<COMPONENT type="701" id="7275" >
 <cdparam x="268" y="511" />
 <sizeparam width="105" height="40" 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="Use case" value="checkForErrors" />
-<TGConnectingPoint num="0" id="3959" />
-<TGConnectingPoint num="1" id="3960" />
-<TGConnectingPoint num="2" id="3961" />
-<TGConnectingPoint num="3" id="3962" />
-<TGConnectingPoint num="4" id="3963" />
-<TGConnectingPoint num="5" id="3964" />
-<TGConnectingPoint num="6" id="3965" />
-<TGConnectingPoint num="7" id="3966" />
-<TGConnectingPoint num="8" id="3967" />
-<TGConnectingPoint num="9" id="3968" />
-<TGConnectingPoint num="10" id="3969" />
-<TGConnectingPoint num="11" id="3970" />
-<TGConnectingPoint num="12" id="3971" />
-<TGConnectingPoint num="13" id="3972" />
-<TGConnectingPoint num="14" id="3973" />
-<TGConnectingPoint num="15" id="3974" />
-<TGConnectingPoint num="16" id="3975" />
-<TGConnectingPoint num="17" id="3976" />
-<TGConnectingPoint num="18" id="3977" />
-<TGConnectingPoint num="19" id="3978" />
-<TGConnectingPoint num="20" id="3979" />
-<TGConnectingPoint num="21" id="3980" />
-<TGConnectingPoint num="22" id="3981" />
-<TGConnectingPoint num="23" id="3982" />
+<TGConnectingPoint num="0" id="7251" />
+<TGConnectingPoint num="1" id="7252" />
+<TGConnectingPoint num="2" id="7253" />
+<TGConnectingPoint num="3" id="7254" />
+<TGConnectingPoint num="4" id="7255" />
+<TGConnectingPoint num="5" id="7256" />
+<TGConnectingPoint num="6" id="7257" />
+<TGConnectingPoint num="7" id="7258" />
+<TGConnectingPoint num="8" id="7259" />
+<TGConnectingPoint num="9" id="7260" />
+<TGConnectingPoint num="10" id="7261" />
+<TGConnectingPoint num="11" id="7262" />
+<TGConnectingPoint num="12" id="7263" />
+<TGConnectingPoint num="13" id="7264" />
+<TGConnectingPoint num="14" id="7265" />
+<TGConnectingPoint num="15" id="7266" />
+<TGConnectingPoint num="16" id="7267" />
+<TGConnectingPoint num="17" id="7268" />
+<TGConnectingPoint num="18" id="7269" />
+<TGConnectingPoint num="19" id="7270" />
+<TGConnectingPoint num="20" id="7271" />
+<TGConnectingPoint num="21" id="7272" />
+<TGConnectingPoint num="22" id="7273" />
+<TGConnectingPoint num="23" id="7274" />
 <extraparam>
 <info extension="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="701" id="4008" >
+<COMPONENT type="701" id="7300" >
 <cdparam x="654" y="212" />
 <sizeparam width="161" height="40" 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="Use case" value="calculateRouteWithData" />
-<TGConnectingPoint num="0" id="3984" />
-<TGConnectingPoint num="1" id="3985" />
-<TGConnectingPoint num="2" id="3986" />
-<TGConnectingPoint num="3" id="3987" />
-<TGConnectingPoint num="4" id="3988" />
-<TGConnectingPoint num="5" id="3989" />
-<TGConnectingPoint num="6" id="3990" />
-<TGConnectingPoint num="7" id="3991" />
-<TGConnectingPoint num="8" id="3992" />
-<TGConnectingPoint num="9" id="3993" />
-<TGConnectingPoint num="10" id="3994" />
-<TGConnectingPoint num="11" id="3995" />
-<TGConnectingPoint num="12" id="3996" />
-<TGConnectingPoint num="13" id="3997" />
-<TGConnectingPoint num="14" id="3998" />
-<TGConnectingPoint num="15" id="3999" />
-<TGConnectingPoint num="16" id="4000" />
-<TGConnectingPoint num="17" id="4001" />
-<TGConnectingPoint num="18" id="4002" />
-<TGConnectingPoint num="19" id="4003" />
-<TGConnectingPoint num="20" id="4004" />
-<TGConnectingPoint num="21" id="4005" />
-<TGConnectingPoint num="22" id="4006" />
-<TGConnectingPoint num="23" id="4007" />
+<TGConnectingPoint num="0" id="7276" />
+<TGConnectingPoint num="1" id="7277" />
+<TGConnectingPoint num="2" id="7278" />
+<TGConnectingPoint num="3" id="7279" />
+<TGConnectingPoint num="4" id="7280" />
+<TGConnectingPoint num="5" id="7281" />
+<TGConnectingPoint num="6" id="7282" />
+<TGConnectingPoint num="7" id="7283" />
+<TGConnectingPoint num="8" id="7284" />
+<TGConnectingPoint num="9" id="7285" />
+<TGConnectingPoint num="10" id="7286" />
+<TGConnectingPoint num="11" id="7287" />
+<TGConnectingPoint num="12" id="7288" />
+<TGConnectingPoint num="13" id="7289" />
+<TGConnectingPoint num="14" id="7290" />
+<TGConnectingPoint num="15" id="7291" />
+<TGConnectingPoint num="16" id="7292" />
+<TGConnectingPoint num="17" id="7293" />
+<TGConnectingPoint num="18" id="7294" />
+<TGConnectingPoint num="19" id="7295" />
+<TGConnectingPoint num="20" id="7296" />
+<TGConnectingPoint num="21" id="7297" />
+<TGConnectingPoint num="22" id="7298" />
+<TGConnectingPoint num="23" id="7299" />
 <extraparam>
 <info extension="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="701" id="4033" >
+<COMPONENT type="701" id="7325" >
 <cdparam x="345" y="229" />
 <sizeparam width="125" height="40" 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="Use case" value="calculateBestData" />
-<TGConnectingPoint num="0" id="4009" />
-<TGConnectingPoint num="1" id="4010" />
-<TGConnectingPoint num="2" id="4011" />
-<TGConnectingPoint num="3" id="4012" />
-<TGConnectingPoint num="4" id="4013" />
-<TGConnectingPoint num="5" id="4014" />
-<TGConnectingPoint num="6" id="4015" />
-<TGConnectingPoint num="7" id="4016" />
-<TGConnectingPoint num="8" id="4017" />
-<TGConnectingPoint num="9" id="4018" />
-<TGConnectingPoint num="10" id="4019" />
-<TGConnectingPoint num="11" id="4020" />
-<TGConnectingPoint num="12" id="4021" />
-<TGConnectingPoint num="13" id="4022" />
-<TGConnectingPoint num="14" id="4023" />
-<TGConnectingPoint num="15" id="4024" />
-<TGConnectingPoint num="16" id="4025" />
-<TGConnectingPoint num="17" id="4026" />
-<TGConnectingPoint num="18" id="4027" />
-<TGConnectingPoint num="19" id="4028" />
-<TGConnectingPoint num="20" id="4029" />
-<TGConnectingPoint num="21" id="4030" />
-<TGConnectingPoint num="22" id="4031" />
-<TGConnectingPoint num="23" id="4032" />
+<TGConnectingPoint num="0" id="7301" />
+<TGConnectingPoint num="1" id="7302" />
+<TGConnectingPoint num="2" id="7303" />
+<TGConnectingPoint num="3" id="7304" />
+<TGConnectingPoint num="4" id="7305" />
+<TGConnectingPoint num="5" id="7306" />
+<TGConnectingPoint num="6" id="7307" />
+<TGConnectingPoint num="7" id="7308" />
+<TGConnectingPoint num="8" id="7309" />
+<TGConnectingPoint num="9" id="7310" />
+<TGConnectingPoint num="10" id="7311" />
+<TGConnectingPoint num="11" id="7312" />
+<TGConnectingPoint num="12" id="7313" />
+<TGConnectingPoint num="13" id="7314" />
+<TGConnectingPoint num="14" id="7315" />
+<TGConnectingPoint num="15" id="7316" />
+<TGConnectingPoint num="16" id="7317" />
+<TGConnectingPoint num="17" id="7318" />
+<TGConnectingPoint num="18" id="7319" />
+<TGConnectingPoint num="19" id="7320" />
+<TGConnectingPoint num="20" id="7321" />
+<TGConnectingPoint num="21" id="7322" />
+<TGConnectingPoint num="22" id="7323" />
+<TGConnectingPoint num="23" id="7324" />
 <extraparam>
 <info extension="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="702" id="4042" >
+<COMPONENT type="702" id="7334" >
 <cdparam x="195" y="332" />
 <sizeparam width="299" height="250" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="border" value="Supervisor" />
-<TGConnectingPoint num="0" id="4034" />
-<TGConnectingPoint num="1" id="4035" />
-<TGConnectingPoint num="2" id="4036" />
-<TGConnectingPoint num="3" id="4037" />
-<TGConnectingPoint num="4" id="4038" />
-<TGConnectingPoint num="5" id="4039" />
-<TGConnectingPoint num="6" id="4040" />
-<TGConnectingPoint num="7" id="4041" />
+<TGConnectingPoint num="0" id="7326" />
+<TGConnectingPoint num="1" id="7327" />
+<TGConnectingPoint num="2" id="7328" />
+<TGConnectingPoint num="3" id="7329" />
+<TGConnectingPoint num="4" id="7330" />
+<TGConnectingPoint num="5" id="7331" />
+<TGConnectingPoint num="6" id="7332" />
+<TGConnectingPoint num="7" id="7333" />
 </COMPONENT>
 
-<COMPONENT type="702" id="4051" >
+<COMPONENT type="702" id="7343" >
 <cdparam x="313" y="76" />
 <sizeparam width="250" height="232" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="border" value="safePerception" />
-<TGConnectingPoint num="0" id="4043" />
-<TGConnectingPoint num="1" id="4044" />
-<TGConnectingPoint num="2" id="4045" />
-<TGConnectingPoint num="3" id="4046" />
-<TGConnectingPoint num="4" id="4047" />
-<TGConnectingPoint num="5" id="4048" />
-<TGConnectingPoint num="6" id="4049" />
-<TGConnectingPoint num="7" id="4050" />
+<TGConnectingPoint num="0" id="7335" />
+<TGConnectingPoint num="1" id="7336" />
+<TGConnectingPoint num="2" id="7337" />
+<TGConnectingPoint num="3" id="7338" />
+<TGConnectingPoint num="4" id="7339" />
+<TGConnectingPoint num="5" id="7340" />
+<TGConnectingPoint num="6" id="7341" />
+<TGConnectingPoint num="7" id="7342" />
 </COMPONENT>
 
-<COMPONENT type="701" id="4076" >
+<COMPONENT type="701" id="7368" >
 <cdparam x="214" y="93" />
 <sizeparam width="71" height="40" 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="Use case" value="sendData" />
-<TGConnectingPoint num="0" id="4052" />
-<TGConnectingPoint num="1" id="4053" />
-<TGConnectingPoint num="2" id="4054" />
-<TGConnectingPoint num="3" id="4055" />
-<TGConnectingPoint num="4" id="4056" />
-<TGConnectingPoint num="5" id="4057" />
-<TGConnectingPoint num="6" id="4058" />
-<TGConnectingPoint num="7" id="4059" />
-<TGConnectingPoint num="8" id="4060" />
-<TGConnectingPoint num="9" id="4061" />
-<TGConnectingPoint num="10" id="4062" />
-<TGConnectingPoint num="11" id="4063" />
-<TGConnectingPoint num="12" id="4064" />
-<TGConnectingPoint num="13" id="4065" />
-<TGConnectingPoint num="14" id="4066" />
-<TGConnectingPoint num="15" id="4067" />
-<TGConnectingPoint num="16" id="4068" />
-<TGConnectingPoint num="17" id="4069" />
-<TGConnectingPoint num="18" id="4070" />
-<TGConnectingPoint num="19" id="4071" />
-<TGConnectingPoint num="20" id="4072" />
-<TGConnectingPoint num="21" id="4073" />
-<TGConnectingPoint num="22" id="4074" />
-<TGConnectingPoint num="23" id="4075" />
+<TGConnectingPoint num="0" id="7344" />
+<TGConnectingPoint num="1" id="7345" />
+<TGConnectingPoint num="2" id="7346" />
+<TGConnectingPoint num="3" id="7347" />
+<TGConnectingPoint num="4" id="7348" />
+<TGConnectingPoint num="5" id="7349" />
+<TGConnectingPoint num="6" id="7350" />
+<TGConnectingPoint num="7" id="7351" />
+<TGConnectingPoint num="8" id="7352" />
+<TGConnectingPoint num="9" id="7353" />
+<TGConnectingPoint num="10" id="7354" />
+<TGConnectingPoint num="11" id="7355" />
+<TGConnectingPoint num="12" id="7356" />
+<TGConnectingPoint num="13" id="7357" />
+<TGConnectingPoint num="14" id="7358" />
+<TGConnectingPoint num="15" id="7359" />
+<TGConnectingPoint num="16" id="7360" />
+<TGConnectingPoint num="17" id="7361" />
+<TGConnectingPoint num="18" id="7362" />
+<TGConnectingPoint num="19" id="7363" />
+<TGConnectingPoint num="20" id="7364" />
+<TGConnectingPoint num="21" id="7365" />
+<TGConnectingPoint num="22" id="7366" />
+<TGConnectingPoint num="23" id="7367" />
 <extraparam>
 <info extension="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="703" id="4109" >
+<COMPONENT type="703" id="7401" >
 <cdparam x="301" y="10" />
 <sizeparam width="215" height="50" minWidth="40" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="actor" value="Environmental Condition Detector" />
-<TGConnectingPoint num="0" id="4077" />
-<TGConnectingPoint num="1" id="4078" />
-<TGConnectingPoint num="2" id="4079" />
-<TGConnectingPoint num="3" id="4080" />
-<TGConnectingPoint num="4" id="4081" />
-<TGConnectingPoint num="5" id="4082" />
-<TGConnectingPoint num="6" id="4083" />
-<TGConnectingPoint num="7" id="4084" />
-<TGConnectingPoint num="8" id="4085" />
-<TGConnectingPoint num="9" id="4086" />
-<TGConnectingPoint num="10" id="4087" />
-<TGConnectingPoint num="11" id="4088" />
-<TGConnectingPoint num="12" id="4089" />
-<TGConnectingPoint num="13" id="4090" />
-<TGConnectingPoint num="14" id="4091" />
-<TGConnectingPoint num="15" id="4092" />
-<TGConnectingPoint num="16" id="4093" />
-<TGConnectingPoint num="17" id="4094" />
-<TGConnectingPoint num="18" id="4095" />
-<TGConnectingPoint num="19" id="4096" />
-<TGConnectingPoint num="20" id="4097" />
-<TGConnectingPoint num="21" id="4098" />
-<TGConnectingPoint num="22" id="4099" />
-<TGConnectingPoint num="23" id="4100" />
-<TGConnectingPoint num="24" id="4101" />
-<TGConnectingPoint num="25" id="4102" />
-<TGConnectingPoint num="26" id="4103" />
-<TGConnectingPoint num="27" id="4104" />
-<TGConnectingPoint num="28" id="4105" />
-<TGConnectingPoint num="29" id="4106" />
-<TGConnectingPoint num="30" id="4107" />
-<TGConnectingPoint num="31" id="4108" />
-</COMPONENT>
-
-<COMPONENT type="703" id="4142" >
+<TGConnectingPoint num="0" id="7369" />
+<TGConnectingPoint num="1" id="7370" />
+<TGConnectingPoint num="2" id="7371" />
+<TGConnectingPoint num="3" id="7372" />
+<TGConnectingPoint num="4" id="7373" />
+<TGConnectingPoint num="5" id="7374" />
+<TGConnectingPoint num="6" id="7375" />
+<TGConnectingPoint num="7" id="7376" />
+<TGConnectingPoint num="8" id="7377" />
+<TGConnectingPoint num="9" id="7378" />
+<TGConnectingPoint num="10" id="7379" />
+<TGConnectingPoint num="11" id="7380" />
+<TGConnectingPoint num="12" id="7381" />
+<TGConnectingPoint num="13" id="7382" />
+<TGConnectingPoint num="14" id="7383" />
+<TGConnectingPoint num="15" id="7384" />
+<TGConnectingPoint num="16" id="7385" />
+<TGConnectingPoint num="17" id="7386" />
+<TGConnectingPoint num="18" id="7387" />
+<TGConnectingPoint num="19" id="7388" />
+<TGConnectingPoint num="20" id="7389" />
+<TGConnectingPoint num="21" id="7390" />
+<TGConnectingPoint num="22" id="7391" />
+<TGConnectingPoint num="23" id="7392" />
+<TGConnectingPoint num="24" id="7393" />
+<TGConnectingPoint num="25" id="7394" />
+<TGConnectingPoint num="26" id="7395" />
+<TGConnectingPoint num="27" id="7396" />
+<TGConnectingPoint num="28" id="7397" />
+<TGConnectingPoint num="29" id="7398" />
+<TGConnectingPoint num="30" id="7399" />
+<TGConnectingPoint num="31" id="7400" />
+</COMPONENT>
+
+<COMPONENT type="703" id="7434" >
 <cdparam x="629" y="10" />
 <sizeparam width="77" height="50" minWidth="40" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="actor" value="GPS" />
-<TGConnectingPoint num="0" id="4110" />
-<TGConnectingPoint num="1" id="4111" />
-<TGConnectingPoint num="2" id="4112" />
-<TGConnectingPoint num="3" id="4113" />
-<TGConnectingPoint num="4" id="4114" />
-<TGConnectingPoint num="5" id="4115" />
-<TGConnectingPoint num="6" id="4116" />
-<TGConnectingPoint num="7" id="4117" />
-<TGConnectingPoint num="8" id="4118" />
-<TGConnectingPoint num="9" id="4119" />
-<TGConnectingPoint num="10" id="4120" />
-<TGConnectingPoint num="11" id="4121" />
-<TGConnectingPoint num="12" id="4122" />
-<TGConnectingPoint num="13" id="4123" />
-<TGConnectingPoint num="14" id="4124" />
-<TGConnectingPoint num="15" id="4125" />
-<TGConnectingPoint num="16" id="4126" />
-<TGConnectingPoint num="17" id="4127" />
-<TGConnectingPoint num="18" id="4128" />
-<TGConnectingPoint num="19" id="4129" />
-<TGConnectingPoint num="20" id="4130" />
-<TGConnectingPoint num="21" id="4131" />
-<TGConnectingPoint num="22" id="4132" />
-<TGConnectingPoint num="23" id="4133" />
-<TGConnectingPoint num="24" id="4134" />
-<TGConnectingPoint num="25" id="4135" />
-<TGConnectingPoint num="26" id="4136" />
-<TGConnectingPoint num="27" id="4137" />
-<TGConnectingPoint num="28" id="4138" />
-<TGConnectingPoint num="29" id="4139" />
-<TGConnectingPoint num="30" id="4140" />
-<TGConnectingPoint num="31" id="4141" />
-</COMPONENT>
-
-<COMPONENT type="703" id="4175" >
+<TGConnectingPoint num="0" id="7402" />
+<TGConnectingPoint num="1" id="7403" />
+<TGConnectingPoint num="2" id="7404" />
+<TGConnectingPoint num="3" id="7405" />
+<TGConnectingPoint num="4" id="7406" />
+<TGConnectingPoint num="5" id="7407" />
+<TGConnectingPoint num="6" id="7408" />
+<TGConnectingPoint num="7" id="7409" />
+<TGConnectingPoint num="8" id="7410" />
+<TGConnectingPoint num="9" id="7411" />
+<TGConnectingPoint num="10" id="7412" />
+<TGConnectingPoint num="11" id="7413" />
+<TGConnectingPoint num="12" id="7414" />
+<TGConnectingPoint num="13" id="7415" />
+<TGConnectingPoint num="14" id="7416" />
+<TGConnectingPoint num="15" id="7417" />
+<TGConnectingPoint num="16" id="7418" />
+<TGConnectingPoint num="17" id="7419" />
+<TGConnectingPoint num="18" id="7420" />
+<TGConnectingPoint num="19" id="7421" />
+<TGConnectingPoint num="20" id="7422" />
+<TGConnectingPoint num="21" id="7423" />
+<TGConnectingPoint num="22" id="7424" />
+<TGConnectingPoint num="23" id="7425" />
+<TGConnectingPoint num="24" id="7426" />
+<TGConnectingPoint num="25" id="7427" />
+<TGConnectingPoint num="26" id="7428" />
+<TGConnectingPoint num="27" id="7429" />
+<TGConnectingPoint num="28" id="7430" />
+<TGConnectingPoint num="29" id="7431" />
+<TGConnectingPoint num="30" id="7432" />
+<TGConnectingPoint num="31" id="7433" />
+</COMPONENT>
+
+<COMPONENT type="703" id="7467" >
 <cdparam x="56" y="151" />
 <sizeparam width="77" height="50" minWidth="40" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="actor" value="Laser" />
-<TGConnectingPoint num="0" id="4143" />
-<TGConnectingPoint num="1" id="4144" />
-<TGConnectingPoint num="2" id="4145" />
-<TGConnectingPoint num="3" id="4146" />
-<TGConnectingPoint num="4" id="4147" />
-<TGConnectingPoint num="5" id="4148" />
-<TGConnectingPoint num="6" id="4149" />
-<TGConnectingPoint num="7" id="4150" />
-<TGConnectingPoint num="8" id="4151" />
-<TGConnectingPoint num="9" id="4152" />
-<TGConnectingPoint num="10" id="4153" />
-<TGConnectingPoint num="11" id="4154" />
-<TGConnectingPoint num="12" id="4155" />
-<TGConnectingPoint num="13" id="4156" />
-<TGConnectingPoint num="14" id="4157" />
-<TGConnectingPoint num="15" id="4158" />
-<TGConnectingPoint num="16" id="4159" />
-<TGConnectingPoint num="17" id="4160" />
-<TGConnectingPoint num="18" id="4161" />
-<TGConnectingPoint num="19" id="4162" />
-<TGConnectingPoint num="20" id="4163" />
-<TGConnectingPoint num="21" id="4164" />
-<TGConnectingPoint num="22" id="4165" />
-<TGConnectingPoint num="23" id="4166" />
-<TGConnectingPoint num="24" id="4167" />
-<TGConnectingPoint num="25" id="4168" />
-<TGConnectingPoint num="26" id="4169" />
-<TGConnectingPoint num="27" id="4170" />
-<TGConnectingPoint num="28" id="4171" />
-<TGConnectingPoint num="29" id="4172" />
-<TGConnectingPoint num="30" id="4173" />
-<TGConnectingPoint num="31" id="4174" />
-</COMPONENT>
-
-<COMPONENT type="703" id="4208" >
+<TGConnectingPoint num="0" id="7435" />
+<TGConnectingPoint num="1" id="7436" />
+<TGConnectingPoint num="2" id="7437" />
+<TGConnectingPoint num="3" id="7438" />
+<TGConnectingPoint num="4" id="7439" />
+<TGConnectingPoint num="5" id="7440" />
+<TGConnectingPoint num="6" id="7441" />
+<TGConnectingPoint num="7" id="7442" />
+<TGConnectingPoint num="8" id="7443" />
+<TGConnectingPoint num="9" id="7444" />
+<TGConnectingPoint num="10" id="7445" />
+<TGConnectingPoint num="11" id="7446" />
+<TGConnectingPoint num="12" id="7447" />
+<TGConnectingPoint num="13" id="7448" />
+<TGConnectingPoint num="14" id="7449" />
+<TGConnectingPoint num="15" id="7450" />
+<TGConnectingPoint num="16" id="7451" />
+<TGConnectingPoint num="17" id="7452" />
+<TGConnectingPoint num="18" id="7453" />
+<TGConnectingPoint num="19" id="7454" />
+<TGConnectingPoint num="20" id="7455" />
+<TGConnectingPoint num="21" id="7456" />
+<TGConnectingPoint num="22" id="7457" />
+<TGConnectingPoint num="23" id="7458" />
+<TGConnectingPoint num="24" id="7459" />
+<TGConnectingPoint num="25" id="7460" />
+<TGConnectingPoint num="26" id="7461" />
+<TGConnectingPoint num="27" id="7462" />
+<TGConnectingPoint num="28" id="7463" />
+<TGConnectingPoint num="29" id="7464" />
+<TGConnectingPoint num="30" id="7465" />
+<TGConnectingPoint num="31" id="7466" />
+</COMPONENT>
+
+<COMPONENT type="703" id="7500" >
 <cdparam x="753" y="825" />
 <sizeparam width="101" height="50" minWidth="40" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="actor" value="V2X connection" />
-<TGConnectingPoint num="0" id="4176" />
-<TGConnectingPoint num="1" id="4177" />
-<TGConnectingPoint num="2" id="4178" />
-<TGConnectingPoint num="3" id="4179" />
-<TGConnectingPoint num="4" id="4180" />
-<TGConnectingPoint num="5" id="4181" />
-<TGConnectingPoint num="6" id="4182" />
-<TGConnectingPoint num="7" id="4183" />
-<TGConnectingPoint num="8" id="4184" />
-<TGConnectingPoint num="9" id="4185" />
-<TGConnectingPoint num="10" id="4186" />
-<TGConnectingPoint num="11" id="4187" />
-<TGConnectingPoint num="12" id="4188" />
-<TGConnectingPoint num="13" id="4189" />
-<TGConnectingPoint num="14" id="4190" />
-<TGConnectingPoint num="15" id="4191" />
-<TGConnectingPoint num="16" id="4192" />
-<TGConnectingPoint num="17" id="4193" />
-<TGConnectingPoint num="18" id="4194" />
-<TGConnectingPoint num="19" id="4195" />
-<TGConnectingPoint num="20" id="4196" />
-<TGConnectingPoint num="21" id="4197" />
-<TGConnectingPoint num="22" id="4198" />
-<TGConnectingPoint num="23" id="4199" />
-<TGConnectingPoint num="24" id="4200" />
-<TGConnectingPoint num="25" id="4201" />
-<TGConnectingPoint num="26" id="4202" />
-<TGConnectingPoint num="27" id="4203" />
-<TGConnectingPoint num="28" id="4204" />
-<TGConnectingPoint num="29" id="4205" />
-<TGConnectingPoint num="30" id="4206" />
-<TGConnectingPoint num="31" id="4207" />
-</COMPONENT>
-
-<COMPONENT type="703" id="4241" >
+<TGConnectingPoint num="0" id="7468" />
+<TGConnectingPoint num="1" id="7469" />
+<TGConnectingPoint num="2" id="7470" />
+<TGConnectingPoint num="3" id="7471" />
+<TGConnectingPoint num="4" id="7472" />
+<TGConnectingPoint num="5" id="7473" />
+<TGConnectingPoint num="6" id="7474" />
+<TGConnectingPoint num="7" id="7475" />
+<TGConnectingPoint num="8" id="7476" />
+<TGConnectingPoint num="9" id="7477" />
+<TGConnectingPoint num="10" id="7478" />
+<TGConnectingPoint num="11" id="7479" />
+<TGConnectingPoint num="12" id="7480" />
+<TGConnectingPoint num="13" id="7481" />
+<TGConnectingPoint num="14" id="7482" />
+<TGConnectingPoint num="15" id="7483" />
+<TGConnectingPoint num="16" id="7484" />
+<TGConnectingPoint num="17" id="7485" />
+<TGConnectingPoint num="18" id="7486" />
+<TGConnectingPoint num="19" id="7487" />
+<TGConnectingPoint num="20" id="7488" />
+<TGConnectingPoint num="21" id="7489" />
+<TGConnectingPoint num="22" id="7490" />
+<TGConnectingPoint num="23" id="7491" />
+<TGConnectingPoint num="24" id="7492" />
+<TGConnectingPoint num="25" id="7493" />
+<TGConnectingPoint num="26" id="7494" />
+<TGConnectingPoint num="27" id="7495" />
+<TGConnectingPoint num="28" id="7496" />
+<TGConnectingPoint num="29" id="7497" />
+<TGConnectingPoint num="30" id="7498" />
+<TGConnectingPoint num="31" id="7499" />
+</COMPONENT>
+
+<COMPONENT type="703" id="7533" >
 <cdparam x="1518" y="441" />
 <sizeparam width="151" height="50" minWidth="40" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="actor" value="Interface to Car Control" />
-<TGConnectingPoint num="0" id="4209" />
-<TGConnectingPoint num="1" id="4210" />
-<TGConnectingPoint num="2" id="4211" />
-<TGConnectingPoint num="3" id="4212" />
-<TGConnectingPoint num="4" id="4213" />
-<TGConnectingPoint num="5" id="4214" />
-<TGConnectingPoint num="6" id="4215" />
-<TGConnectingPoint num="7" id="4216" />
-<TGConnectingPoint num="8" id="4217" />
-<TGConnectingPoint num="9" id="4218" />
-<TGConnectingPoint num="10" id="4219" />
-<TGConnectingPoint num="11" id="4220" />
-<TGConnectingPoint num="12" id="4221" />
-<TGConnectingPoint num="13" id="4222" />
-<TGConnectingPoint num="14" id="4223" />
-<TGConnectingPoint num="15" id="4224" />
-<TGConnectingPoint num="16" id="4225" />
-<TGConnectingPoint num="17" id="4226" />
-<TGConnectingPoint num="18" id="4227" />
-<TGConnectingPoint num="19" id="4228" />
-<TGConnectingPoint num="20" id="4229" />
-<TGConnectingPoint num="21" id="4230" />
-<TGConnectingPoint num="22" id="4231" />
-<TGConnectingPoint num="23" id="4232" />
-<TGConnectingPoint num="24" id="4233" />
-<TGConnectingPoint num="25" id="4234" />
-<TGConnectingPoint num="26" id="4235" />
-<TGConnectingPoint num="27" id="4236" />
-<TGConnectingPoint num="28" id="4237" />
-<TGConnectingPoint num="29" id="4238" />
-<TGConnectingPoint num="30" id="4239" />
-<TGConnectingPoint num="31" id="4240" />
-</COMPONENT>
-
-<COMPONENT type="703" id="4274" >
+<TGConnectingPoint num="0" id="7501" />
+<TGConnectingPoint num="1" id="7502" />
+<TGConnectingPoint num="2" id="7503" />
+<TGConnectingPoint num="3" id="7504" />
+<TGConnectingPoint num="4" id="7505" />
+<TGConnectingPoint num="5" id="7506" />
+<TGConnectingPoint num="6" id="7507" />
+<TGConnectingPoint num="7" id="7508" />
+<TGConnectingPoint num="8" id="7509" />
+<TGConnectingPoint num="9" id="7510" />
+<TGConnectingPoint num="10" id="7511" />
+<TGConnectingPoint num="11" id="7512" />
+<TGConnectingPoint num="12" id="7513" />
+<TGConnectingPoint num="13" id="7514" />
+<TGConnectingPoint num="14" id="7515" />
+<TGConnectingPoint num="15" id="7516" />
+<TGConnectingPoint num="16" id="7517" />
+<TGConnectingPoint num="17" id="7518" />
+<TGConnectingPoint num="18" id="7519" />
+<TGConnectingPoint num="19" id="7520" />
+<TGConnectingPoint num="20" id="7521" />
+<TGConnectingPoint num="21" id="7522" />
+<TGConnectingPoint num="22" id="7523" />
+<TGConnectingPoint num="23" id="7524" />
+<TGConnectingPoint num="24" id="7525" />
+<TGConnectingPoint num="25" id="7526" />
+<TGConnectingPoint num="26" id="7527" />
+<TGConnectingPoint num="27" id="7528" />
+<TGConnectingPoint num="28" id="7529" />
+<TGConnectingPoint num="29" id="7530" />
+<TGConnectingPoint num="30" id="7531" />
+<TGConnectingPoint num="31" id="7532" />
+</COMPONENT>
+
+<COMPONENT type="703" id="7566" >
 <cdparam x="865" y="826" />
 <sizeparam width="102" height="50" minWidth="40" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="actor" value="V2V connection" />
-<TGConnectingPoint num="0" id="4242" />
-<TGConnectingPoint num="1" id="4243" />
-<TGConnectingPoint num="2" id="4244" />
-<TGConnectingPoint num="3" id="4245" />
-<TGConnectingPoint num="4" id="4246" />
-<TGConnectingPoint num="5" id="4247" />
-<TGConnectingPoint num="6" id="4248" />
-<TGConnectingPoint num="7" id="4249" />
-<TGConnectingPoint num="8" id="4250" />
-<TGConnectingPoint num="9" id="4251" />
-<TGConnectingPoint num="10" id="4252" />
-<TGConnectingPoint num="11" id="4253" />
-<TGConnectingPoint num="12" id="4254" />
-<TGConnectingPoint num="13" id="4255" />
-<TGConnectingPoint num="14" id="4256" />
-<TGConnectingPoint num="15" id="4257" />
-<TGConnectingPoint num="16" id="4258" />
-<TGConnectingPoint num="17" id="4259" />
-<TGConnectingPoint num="18" id="4260" />
-<TGConnectingPoint num="19" id="4261" />
-<TGConnectingPoint num="20" id="4262" />
-<TGConnectingPoint num="21" id="4263" />
-<TGConnectingPoint num="22" id="4264" />
-<TGConnectingPoint num="23" id="4265" />
-<TGConnectingPoint num="24" id="4266" />
-<TGConnectingPoint num="25" id="4267" />
-<TGConnectingPoint num="26" id="4268" />
-<TGConnectingPoint num="27" id="4269" />
-<TGConnectingPoint num="28" id="4270" />
-<TGConnectingPoint num="29" id="4271" />
-<TGConnectingPoint num="30" id="4272" />
-<TGConnectingPoint num="31" id="4273" />
-</COMPONENT>
-
-<COMPONENT type="703" id="4307" >
+<TGConnectingPoint num="0" id="7534" />
+<TGConnectingPoint num="1" id="7535" />
+<TGConnectingPoint num="2" id="7536" />
+<TGConnectingPoint num="3" id="7537" />
+<TGConnectingPoint num="4" id="7538" />
+<TGConnectingPoint num="5" id="7539" />
+<TGConnectingPoint num="6" id="7540" />
+<TGConnectingPoint num="7" id="7541" />
+<TGConnectingPoint num="8" id="7542" />
+<TGConnectingPoint num="9" id="7543" />
+<TGConnectingPoint num="10" id="7544" />
+<TGConnectingPoint num="11" id="7545" />
+<TGConnectingPoint num="12" id="7546" />
+<TGConnectingPoint num="13" id="7547" />
+<TGConnectingPoint num="14" id="7548" />
+<TGConnectingPoint num="15" id="7549" />
+<TGConnectingPoint num="16" id="7550" />
+<TGConnectingPoint num="17" id="7551" />
+<TGConnectingPoint num="18" id="7552" />
+<TGConnectingPoint num="19" id="7553" />
+<TGConnectingPoint num="20" id="7554" />
+<TGConnectingPoint num="21" id="7555" />
+<TGConnectingPoint num="22" id="7556" />
+<TGConnectingPoint num="23" id="7557" />
+<TGConnectingPoint num="24" id="7558" />
+<TGConnectingPoint num="25" id="7559" />
+<TGConnectingPoint num="26" id="7560" />
+<TGConnectingPoint num="27" id="7561" />
+<TGConnectingPoint num="28" id="7562" />
+<TGConnectingPoint num="29" id="7563" />
+<TGConnectingPoint num="30" id="7564" />
+<TGConnectingPoint num="31" id="7565" />
+</COMPONENT>
+
+<COMPONENT type="703" id="7599" >
 <cdparam x="540" y="818" />
 <sizeparam width="77" height="50" minWidth="40" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="actor" value="iPad" />
-<TGConnectingPoint num="0" id="4275" />
-<TGConnectingPoint num="1" id="4276" />
-<TGConnectingPoint num="2" id="4277" />
-<TGConnectingPoint num="3" id="4278" />
-<TGConnectingPoint num="4" id="4279" />
-<TGConnectingPoint num="5" id="4280" />
-<TGConnectingPoint num="6" id="4281" />
-<TGConnectingPoint num="7" id="4282" />
-<TGConnectingPoint num="8" id="4283" />
-<TGConnectingPoint num="9" id="4284" />
-<TGConnectingPoint num="10" id="4285" />
-<TGConnectingPoint num="11" id="4286" />
-<TGConnectingPoint num="12" id="4287" />
-<TGConnectingPoint num="13" id="4288" />
-<TGConnectingPoint num="14" id="4289" />
-<TGConnectingPoint num="15" id="4290" />
-<TGConnectingPoint num="16" id="4291" />
-<TGConnectingPoint num="17" id="4292" />
-<TGConnectingPoint num="18" id="4293" />
-<TGConnectingPoint num="19" id="4294" />
-<TGConnectingPoint num="20" id="4295" />
-<TGConnectingPoint num="21" id="4296" />
-<TGConnectingPoint num="22" id="4297" />
-<TGConnectingPoint num="23" id="4298" />
-<TGConnectingPoint num="24" id="4299" />
-<TGConnectingPoint num="25" id="4300" />
-<TGConnectingPoint num="26" id="4301" />
-<TGConnectingPoint num="27" id="4302" />
-<TGConnectingPoint num="28" id="4303" />
-<TGConnectingPoint num="29" id="4304" />
-<TGConnectingPoint num="30" id="4305" />
-<TGConnectingPoint num="31" id="4306" />
-</COMPONENT>
-
-<COMPONENT type="703" id="4340" >
+<TGConnectingPoint num="0" id="7567" />
+<TGConnectingPoint num="1" id="7568" />
+<TGConnectingPoint num="2" id="7569" />
+<TGConnectingPoint num="3" id="7570" />
+<TGConnectingPoint num="4" id="7571" />
+<TGConnectingPoint num="5" id="7572" />
+<TGConnectingPoint num="6" id="7573" />
+<TGConnectingPoint num="7" id="7574" />
+<TGConnectingPoint num="8" id="7575" />
+<TGConnectingPoint num="9" id="7576" />
+<TGConnectingPoint num="10" id="7577" />
+<TGConnectingPoint num="11" id="7578" />
+<TGConnectingPoint num="12" id="7579" />
+<TGConnectingPoint num="13" id="7580" />
+<TGConnectingPoint num="14" id="7581" />
+<TGConnectingPoint num="15" id="7582" />
+<TGConnectingPoint num="16" id="7583" />
+<TGConnectingPoint num="17" id="7584" />
+<TGConnectingPoint num="18" id="7585" />
+<TGConnectingPoint num="19" id="7586" />
+<TGConnectingPoint num="20" id="7587" />
+<TGConnectingPoint num="21" id="7588" />
+<TGConnectingPoint num="22" id="7589" />
+<TGConnectingPoint num="23" id="7590" />
+<TGConnectingPoint num="24" id="7591" />
+<TGConnectingPoint num="25" id="7592" />
+<TGConnectingPoint num="26" id="7593" />
+<TGConnectingPoint num="27" id="7594" />
+<TGConnectingPoint num="28" id="7595" />
+<TGConnectingPoint num="29" id="7596" />
+<TGConnectingPoint num="30" id="7597" />
+<TGConnectingPoint num="31" id="7598" />
+</COMPONENT>
+
+<COMPONENT type="703" id="7632" >
 <cdparam x="57" y="93" />
 <sizeparam width="77" height="50" minWidth="40" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="actor" value="Radar" />
-<TGConnectingPoint num="0" id="4308" />
-<TGConnectingPoint num="1" id="4309" />
-<TGConnectingPoint num="2" id="4310" />
-<TGConnectingPoint num="3" id="4311" />
-<TGConnectingPoint num="4" id="4312" />
-<TGConnectingPoint num="5" id="4313" />
-<TGConnectingPoint num="6" id="4314" />
-<TGConnectingPoint num="7" id="4315" />
-<TGConnectingPoint num="8" id="4316" />
-<TGConnectingPoint num="9" id="4317" />
-<TGConnectingPoint num="10" id="4318" />
-<TGConnectingPoint num="11" id="4319" />
-<TGConnectingPoint num="12" id="4320" />
-<TGConnectingPoint num="13" id="4321" />
-<TGConnectingPoint num="14" id="4322" />
-<TGConnectingPoint num="15" id="4323" />
-<TGConnectingPoint num="16" id="4324" />
-<TGConnectingPoint num="17" id="4325" />
-<TGConnectingPoint num="18" id="4326" />
-<TGConnectingPoint num="19" id="4327" />
-<TGConnectingPoint num="20" id="4328" />
-<TGConnectingPoint num="21" id="4329" />
-<TGConnectingPoint num="22" id="4330" />
-<TGConnectingPoint num="23" id="4331" />
-<TGConnectingPoint num="24" id="4332" />
-<TGConnectingPoint num="25" id="4333" />
-<TGConnectingPoint num="26" id="4334" />
-<TGConnectingPoint num="27" id="4335" />
-<TGConnectingPoint num="28" id="4336" />
-<TGConnectingPoint num="29" id="4337" />
-<TGConnectingPoint num="30" id="4338" />
-<TGConnectingPoint num="31" id="4339" />
-</COMPONENT>
-
-<COMPONENT type="703" id="4373" >
+<TGConnectingPoint num="0" id="7600" />
+<TGConnectingPoint num="1" id="7601" />
+<TGConnectingPoint num="2" id="7602" />
+<TGConnectingPoint num="3" id="7603" />
+<TGConnectingPoint num="4" id="7604" />
+<TGConnectingPoint num="5" id="7605" />
+<TGConnectingPoint num="6" id="7606" />
+<TGConnectingPoint num="7" id="7607" />
+<TGConnectingPoint num="8" id="7608" />
+<TGConnectingPoint num="9" id="7609" />
+<TGConnectingPoint num="10" id="7610" />
+<TGConnectingPoint num="11" id="7611" />
+<TGConnectingPoint num="12" id="7612" />
+<TGConnectingPoint num="13" id="7613" />
+<TGConnectingPoint num="14" id="7614" />
+<TGConnectingPoint num="15" id="7615" />
+<TGConnectingPoint num="16" id="7616" />
+<TGConnectingPoint num="17" id="7617" />
+<TGConnectingPoint num="18" id="7618" />
+<TGConnectingPoint num="19" id="7619" />
+<TGConnectingPoint num="20" id="7620" />
+<TGConnectingPoint num="21" id="7621" />
+<TGConnectingPoint num="22" id="7622" />
+<TGConnectingPoint num="23" id="7623" />
+<TGConnectingPoint num="24" id="7624" />
+<TGConnectingPoint num="25" id="7625" />
+<TGConnectingPoint num="26" id="7626" />
+<TGConnectingPoint num="27" id="7627" />
+<TGConnectingPoint num="28" id="7628" />
+<TGConnectingPoint num="29" id="7629" />
+<TGConnectingPoint num="30" id="7630" />
+<TGConnectingPoint num="31" id="7631" />
+</COMPONENT>
+
+<COMPONENT type="703" id="7665" >
 <cdparam x="58" y="32" />
 <sizeparam width="77" height="50" minWidth="40" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="actor" value="Camera" />
-<TGConnectingPoint num="0" id="4341" />
-<TGConnectingPoint num="1" id="4342" />
-<TGConnectingPoint num="2" id="4343" />
-<TGConnectingPoint num="3" id="4344" />
-<TGConnectingPoint num="4" id="4345" />
-<TGConnectingPoint num="5" id="4346" />
-<TGConnectingPoint num="6" id="4347" />
-<TGConnectingPoint num="7" id="4348" />
-<TGConnectingPoint num="8" id="4349" />
-<TGConnectingPoint num="9" id="4350" />
-<TGConnectingPoint num="10" id="4351" />
-<TGConnectingPoint num="11" id="4352" />
-<TGConnectingPoint num="12" id="4353" />
-<TGConnectingPoint num="13" id="4354" />
-<TGConnectingPoint num="14" id="4355" />
-<TGConnectingPoint num="15" id="4356" />
-<TGConnectingPoint num="16" id="4357" />
-<TGConnectingPoint num="17" id="4358" />
-<TGConnectingPoint num="18" id="4359" />
-<TGConnectingPoint num="19" id="4360" />
-<TGConnectingPoint num="20" id="4361" />
-<TGConnectingPoint num="21" id="4362" />
-<TGConnectingPoint num="22" id="4363" />
-<TGConnectingPoint num="23" id="4364" />
-<TGConnectingPoint num="24" id="4365" />
-<TGConnectingPoint num="25" id="4366" />
-<TGConnectingPoint num="26" id="4367" />
-<TGConnectingPoint num="27" id="4368" />
-<TGConnectingPoint num="28" id="4369" />
-<TGConnectingPoint num="29" id="4370" />
-<TGConnectingPoint num="30" id="4371" />
-<TGConnectingPoint num="31" id="4372" />
-</COMPONENT>
-
-<COMPONENT type="702" id="4382" >
+<TGConnectingPoint num="0" id="7633" />
+<TGConnectingPoint num="1" id="7634" />
+<TGConnectingPoint num="2" id="7635" />
+<TGConnectingPoint num="3" id="7636" />
+<TGConnectingPoint num="4" id="7637" />
+<TGConnectingPoint num="5" id="7638" />
+<TGConnectingPoint num="6" id="7639" />
+<TGConnectingPoint num="7" id="7640" />
+<TGConnectingPoint num="8" id="7641" />
+<TGConnectingPoint num="9" id="7642" />
+<TGConnectingPoint num="10" id="7643" />
+<TGConnectingPoint num="11" id="7644" />
+<TGConnectingPoint num="12" id="7645" />
+<TGConnectingPoint num="13" id="7646" />
+<TGConnectingPoint num="14" id="7647" />
+<TGConnectingPoint num="15" id="7648" />
+<TGConnectingPoint num="16" id="7649" />
+<TGConnectingPoint num="17" id="7650" />
+<TGConnectingPoint num="18" id="7651" />
+<TGConnectingPoint num="19" id="7652" />
+<TGConnectingPoint num="20" id="7653" />
+<TGConnectingPoint num="21" id="7654" />
+<TGConnectingPoint num="22" id="7655" />
+<TGConnectingPoint num="23" id="7656" />
+<TGConnectingPoint num="24" id="7657" />
+<TGConnectingPoint num="25" id="7658" />
+<TGConnectingPoint num="26" id="7659" />
+<TGConnectingPoint num="27" id="7660" />
+<TGConnectingPoint num="28" id="7661" />
+<TGConnectingPoint num="29" id="7662" />
+<TGConnectingPoint num="30" id="7663" />
+<TGConnectingPoint num="31" id="7664" />
+</COMPONENT>
+
+<COMPONENT type="702" id="7674" >
 <cdparam x="576" y="85" />
 <sizeparam width="400" height="226" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="border" value="safePlanification" />
-<TGConnectingPoint num="0" id="4374" />
-<TGConnectingPoint num="1" id="4375" />
-<TGConnectingPoint num="2" id="4376" />
-<TGConnectingPoint num="3" id="4377" />
-<TGConnectingPoint num="4" id="4378" />
-<TGConnectingPoint num="5" id="4379" />
-<TGConnectingPoint num="6" id="4380" />
-<TGConnectingPoint num="7" id="4381" />
+<TGConnectingPoint num="0" id="7666" />
+<TGConnectingPoint num="1" id="7667" />
+<TGConnectingPoint num="2" id="7668" />
+<TGConnectingPoint num="3" id="7669" />
+<TGConnectingPoint num="4" id="7670" />
+<TGConnectingPoint num="5" id="7671" />
+<TGConnectingPoint num="6" id="7672" />
+<TGConnectingPoint num="7" id="7673" />
 </COMPONENT>
 
-<COMPONENT type="702" id="4391" >
+<COMPONENT type="702" id="7683" >
 <cdparam x="903" y="344" />
 <sizeparam width="373" height="250" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="border" value="ECUGateway" />
-<TGConnectingPoint num="0" id="4383" />
-<TGConnectingPoint num="1" id="4384" />
-<TGConnectingPoint num="2" id="4385" />
-<TGConnectingPoint num="3" id="4386" />
-<TGConnectingPoint num="4" id="4387" />
-<TGConnectingPoint num="5" id="4388" />
-<TGConnectingPoint num="6" id="4389" />
-<TGConnectingPoint num="7" id="4390" />
+<TGConnectingPoint num="0" id="7675" />
+<TGConnectingPoint num="1" id="7676" />
+<TGConnectingPoint num="2" id="7677" />
+<TGConnectingPoint num="3" id="7678" />
+<TGConnectingPoint num="4" id="7679" />
+<TGConnectingPoint num="5" id="7680" />
+<TGConnectingPoint num="6" id="7681" />
+<TGConnectingPoint num="7" id="7682" />
 </COMPONENT>
 
-<COMPONENT type="702" id="4400" >
+<COMPONENT type="702" id="7692" >
 <cdparam x="187" y="66" />
 <sizeparam width="1104" height="724" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="border" value="Autonomous Vehicle System" />
-<TGConnectingPoint num="0" id="4392" />
-<TGConnectingPoint num="1" id="4393" />
-<TGConnectingPoint num="2" id="4394" />
-<TGConnectingPoint num="3" id="4395" />
-<TGConnectingPoint num="4" id="4396" />
-<TGConnectingPoint num="5" id="4397" />
-<TGConnectingPoint num="6" id="4398" />
-<TGConnectingPoint num="7" id="4399" />
+<TGConnectingPoint num="0" id="7684" />
+<TGConnectingPoint num="1" id="7685" />
+<TGConnectingPoint num="2" id="7686" />
+<TGConnectingPoint num="3" id="7687" />
+<TGConnectingPoint num="4" id="7688" />
+<TGConnectingPoint num="5" id="7689" />
+<TGConnectingPoint num="6" id="7690" />
+<TGConnectingPoint num="7" id="7691" />
 </COMPONENT>
 
-<CONNECTOR type="111" id="4401" >
+<CONNECTOR type="111" id="7693" >
 <cdparam x="734" y="252" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="&lt;&lt;include&gt;&gt;" />
-<P1  x="734" y="252" id="3995" />
-<P2  x="912" y="670" id="3825" />
+<P1  x="734" y="252" id="7287" />
+<P2  x="912" y="670" id="7117" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="111" id="4402" >
+<CONNECTOR type="111" id="7694" >
 <cdparam x="734" y="252" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="&lt;&lt;include&gt;&gt;" />
-<P1  x="734" y="252" id="3991" />
-<P2  x="797" y="661" id="3850" />
+<P1  x="734" y="252" id="7283" />
+<P2  x="797" y="661" id="7142" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="110" id="4403" >
+<CONNECTOR type="110" id="7695" >
 <cdparam x="368" y="442" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="373" y="531" id="3961" />
-<P2  x="1518" y="466" id="4211" />
+<P1  x="373" y="531" id="7253" />
+<P2  x="1518" y="466" id="7503" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="111" id="4404" >
+<CONNECTOR type="111" id="7696" >
 <cdparam x="744" y="188" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="&lt;&lt;include&gt;&gt;" />
-<P1  x="815" y="232" id="3990" />
-<P2  x="882" y="179" id="3669" />
+<P1  x="815" y="232" id="7282" />
+<P2  x="882" y="179" id="6961" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="110" id="4405" >
+<CONNECTOR type="110" id="7697" >
 <cdparam x="464" y="175" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="470" y="249" id="4015" />
-<P2  x="820" y="159" id="3667" />
+<P1  x="470" y="249" id="7307" />
+<P2  x="820" y="159" id="6959" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="111" id="4406" >
+<CONNECTOR type="111" id="7698" >
 <cdparam x="617" y="282" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="&lt;&lt;include&gt;&gt;" />
-<P1  x="1047" y="412" id="3743" />
-<P2  x="1127" y="452" id="3767" />
+<P1  x="1047" y="412" id="7035" />
+<P2  x="1127" y="452" id="7059" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="111" id="4407" >
+<CONNECTOR type="111" id="7699" >
 <cdparam x="535" y="411" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="&lt;&lt;include&gt;&gt;" />
-<P1  x="528" y="670" id="3691" />
-<P2  x="980" y="432" id="3744" />
+<P1  x="528" y="670" id="6983" />
+<P2  x="980" y="432" id="7036" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="111" id="4408" >
+<CONNECTOR type="111" id="7700" >
 <cdparam x="663" y="208" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="&lt;&lt;include&gt;&gt;" />
-<P1  x="734" y="252" id="3987" />
-<P2  x="647" y="673" id="3716" />
+<P1  x="734" y="252" id="7279" />
+<P2  x="647" y="673" id="7008" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="110" id="4409" >
+<CONNECTOR type="110" id="7701" >
 <cdparam x="614" y="532" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="578" y="818" id="4292" />
-<P2  x="528" y="710" id="3694" />
+<P1  x="578" y="818" id="7584" />
+<P2  x="528" y="710" id="6986" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="110" id="4410" >
+<CONNECTOR type="110" id="7702" >
 <cdparam x="614" y="532" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="578" y="818" id="4280" />
-<P2  x="647" y="713" id="3719" />
+<P1  x="578" y="818" id="7572" />
+<P2  x="647" y="713" id="7011" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="111" id="4411" >
+<CONNECTOR type="111" id="7703" >
 <cdparam x="263" y="442" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="&lt;&lt;include&gt;&gt;" />
-<P1  x="268" y="531" id="3960" />
-<P2  x="251" y="446" id="3794" />
+<P1  x="268" y="531" id="7252" />
+<P2  x="251" y="446" id="7086" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="110" id="4412" >
+<CONNECTOR type="110" id="7704" >
 <cdparam x="917" y="442" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="912" y="710" id="3828" />
-<P2  x="916" y="826" id="4247" />
+<P1  x="912" y="710" id="7120" />
+<P2  x="916" y="826" id="7539" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="110" id="4413" >
+<CONNECTOR type="110" id="7705" >
 <cdparam x="802" y="444" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="797" y="701" id="3853" />
-<P2  x="803" y="825" id="4181" />
+<P1  x="797" y="701" id="7145" />
+<P2  x="803" y="825" id="7473" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="110" id="4414" >
+<CONNECTOR type="110" id="7706" >
 <cdparam x="970" y="133" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="1255" y="452" id="3768" />
-<P2  x="1518" y="453" id="4210" />
+<P1  x="1255" y="452" id="7060" />
+<P2  x="1518" y="453" id="7502" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="111" id="4415" >
+<CONNECTOR type="111" id="7707" >
 <cdparam x="744" y="188" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="&lt;&lt;include&gt;&gt;" />
-<P1  x="815" y="232" id="3986" />
-<P2  x="1191" y="432" id="3766" />
+<P1  x="815" y="232" id="7278" />
+<P2  x="1191" y="432" id="7058" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="111" id="4416" >
+<CONNECTOR type="111" id="7708" >
 <cdparam x="401" y="155" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="&lt;&lt;include&gt;&gt;" />
-<P1  x="407" y="229" id="4009" />
-<P2  x="408" y="155" id="3878" />
+<P1  x="407" y="229" id="7301" />
+<P2  x="408" y="155" id="7170" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="110" id="4417" >
+<CONNECTOR type="110" id="7709" >
 <cdparam x="446" y="450" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="408" y="115" id="3875" />
-<P2  x="408" y="60" id="4083" />
+<P1  x="408" y="115" id="7167" />
+<P2  x="408" y="60" id="7375" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="111" id="4418" >
+<CONNECTOR type="111" id="7710" >
 <cdparam x="402" y="387" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="&lt;&lt;include&gt;&gt;" />
-<P1  x="320" y="511" id="3959" />
-<P2  x="401" y="424" id="3903" />
+<P1  x="320" y="511" id="7251" />
+<P2  x="401" y="424" id="7195" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="111" id="4419" >
+<CONNECTOR type="111" id="7711" >
 <cdparam x="705" y="127" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="&lt;&lt;include&gt;&gt;" />
-<P1  x="667" y="135" id="3928" />
-<P2  x="734" y="212" id="3984" />
+<P1  x="667" y="135" id="7220" />
+<P2  x="734" y="212" id="7276" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="110" id="4420" >
+<CONNECTOR type="110" id="7712" >
 <cdparam x="668" y="60" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="667" y="60" id="4116" />
-<P2  x="667" y="95" id="3925" />
+<P1  x="667" y="60" id="7408" />
+<P2  x="667" y="95" id="7217" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="110" id="4421" >
+<CONNECTOR type="110" id="7713" >
 <cdparam x="462" y="134" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="470" y="249" id="4011" />
-<P2  x="654" y="232" id="3985" />
+<P1  x="470" y="249" id="7303" />
+<P2  x="654" y="232" id="7277" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="110" id="4422" >
+<CONNECTOR type="110" id="7714" >
 <cdparam x="285" y="113" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="285" y="113" id="4054" />
-<P2  x="345" y="249" id="4010" />
+<P1  x="285" y="113" id="7346" />
+<P2  x="345" y="249" id="7302" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="110" id="4423" >
+<CONNECTOR type="110" id="7715" >
 <cdparam x="133" y="176" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="133" y="176" id="4152" />
-<P2  x="214" y="113" id="4061" />
+<P1  x="133" y="176" id="7444" />
+<P2  x="214" y="113" id="7353" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="110" id="4424" >
+<CONNECTOR type="110" id="7716" >
 <cdparam x="134" y="118" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="134" y="118" id="4317" />
-<P2  x="214" y="113" id="4057" />
+<P1  x="134" y="118" id="7609" />
+<P2  x="214" y="113" id="7349" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="110" id="4425" >
+<CONNECTOR type="110" id="7717" >
 <cdparam x="135" y="57" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="135" y="57" id="4350" />
-<P2  x="214" y="113" id="4053" />
+<P1  x="135" y="57" id="7642" />
+<P2  x="214" y="113" id="7345" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
 
@@ -7635,116 +12890,116 @@
 </AvatarADPanel>
 
 <AvatarCDPanel name="Context Diagram 0" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
-<COMPONENT type="5402" id="4458" >
+<COMPONENT type="5402" id="7750" >
 <cdparam x="67" y="228" />
 <sizeparam width="77" height="50" minWidth="40" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="actor" value="Sensor X" />
-<TGConnectingPoint num="0" id="4426" />
-<TGConnectingPoint num="1" id="4427" />
-<TGConnectingPoint num="2" id="4428" />
-<TGConnectingPoint num="3" id="4429" />
-<TGConnectingPoint num="4" id="4430" />
-<TGConnectingPoint num="5" id="4431" />
-<TGConnectingPoint num="6" id="4432" />
-<TGConnectingPoint num="7" id="4433" />
-<TGConnectingPoint num="8" id="4434" />
-<TGConnectingPoint num="9" id="4435" />
-<TGConnectingPoint num="10" id="4436" />
-<TGConnectingPoint num="11" id="4437" />
-<TGConnectingPoint num="12" id="4438" />
-<TGConnectingPoint num="13" id="4439" />
-<TGConnectingPoint num="14" id="4440" />
-<TGConnectingPoint num="15" id="4441" />
-<TGConnectingPoint num="16" id="4442" />
-<TGConnectingPoint num="17" id="4443" />
-<TGConnectingPoint num="18" id="4444" />
-<TGConnectingPoint num="19" id="4445" />
-<TGConnectingPoint num="20" id="4446" />
-<TGConnectingPoint num="21" id="4447" />
-<TGConnectingPoint num="22" id="4448" />
-<TGConnectingPoint num="23" id="4449" />
-<TGConnectingPoint num="24" id="4450" />
-<TGConnectingPoint num="25" id="4451" />
-<TGConnectingPoint num="26" id="4452" />
-<TGConnectingPoint num="27" id="4453" />
-<TGConnectingPoint num="28" id="4454" />
-<TGConnectingPoint num="29" id="4455" />
-<TGConnectingPoint num="30" id="4456" />
-<TGConnectingPoint num="31" id="4457" />
+<TGConnectingPoint num="0" id="7718" />
+<TGConnectingPoint num="1" id="7719" />
+<TGConnectingPoint num="2" id="7720" />
+<TGConnectingPoint num="3" id="7721" />
+<TGConnectingPoint num="4" id="7722" />
+<TGConnectingPoint num="5" id="7723" />
+<TGConnectingPoint num="6" id="7724" />
+<TGConnectingPoint num="7" id="7725" />
+<TGConnectingPoint num="8" id="7726" />
+<TGConnectingPoint num="9" id="7727" />
+<TGConnectingPoint num="10" id="7728" />
+<TGConnectingPoint num="11" id="7729" />
+<TGConnectingPoint num="12" id="7730" />
+<TGConnectingPoint num="13" id="7731" />
+<TGConnectingPoint num="14" id="7732" />
+<TGConnectingPoint num="15" id="7733" />
+<TGConnectingPoint num="16" id="7734" />
+<TGConnectingPoint num="17" id="7735" />
+<TGConnectingPoint num="18" id="7736" />
+<TGConnectingPoint num="19" id="7737" />
+<TGConnectingPoint num="20" id="7738" />
+<TGConnectingPoint num="21" id="7739" />
+<TGConnectingPoint num="22" id="7740" />
+<TGConnectingPoint num="23" id="7741" />
+<TGConnectingPoint num="24" id="7742" />
+<TGConnectingPoint num="25" id="7743" />
+<TGConnectingPoint num="26" id="7744" />
+<TGConnectingPoint num="27" id="7745" />
+<TGConnectingPoint num="28" id="7746" />
+<TGConnectingPoint num="29" id="7747" />
+<TGConnectingPoint num="30" id="7748" />
+<TGConnectingPoint num="31" id="7749" />
 </COMPONENT>
 
-<COMPONENT type="5402" id="4491" >
+<COMPONENT type="5402" id="7783" >
 <cdparam x="64" y="134" />
 <sizeparam width="77" height="50" minWidth="40" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="actor" value="Sensor 1" />
-<TGConnectingPoint num="0" id="4459" />
-<TGConnectingPoint num="1" id="4460" />
-<TGConnectingPoint num="2" id="4461" />
-<TGConnectingPoint num="3" id="4462" />
-<TGConnectingPoint num="4" id="4463" />
-<TGConnectingPoint num="5" id="4464" />
-<TGConnectingPoint num="6" id="4465" />
-<TGConnectingPoint num="7" id="4466" />
-<TGConnectingPoint num="8" id="4467" />
-<TGConnectingPoint num="9" id="4468" />
-<TGConnectingPoint num="10" id="4469" />
-<TGConnectingPoint num="11" id="4470" />
-<TGConnectingPoint num="12" id="4471" />
-<TGConnectingPoint num="13" id="4472" />
-<TGConnectingPoint num="14" id="4473" />
-<TGConnectingPoint num="15" id="4474" />
-<TGConnectingPoint num="16" id="4475" />
-<TGConnectingPoint num="17" id="4476" />
-<TGConnectingPoint num="18" id="4477" />
-<TGConnectingPoint num="19" id="4478" />
-<TGConnectingPoint num="20" id="4479" />
-<TGConnectingPoint num="21" id="4480" />
-<TGConnectingPoint num="22" id="4481" />
-<TGConnectingPoint num="23" id="4482" />
-<TGConnectingPoint num="24" id="4483" />
-<TGConnectingPoint num="25" id="4484" />
-<TGConnectingPoint num="26" id="4485" />
-<TGConnectingPoint num="27" id="4486" />
-<TGConnectingPoint num="28" id="4487" />
-<TGConnectingPoint num="29" id="4488" />
-<TGConnectingPoint num="30" id="4489" />
-<TGConnectingPoint num="31" id="4490" />
-</COMPONENT>
-
-<COMPONENT type="5400" id="4516" >
+<TGConnectingPoint num="0" id="7751" />
+<TGConnectingPoint num="1" id="7752" />
+<TGConnectingPoint num="2" id="7753" />
+<TGConnectingPoint num="3" id="7754" />
+<TGConnectingPoint num="4" id="7755" />
+<TGConnectingPoint num="5" id="7756" />
+<TGConnectingPoint num="6" id="7757" />
+<TGConnectingPoint num="7" id="7758" />
+<TGConnectingPoint num="8" id="7759" />
+<TGConnectingPoint num="9" id="7760" />
+<TGConnectingPoint num="10" id="7761" />
+<TGConnectingPoint num="11" id="7762" />
+<TGConnectingPoint num="12" id="7763" />
+<TGConnectingPoint num="13" id="7764" />
+<TGConnectingPoint num="14" id="7765" />
+<TGConnectingPoint num="15" id="7766" />
+<TGConnectingPoint num="16" id="7767" />
+<TGConnectingPoint num="17" id="7768" />
+<TGConnectingPoint num="18" id="7769" />
+<TGConnectingPoint num="19" id="7770" />
+<TGConnectingPoint num="20" id="7771" />
+<TGConnectingPoint num="21" id="7772" />
+<TGConnectingPoint num="22" id="7773" />
+<TGConnectingPoint num="23" id="7774" />
+<TGConnectingPoint num="24" id="7775" />
+<TGConnectingPoint num="25" id="7776" />
+<TGConnectingPoint num="26" id="7777" />
+<TGConnectingPoint num="27" id="7778" />
+<TGConnectingPoint num="28" id="7779" />
+<TGConnectingPoint num="29" id="7780" />
+<TGConnectingPoint num="30" id="7781" />
+<TGConnectingPoint num="31" id="7782" />
+</COMPONENT>
+
+<COMPONENT type="5400" id="7808" >
 <cdparam x="249" y="93" />
 <sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="Block0" value="SafePerception" />
-<TGConnectingPoint num="0" id="4492" />
-<TGConnectingPoint num="1" id="4493" />
-<TGConnectingPoint num="2" id="4494" />
-<TGConnectingPoint num="3" id="4495" />
-<TGConnectingPoint num="4" id="4496" />
-<TGConnectingPoint num="5" id="4497" />
-<TGConnectingPoint num="6" id="4498" />
-<TGConnectingPoint num="7" id="4499" />
-<TGConnectingPoint num="8" id="4500" />
-<TGConnectingPoint num="9" id="4501" />
-<TGConnectingPoint num="10" id="4502" />
-<TGConnectingPoint num="11" id="4503" />
-<TGConnectingPoint num="12" id="4504" />
-<TGConnectingPoint num="13" id="4505" />
-<TGConnectingPoint num="14" id="4506" />
-<TGConnectingPoint num="15" id="4507" />
-<TGConnectingPoint num="16" id="4508" />
-<TGConnectingPoint num="17" id="4509" />
-<TGConnectingPoint num="18" id="4510" />
-<TGConnectingPoint num="19" id="4511" />
-<TGConnectingPoint num="20" id="4512" />
-<TGConnectingPoint num="21" id="4513" />
-<TGConnectingPoint num="22" id="4514" />
-<TGConnectingPoint num="23" id="4515" />
+<TGConnectingPoint num="0" id="7784" />
+<TGConnectingPoint num="1" id="7785" />
+<TGConnectingPoint num="2" id="7786" />
+<TGConnectingPoint num="3" id="7787" />
+<TGConnectingPoint num="4" id="7788" />
+<TGConnectingPoint num="5" id="7789" />
+<TGConnectingPoint num="6" id="7790" />
+<TGConnectingPoint num="7" id="7791" />
+<TGConnectingPoint num="8" id="7792" />
+<TGConnectingPoint num="9" id="7793" />
+<TGConnectingPoint num="10" id="7794" />
+<TGConnectingPoint num="11" id="7795" />
+<TGConnectingPoint num="12" id="7796" />
+<TGConnectingPoint num="13" id="7797" />
+<TGConnectingPoint num="14" id="7798" />
+<TGConnectingPoint num="15" id="7799" />
+<TGConnectingPoint num="16" id="7800" />
+<TGConnectingPoint num="17" id="7801" />
+<TGConnectingPoint num="18" id="7802" />
+<TGConnectingPoint num="19" id="7803" />
+<TGConnectingPoint num="20" id="7804" />
+<TGConnectingPoint num="21" id="7805" />
+<TGConnectingPoint num="22" id="7806" />
+<TGConnectingPoint num="23" id="7807" />
 </COMPONENT>
 
 
@@ -7755,416 +13010,47 @@
 
 
 
-<Modeling type="AVATAR Design" nameTab="AVATAR Design" >
-<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1500" >
-<MainCode value="void __user_init() {"/>
-<MainCode value="}"/>
-<Optimized value="true" />
-<Validated value="" />
-<Ignored value="" />
-
-<CONNECTOR type="5002" id="4522" >
-<cdparam x="175" y="181" />
-<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="4519" />
-<TGConnectingPoint num="1" id="4520" />
-<TGConnectingPoint num="2" id="4521" />
-<P1  x="175" y="181" id="4658" />
-<P2  x="175" y="318" id="4651" />
-<Point x="129" y="181" />
-<Point x="129" y="317" />
-<AutomaticDrawing  data="true" />
-<extraparam>
-<FIFOType asynchronous="false" size="0" blocking="false" private="true" broadcast="false" lossy="false" />
-</extraparam>
-</CONNECTOR><SUBCOMPONENT type="-1" id="4517" >
-<father id="4522" num="0" />
-<cdparam x="129" y="181" />
-<sizeparam width="0" height="0" 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="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4518" >
-<father id="4522" num="1" />
-<cdparam x="129" y="317" />
-<sizeparam width="0" height="0" 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="point " value="null" />
-</SUBCOMPONENT>
-
-<COMPONENT type="5000" id="4672" >
-<cdparam x="175" y="45" />
-<sizeparam width="1228" height="547" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="Block0" value="System" />
-<TGConnectingPoint num="0" id="4648" />
-<TGConnectingPoint num="1" id="4649" />
-<TGConnectingPoint num="2" id="4650" />
-<TGConnectingPoint num="3" id="4651" />
-<TGConnectingPoint num="4" id="4652" />
-<TGConnectingPoint num="5" id="4653" />
-<TGConnectingPoint num="6" id="4654" />
-<TGConnectingPoint num="7" id="4655" />
-<TGConnectingPoint num="8" id="4656" />
-<TGConnectingPoint num="9" id="4657" />
-<TGConnectingPoint num="10" id="4658" />
-<TGConnectingPoint num="11" id="4659" />
-<TGConnectingPoint num="12" id="4660" />
-<TGConnectingPoint num="13" id="4661" />
-<TGConnectingPoint num="14" id="4662" />
-<TGConnectingPoint num="15" id="4663" />
-<TGConnectingPoint num="16" id="4664" />
-<TGConnectingPoint num="17" id="4665" />
-<TGConnectingPoint num="18" id="4666" />
-<TGConnectingPoint num="19" id="4667" />
-<TGConnectingPoint num="20" id="4668" />
-<TGConnectingPoint num="21" id="4669" />
-<TGConnectingPoint num="22" id="4670" />
-<TGConnectingPoint num="23" id="4671" />
-<extraparam>
-<CryptoBlock value="false" />
-</extraparam>
-</COMPONENT>
-<SUBCOMPONENT type="5000" id="4547" >
-<father id="4672" num="0" />
-<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="Block0" value="UI" />
-<TGConnectingPoint num="0" id="4523" />
-<TGConnectingPoint num="1" id="4524" />
-<TGConnectingPoint num="2" id="4525" />
-<TGConnectingPoint num="3" id="4526" />
-<TGConnectingPoint num="4" id="4527" />
-<TGConnectingPoint num="5" id="4528" />
-<TGConnectingPoint num="6" id="4529" />
-<TGConnectingPoint num="7" id="4530" />
-<TGConnectingPoint num="8" id="4531" />
-<TGConnectingPoint num="9" id="4532" />
-<TGConnectingPoint num="10" id="4533" />
-<TGConnectingPoint num="11" id="4534" />
-<TGConnectingPoint num="12" id="4535" />
-<TGConnectingPoint num="13" id="4536" />
-<TGConnectingPoint num="14" id="4537" />
-<TGConnectingPoint num="15" id="4538" />
-<TGConnectingPoint num="16" id="4539" />
-<TGConnectingPoint num="17" id="4540" />
-<TGConnectingPoint num="18" id="4541" />
-<TGConnectingPoint num="19" id="4542" />
-<TGConnectingPoint num="20" id="4543" />
-<TGConnectingPoint num="21" id="4544" />
-<TGConnectingPoint num="22" id="4545" />
-<TGConnectingPoint num="23" id="4546" />
-<extraparam>
-<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="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="GPS" />
-<TGConnectingPoint num="0" id="4548" />
-<TGConnectingPoint num="1" id="4549" />
-<TGConnectingPoint num="2" id="4550" />
-<TGConnectingPoint num="3" id="4551" />
-<TGConnectingPoint num="4" id="4552" />
-<TGConnectingPoint num="5" id="4553" />
-<TGConnectingPoint num="6" id="4554" />
-<TGConnectingPoint num="7" id="4555" />
-<TGConnectingPoint num="8" id="4556" />
-<TGConnectingPoint num="9" id="4557" />
-<TGConnectingPoint num="10" id="4558" />
-<TGConnectingPoint num="11" id="4559" />
-<TGConnectingPoint num="12" id="4560" />
-<TGConnectingPoint num="13" id="4561" />
-<TGConnectingPoint num="14" id="4562" />
-<TGConnectingPoint num="15" id="4563" />
-<TGConnectingPoint num="16" id="4564" />
-<TGConnectingPoint num="17" id="4565" />
-<TGConnectingPoint num="18" id="4566" />
-<TGConnectingPoint num="19" id="4567" />
-<TGConnectingPoint num="20" id="4568" />
-<TGConnectingPoint num="21" id="4569" />
-<TGConnectingPoint num="22" id="4570" />
-<TGConnectingPoint num="23" id="4571" />
-<extraparam>
-<CryptoBlock value="false" />
-<Attribute access="0" id="currLoc" value="" type="8" typeOther="" />
-</extraparam>
-</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="4597" >
-<father id="4672" num="2" />
-<cdparam x="1121" y="105" />
-<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="ECU" />
-<TGConnectingPoint num="0" id="4573" />
-<TGConnectingPoint num="1" id="4574" />
-<TGConnectingPoint num="2" id="4575" />
-<TGConnectingPoint num="3" id="4576" />
-<TGConnectingPoint num="4" id="4577" />
-<TGConnectingPoint num="5" id="4578" />
-<TGConnectingPoint num="6" id="4579" />
-<TGConnectingPoint num="7" id="4580" />
-<TGConnectingPoint num="8" id="4581" />
-<TGConnectingPoint num="9" id="4582" />
-<TGConnectingPoint num="10" id="4583" />
-<TGConnectingPoint num="11" id="4584" />
-<TGConnectingPoint num="12" id="4585" />
-<TGConnectingPoint num="13" id="4586" />
-<TGConnectingPoint num="14" id="4587" />
-<TGConnectingPoint num="15" id="4588" />
-<TGConnectingPoint num="16" id="4589" />
-<TGConnectingPoint num="17" id="4590" />
-<TGConnectingPoint num="18" id="4591" />
-<TGConnectingPoint num="19" id="4592" />
-<TGConnectingPoint num="20" id="4593" />
-<TGConnectingPoint num="21" id="4594" />
-<TGConnectingPoint num="22" id="4595" />
-<TGConnectingPoint num="23" id="4596" />
-<extraparam>
-<CryptoBlock value="false" />
-<Attribute access="0" id="ECUSignal" value="" type="8" typeOther="" />
-<Signal value="in ECUSignal()" />
-</extraparam>
-</SUBCOMPONENT>
-<SUBCOMPONENT type="5000" id="4622" >
-<father id="4672" num="3" />
-<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="ControlSystem" />
-<TGConnectingPoint num="0" id="4598" />
-<TGConnectingPoint num="1" id="4599" />
-<TGConnectingPoint num="2" id="4600" />
-<TGConnectingPoint num="3" id="4601" />
-<TGConnectingPoint num="4" id="4602" />
-<TGConnectingPoint num="5" id="4603" />
-<TGConnectingPoint num="6" id="4604" />
-<TGConnectingPoint num="7" id="4605" />
-<TGConnectingPoint num="8" id="4606" />
-<TGConnectingPoint num="9" id="4607" />
-<TGConnectingPoint num="10" id="4608" />
-<TGConnectingPoint num="11" id="4609" />
-<TGConnectingPoint num="12" id="4610" />
-<TGConnectingPoint num="13" id="4611" />
-<TGConnectingPoint num="14" id="4612" />
-<TGConnectingPoint num="15" id="4613" />
-<TGConnectingPoint num="16" id="4614" />
-<TGConnectingPoint num="17" id="4615" />
-<TGConnectingPoint num="18" id="4616" />
-<TGConnectingPoint num="19" id="4617" />
-<TGConnectingPoint num="20" id="4618" />
-<TGConnectingPoint num="21" id="4619" />
-<TGConnectingPoint num="22" id="4620" />
-<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="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="Block1" value="Sensor" />
-<TGConnectingPoint num="0" id="4623" />
-<TGConnectingPoint num="1" id="4624" />
-<TGConnectingPoint num="2" id="4625" />
-<TGConnectingPoint num="3" id="4626" />
-<TGConnectingPoint num="4" id="4627" />
-<TGConnectingPoint num="5" id="4628" />
-<TGConnectingPoint num="6" id="4629" />
-<TGConnectingPoint num="7" id="4630" />
-<TGConnectingPoint num="8" id="4631" />
-<TGConnectingPoint num="9" id="4632" />
-<TGConnectingPoint num="10" id="4633" />
-<TGConnectingPoint num="11" id="4634" />
-<TGConnectingPoint num="12" id="4635" />
-<TGConnectingPoint num="13" id="4636" />
-<TGConnectingPoint num="14" id="4637" />
-<TGConnectingPoint num="15" id="4638" />
-<TGConnectingPoint num="16" id="4639" />
-<TGConnectingPoint num="17" id="4640" />
-<TGConnectingPoint num="18" id="4641" />
-<TGConnectingPoint num="19" id="4642" />
-<TGConnectingPoint num="20" id="4643" />
-<TGConnectingPoint num="21" id="4644" />
-<TGConnectingPoint num="22" id="4645" />
-<TGConnectingPoint num="23" id="4646" />
-<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)" />
-</extraparam>
-</SUBCOMPONENT>
-
-
-</AVATARBlockDiagramPanel>
-
-<AVATARStateMachineDiagramPanel name="System" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="5100" id="4674" >
-<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="4673" />
-</COMPONENT>
-
-
-</AVATARStateMachineDiagramPanel>
-
-<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" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="4675" />
-</COMPONENT>
-
-
-</AVATARStateMachineDiagramPanel>
-
-<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" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="4677" />
-</COMPONENT>
-
-
-</AVATARStateMachineDiagramPanel>
-
-<AVATARStateMachineDiagramPanel name="ECU" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="5100" id="4680" >
-<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="4679" />
-</COMPONENT>
-
-
-</AVATARStateMachineDiagramPanel>
-
-<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" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="4681" />
-</COMPONENT>
-
-
-</AVATARStateMachineDiagramPanel>
-
-<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" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="4683" />
-</COMPONENT>
-
-
-</AVATARStateMachineDiagramPanel>
-
-</Modeling>
-
-
-
-
 <Modeling type="Diplodocus Methodology" nameTab="DIPLODOCUS_Methodology" >
 <DiplodocusMethodologyDiagramPanel name="DIPLODOCUS_Methodology" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
-<COMPONENT type="6003" id="4689" >
+<COMPONENT type="6003" id="7813" >
 <cdparam x="50" y="150" />
 <sizeparam width="200" height="120" minWidth="10" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="TGComponent" value="Requirements" />
-<TGConnectingPoint num="0" id="4685" />
-<TGConnectingPoint num="1" id="4686" />
-<TGConnectingPoint num="2" id="4687" />
-<TGConnectingPoint num="3" id="4688" />
+<TGConnectingPoint num="0" id="7809" />
+<TGConnectingPoint num="1" id="7810" />
+<TGConnectingPoint num="2" id="7811" />
+<TGConnectingPoint num="3" id="7812" />
 </COMPONENT>
 
-<COMPONENT type="6006" id="4694" >
+<COMPONENT type="6006" id="7818" >
 <cdparam x="600" y="100" />
 <sizeparam width="200" height="120" minWidth="10" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="TGComponent" value="Com. Patterns" />
-<TGConnectingPoint num="0" id="4690" />
-<TGConnectingPoint num="1" id="4691" />
-<TGConnectingPoint num="2" id="4692" />
-<TGConnectingPoint num="3" id="4693" />
+<TGConnectingPoint num="0" id="7814" />
+<TGConnectingPoint num="1" id="7815" />
+<TGConnectingPoint num="2" id="7816" />
+<TGConnectingPoint num="3" id="7817" />
 </COMPONENT>
 
-<COMPONENT type="6002" id="4702" >
+<COMPONENT type="6002" id="7826" >
 <cdparam x="600" y="300" />
 <sizeparam width="200" height="120" minWidth="10" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="TGComponent" value="Mapping" />
-<TGConnectingPoint num="0" id="4696" />
-<TGConnectingPoint num="1" id="4697" />
-<TGConnectingPoint num="2" id="4698" />
-<TGConnectingPoint num="3" id="4699" />
-<TGConnectingPoint num="4" id="4700" />
-<TGConnectingPoint num="5" id="4701" />
-</COMPONENT>
-<SUBCOMPONENT type="6005" id="4695" >
-<father id="4702" num="0" />
+<TGConnectingPoint num="0" id="7820" />
+<TGConnectingPoint num="1" id="7821" />
+<TGConnectingPoint num="2" id="7822" />
+<TGConnectingPoint num="3" id="7823" />
+<TGConnectingPoint num="4" id="7824" />
+<TGConnectingPoint num="5" id="7825" />
+</COMPONENT>
+<SUBCOMPONENT type="6005" id="7819" >
+<father id="7826" num="0" />
 <cdparam x="605" y="340" />
 <sizeparam width="10" height="10" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -8172,19 +13058,19 @@
 <infoparam name="value " value="DIPLODOCUS Architecture" />
 </SUBCOMPONENT>
 
-<COMPONENT type="6001" id="4708" >
+<COMPONENT type="6001" id="7832" >
 <cdparam x="850" y="100" />
 <sizeparam width="200" height="120" minWidth="10" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="TGComponent" value="Architecture" />
-<TGConnectingPoint num="0" id="4704" />
-<TGConnectingPoint num="1" id="4705" />
-<TGConnectingPoint num="2" id="4706" />
-<TGConnectingPoint num="3" id="4707" />
+<TGConnectingPoint num="0" id="7828" />
+<TGConnectingPoint num="1" id="7829" />
+<TGConnectingPoint num="2" id="7830" />
+<TGConnectingPoint num="3" id="7831" />
 </COMPONENT>
-<SUBCOMPONENT type="6005" id="4703" >
-<father id="4708" num="0" />
+<SUBCOMPONENT type="6005" id="7827" >
+<father id="7832" num="0" />
 <cdparam x="855" y="140" />
 <sizeparam width="10" height="10" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -8192,19 +13078,19 @@
 <infoparam name="value " value="DIPLODOCUS Architecture" />
 </SUBCOMPONENT>
 
-<COMPONENT type="6000" id="4714" >
+<COMPONENT type="6000" id="7838" >
 <cdparam x="350" y="100" />
 <sizeparam width="200" height="120" minWidth="10" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="TGComponent" value="Application" />
-<TGConnectingPoint num="0" id="4710" />
-<TGConnectingPoint num="1" id="4711" />
-<TGConnectingPoint num="2" id="4712" />
-<TGConnectingPoint num="3" id="4713" />
+<TGConnectingPoint num="0" id="7834" />
+<TGConnectingPoint num="1" id="7835" />
+<TGConnectingPoint num="2" id="7836" />
+<TGConnectingPoint num="3" id="7837" />
 </COMPONENT>
-<SUBCOMPONENT type="6005" id="4709" >
-<father id="4714" num="0" />
+<SUBCOMPONENT type="6005" id="7833" >
+<father id="7838" num="0" />
 <cdparam x="355" y="140" />
 <sizeparam width="10" height="10" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -8212,31 +13098,31 @@
 <infoparam name="value " value="DIPLODOCUS_C_Design" />
 </SUBCOMPONENT>
 
-<CONNECTOR type="6004" id="4716" >
+<CONNECTOR type="6004" id="7840" >
 <cdparam x="950" y="220" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="&lt;&lt;deriveReqt&gt;&gt;" />
-<TGConnectingPoint num="0" id="4715" />
-<P1  x="950" y="220" id="4704" />
-<P2  x="740" y="300" id="4697" />
+<TGConnectingPoint num="0" id="7839" />
+<P1  x="950" y="220" id="7828" />
+<P2  x="740" y="300" id="7821" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="6004" id="4718" >
+<CONNECTOR type="6004" id="7842" >
 <cdparam x="700" y="220" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="&lt;&lt;deriveReqt&gt;&gt;" />
-<TGConnectingPoint num="0" id="4717" />
-<P1  x="700" y="220" id="4690" />
-<P2  x="700" y="300" id="4698" />
+<TGConnectingPoint num="0" id="7841" />
+<P1  x="700" y="220" id="7814" />
+<P2  x="700" y="300" id="7822" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="6004" id="4720" >
+<CONNECTOR type="6004" id="7844" >
 <cdparam x="450" y="220" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="&lt;&lt;deriveReqt&gt;&gt;" />
-<TGConnectingPoint num="0" id="4719" />
-<P1  x="450" y="220" id="4710" />
-<P2  x="660" y="300" id="4696" />
+<TGConnectingPoint num="0" id="7843" />
+<P1  x="450" y="220" id="7834" />
+<P2  x="660" y="300" id="7820" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
 
@@ -8247,77 +13133,50 @@
 
 
 
-<Modeling type="TML Component Design" nameTab="Des" >
+<Modeling type="TML Component Design" nameTab="Design" >
 <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" >
+<CONNECTOR type="126" id="9339" >
+<cdparam x="730" y="573" />
+<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="721" y="573" id="9328" />
+<P2  x="722" y="304" id="9338" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR>
+<CONNECTOR type="126" id="7845" >
 <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" />
+<P1  x="377" y="883" id="7872" />
+<P2  x="867" y="304" id="7961" />
 <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" >
+<CONNECTOR type="126" id="7846" >
 <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="4841" />
+<P1  x="377" y="693" id="7883" />
+<P2  x="676" y="304" id="7979" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="126" id="4722" >
+<CONNECTOR type="126" id="7847" >
 <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="4799" />
-<P2  x="1115" y="155" id="4839" />
+<P1  x="1204" y="155" id="7935" />
+<P2  x="1115" y="155" id="7977" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="126" id="4724" >
+<CONNECTOR type="126" id="7849" >
 <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="4780" />
-<P2  x="861" y="417" id="4814" />
+<P1  x="574" y="813" id="7916" />
+<P2  x="861" y="417" id="7950" />
 <Point x="574" y="417" />
 <AutomaticDrawing  data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4723" >
-<father id="4724" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="7848" >
+<father id="7849" num="0" />
 <cdparam x="574" y="417" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -8325,25 +13184,25 @@
 <infoparam name="point " value="null" />
 </SUBCOMPONENT>
 
-<CONNECTOR type="126" id="4727" >
+<CONNECTOR type="126" id="7852" >
 <cdparam x="369" y="509" />
 <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="4825" />
+<P1  x="400" y="508" id="8027" />
+<P2  x="629" y="257" id="7963" />
 <Point x="507" y="508" />
 <Point x="507" y="258" />
 <AutomaticDrawing  data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4725" >
-<father id="4727" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="7850" >
+<father id="7852" num="0" />
 <cdparam x="507" y="508" />
 <sizeparam width="0" height="0" 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="point " value="null" />
 </SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4726" >
-<father id="4727" num="1" />
+<SUBCOMPONENT type="-1" id="7851" >
+<father id="7852" num="1" />
 <cdparam x="507" y="258" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -8351,25 +13210,25 @@
 <infoparam name="point " value="null" />
 </SUBCOMPONENT>
 
-<CONNECTOR type="126" id="4730" >
+<CONNECTOR type="126" id="7855" >
 <cdparam x="373" y="341" />
 <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="4827" />
+<P1  x="373" y="341" id="8038" />
+<P2  x="629" y="211" id="7965" />
 <Point x="460" y="341" />
 <Point x="460" y="211" />
 <AutomaticDrawing  data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4728" >
-<father id="4730" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="7853" >
+<father id="7855" num="0" />
 <cdparam x="460" y="341" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="point " value="null" />
 </SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4729" >
-<father id="4730" num="1" />
+<SUBCOMPONENT type="-1" id="7854" >
+<father id="7855" num="1" />
 <cdparam x="460" y="211" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -8377,42 +13236,42 @@
 <infoparam name="point " value="null" />
 </SUBCOMPONENT>
 
-<CONNECTOR type="126" id="4731" >
+<CONNECTOR type="126" id="7856" >
 <cdparam x="370" y="168" />
 <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="4837" />
+<P1  x="370" y="153" id="8016" />
+<P2  x="629" y="154" id="7975" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="126" id="4735" >
+<CONNECTOR type="126" id="7860" >
 <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="4810" />
-<P2  x="1204" y="227" id="4793" />
+<P1  x="981" y="328" id="7946" />
+<P2  x="1204" y="227" id="7929" />
 <Point x="981" y="309" />
 <Point x="1110" y="309" />
 <Point x="1110" y="227" />
 <AutomaticDrawing  data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4732" >
-<father id="4735" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="7857" >
+<father id="7860" num="0" />
 <cdparam x="981" y="309" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="point " value="null" />
 </SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4733" >
-<father id="4735" num="1" />
+<SUBCOMPONENT type="-1" id="7858" >
+<father id="7860" num="1" />
 <cdparam x="1110" y="309" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="point " value="null" />
 </SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4734" >
-<father id="4735" num="2" />
+<SUBCOMPONENT type="-1" id="7859" >
+<father id="7860" num="2" />
 <cdparam x="1110" y="227" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -8420,57 +13279,57 @@
 <infoparam name="point " value="null" />
 </SUBCOMPONENT>
 
-<CONNECTOR type="126" id="4736" >
+<CONNECTOR type="126" id="7861" >
 <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="4829" />
-<P2  x="929" y="328" id="4812" />
+<P1  x="929" y="304" id="7967" />
+<P2  x="929" y="328" id="7948" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="126" id="4737" >
+<CONNECTOR type="126" id="7862" >
 <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="4854" />
-<P2  x="748" y="304" id="4831" />
+<P1  x="773" y="573" id="7992" />
+<P2  x="773" y="304" id="7969" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="126" id="4738" >
+<CONNECTOR type="126" id="7863" >
 <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="4852" />
-<P2  x="820" y="304" id="4833" />
+<P1  x="821" y="573" id="7990" />
+<P2  x="820" y="304" id="7971" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="126" id="4739" >
+<CONNECTOR type="126" id="7864" >
 <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="4835" />
-<P2  x="1204" y="184" id="4795" />
+<P1  x="1115" y="184" id="7973" />
+<P2  x="1204" y="184" id="7931" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="126" id="4742" >
+<CONNECTOR type="126" id="7867" >
 <cdparam x="802" y="571" />
 <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="4856" />
+<P1  x="929" y="808" id="7894" />
+<P2  x="813" y="749" id="7994" />
 <Point x="929" y="788" />
 <Point x="813" y="788" />
 <AutomaticDrawing  data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4740" >
-<father id="4742" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="7865" >
+<father id="7867" num="0" />
 <cdparam x="929" y="788" />
 <sizeparam width="0" height="0" 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="point " value="null" />
 </SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4741" >
-<father id="4742" num="1" />
+<SUBCOMPONENT type="-1" id="7866" >
+<father id="7867" num="1" />
 <cdparam x="813" y="788" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -8478,25 +13337,25 @@
 <infoparam name="point " value="null" />
 </SUBCOMPONENT>
 
-<CONNECTOR type="126" id="4745" >
+<CONNECTOR type="126" id="7870" >
 <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="4782" />
-<P2  x="736" y="749" id="4858" />
+<P1  x="629" y="813" id="7918" />
+<P2  x="736" y="749" id="7996" />
 <Point x="629" y="791" />
 <Point x="735" y="791" />
 <AutomaticDrawing  data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4743" >
-<father id="4745" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="7868" >
+<father id="7870" num="0" />
 <cdparam x="629" y="791" />
 <sizeparam width="0" height="0" 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="point " value="null" />
 </SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4744" >
-<father id="4745" num="1" />
+<SUBCOMPONENT type="-1" id="7869" >
+<father id="7870" num="1" />
 <cdparam x="735" y="791" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -8504,40 +13363,75 @@
 <infoparam name="point " value="null" />
 </SUBCOMPONENT>
 
-<CONNECTOR type="126" id="4746" >
+<CONNECTOR type="126" id="7871" >
 <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="4797" />
-<P2  x="1530" y="195" id="4769" />
+<P1  x="1430" y="194" id="7933" />
+<P2  x="1530" y="195" id="7905" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<COMPONENT type="1202" id="4757" >
+<COMPONENT type="1202" id="7882" >
+<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="7874" />
+<TGConnectingPoint num="1" id="7875" />
+<TGConnectingPoint num="2" id="7876" />
+<TGConnectingPoint num="3" id="7877" />
+<TGConnectingPoint num="4" id="7878" />
+<TGConnectingPoint num="5" id="7879" />
+<TGConnectingPoint num="6" id="7880" />
+<TGConnectingPoint num="7" id="7881" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="1203" id="7873" >
+<father id="7882" 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 IMUdata" />
+<TGConnectingPoint num="0" id="7872" />
+<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>
+
+<COMPONENT type="1202" id="7893" >
 <cdparam x="164" y="625" />
 <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="GPS" />
-<TGConnectingPoint num="0" id="4749" />
-<TGConnectingPoint num="1" id="4750" />
-<TGConnectingPoint num="2" id="4751" />
-<TGConnectingPoint num="3" id="4752" />
-<TGConnectingPoint num="4" id="4753" />
-<TGConnectingPoint num="5" id="4754" />
-<TGConnectingPoint num="6" id="4755" />
-<TGConnectingPoint num="7" id="4756" />
+<TGConnectingPoint num="0" id="7885" />
+<TGConnectingPoint num="1" id="7886" />
+<TGConnectingPoint num="2" id="7887" />
+<TGConnectingPoint num="3" id="7888" />
+<TGConnectingPoint num="4" id="7889" />
+<TGConnectingPoint num="5" id="7890" />
+<TGConnectingPoint num="6" id="7891" />
+<TGConnectingPoint num="7" id="7892" />
 <extraparam>
 <Attribute access="2" id="GPSinterval" value="" type="0" typeOther="" />
 </extraparam>
 </COMPONENT>
-<SUBCOMPONENT type="1203" id="4748" >
-<father id="4757" num="0" />
+<SUBCOMPONENT type="1203" id="7884" >
+<father id="7893" num="0" />
 <cdparam x="351" y="680" />
 <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 GPSRTK" />
-<TGConnectingPoint num="0" id="4747" />
+<TGConnectingPoint num="0" id="7883" />
 <extraparam>
 <Prop commName="GPSRTK" 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="" />
@@ -8548,32 +13442,32 @@
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1202" id="4768" >
+<COMPONENT type="1202" id="7904" >
 <cdparam x="893" y="821" />
 <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="V2X" />
-<TGConnectingPoint num="0" id="4760" />
-<TGConnectingPoint num="1" id="4761" />
-<TGConnectingPoint num="2" id="4762" />
-<TGConnectingPoint num="3" id="4763" />
-<TGConnectingPoint num="4" id="4764" />
-<TGConnectingPoint num="5" id="4765" />
-<TGConnectingPoint num="6" id="4766" />
-<TGConnectingPoint num="7" id="4767" />
+<TGConnectingPoint num="0" id="7896" />
+<TGConnectingPoint num="1" id="7897" />
+<TGConnectingPoint num="2" id="7898" />
+<TGConnectingPoint num="3" id="7899" />
+<TGConnectingPoint num="4" id="7900" />
+<TGConnectingPoint num="5" id="7901" />
+<TGConnectingPoint num="6" id="7902" />
+<TGConnectingPoint num="7" id="7903" />
 <extraparam>
 <Attribute access="2" id="traffic" value="" type="0" typeOther="" />
 </extraparam>
 </COMPONENT>
-<SUBCOMPONENT type="1203" id="4759" >
-<father id="4768" num="0" />
+<SUBCOMPONENT type="1203" id="7895" >
+<father id="7904" num="0" />
 <cdparam x="916" y="808" />
 <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" />
-<TGConnectingPoint num="0" id="4758" />
+<TGConnectingPoint num="0" id="7894" />
 <extraparam>
 <Prop commName="V2XOut" 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="" />
@@ -8584,32 +13478,32 @@
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1202" id="4779" >
+<COMPONENT type="1202" id="7915" >
 <cdparam x="1543" y="145" />
 <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="ECU" />
-<TGConnectingPoint num="0" id="4771" />
-<TGConnectingPoint num="1" id="4772" />
-<TGConnectingPoint num="2" id="4773" />
-<TGConnectingPoint num="3" id="4774" />
-<TGConnectingPoint num="4" id="4775" />
-<TGConnectingPoint num="5" id="4776" />
-<TGConnectingPoint num="6" id="4777" />
-<TGConnectingPoint num="7" id="4778" />
+<TGConnectingPoint num="0" id="7907" />
+<TGConnectingPoint num="1" id="7908" />
+<TGConnectingPoint num="2" id="7909" />
+<TGConnectingPoint num="3" id="7910" />
+<TGConnectingPoint num="4" id="7911" />
+<TGConnectingPoint num="5" id="7912" />
+<TGConnectingPoint num="6" id="7913" />
+<TGConnectingPoint num="7" id="7914" />
 <extraparam>
 <Attribute access="2" id="command" value="" type="0" typeOther="" />
 </extraparam>
 </COMPONENT>
-<SUBCOMPONENT type="1203" id="4770" >
-<father id="4779" num="0" />
+<SUBCOMPONENT type="1203" id="7906" >
+<father id="7915" num="0" />
 <cdparam x="1530" y="182" />
 <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" />
-<TGConnectingPoint num="0" id="4769" />
+<TGConnectingPoint num="0" id="7905" />
 <extraparam>
 <Prop commName="ECUin" 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="" />
@@ -8620,32 +13514,32 @@
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1202" id="4792" >
+<COMPONENT type="1202" id="7928" >
 <cdparam x="529" y="826" />
 <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="UI" />
-<TGConnectingPoint num="0" id="4784" />
-<TGConnectingPoint num="1" id="4785" />
-<TGConnectingPoint num="2" id="4786" />
-<TGConnectingPoint num="3" id="4787" />
-<TGConnectingPoint num="4" id="4788" />
-<TGConnectingPoint num="5" id="4789" />
-<TGConnectingPoint num="6" id="4790" />
-<TGConnectingPoint num="7" id="4791" />
+<TGConnectingPoint num="0" id="7920" />
+<TGConnectingPoint num="1" id="7921" />
+<TGConnectingPoint num="2" id="7922" />
+<TGConnectingPoint num="3" id="7923" />
+<TGConnectingPoint num="4" id="7924" />
+<TGConnectingPoint num="5" id="7925" />
+<TGConnectingPoint num="6" id="7926" />
+<TGConnectingPoint num="7" id="7927" />
 <extraparam>
 <Attribute access="2" id="dest" value="" type="0" typeOther="" />
 </extraparam>
 </COMPONENT>
-<SUBCOMPONENT type="1203" id="4781" >
-<father id="4792" num="0" />
+<SUBCOMPONENT type="1203" id="7917" >
+<father id="7928" num="0" />
 <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 UIstat" />
-<TGConnectingPoint num="0" id="4780" />
+<TGConnectingPoint num="0" id="7916" />
 <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" />
 <Type type="0" typeOther="" />
@@ -8655,14 +13549,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4783" >
-<father id="4792" num="1" />
+<SUBCOMPONENT type="1203" id="7919" >
+<father id="7928" num="1" />
 <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 UIout" />
-<TGConnectingPoint num="0" id="4782" />
+<TGConnectingPoint num="0" id="7918" />
 <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" />
 <Type type="0" typeOther="" />
@@ -8673,51 +13567,51 @@
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1200" id="4877" >
+<COMPONENT type="1200" id="8015" >
 <cdparam x="489" y="54" />
 <sizeparam width="953" height="699" 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="Composite component" value="AutonomousSystem" />
-<TGConnectingPoint num="0" id="4869" />
-<TGConnectingPoint num="1" id="4870" />
-<TGConnectingPoint num="2" id="4871" />
-<TGConnectingPoint num="3" id="4872" />
-<TGConnectingPoint num="4" id="4873" />
-<TGConnectingPoint num="5" id="4874" />
-<TGConnectingPoint num="6" id="4875" />
-<TGConnectingPoint num="7" id="4876" />
+<TGConnectingPoint num="0" id="8007" />
+<TGConnectingPoint num="1" id="8008" />
+<TGConnectingPoint num="2" id="8009" />
+<TGConnectingPoint num="3" id="8010" />
+<TGConnectingPoint num="4" id="8011" />
+<TGConnectingPoint num="5" id="8012" />
+<TGConnectingPoint num="6" id="8013" />
+<TGConnectingPoint num="7" id="8014" />
 <extraparam>
 <info hiddeni="false" />
 </extraparam>
 </COMPONENT>
-<SUBCOMPONENT type="1202" id="4809" >
-<father id="4877" num="0" />
+<SUBCOMPONENT type="1202" id="7945" >
+<father id="8015" num="0" />
 <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="MABX" />
-<TGConnectingPoint num="0" id="4801" />
-<TGConnectingPoint num="1" id="4802" />
-<TGConnectingPoint num="2" id="4803" />
-<TGConnectingPoint num="3" id="4804" />
-<TGConnectingPoint num="4" id="4805" />
-<TGConnectingPoint num="5" id="4806" />
-<TGConnectingPoint num="6" id="4807" />
-<TGConnectingPoint num="7" id="4808" />
+<TGConnectingPoint num="0" id="7937" />
+<TGConnectingPoint num="1" id="7938" />
+<TGConnectingPoint num="2" id="7939" />
+<TGConnectingPoint num="3" id="7940" />
+<TGConnectingPoint num="4" id="7941" />
+<TGConnectingPoint num="5" id="7942" />
+<TGConnectingPoint num="6" id="7943" />
+<TGConnectingPoint num="7" id="7944" />
 <extraparam>
 <Attribute access="2" id="command" value="" type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4794" >
-<father id="4809" num="0" />
+<SUBCOMPONENT type="1203" id="7930" >
+<father id="7945" num="0" />
 <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 ECUStatus" />
-<TGConnectingPoint num="0" id="4793" />
+<TGConnectingPoint num="0" id="7929" />
 <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" />
 <Type type="0" typeOther="" />
@@ -8727,14 +13621,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4796" >
-<father id="4809" num="1" />
+<SUBCOMPONENT type="1203" id="7932" >
+<father id="7945" num="1" />
 <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 commandOut" />
-<TGConnectingPoint num="0" id="4795" />
+<TGConnectingPoint num="0" id="7931" />
 <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" />
 <Type type="0" typeOther="" />
@@ -8744,14 +13638,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4798" >
-<father id="4809" num="2" />
+<SUBCOMPONENT type="1203" id="7934" >
+<father id="7945" num="2" />
 <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 ECUin" />
-<TGConnectingPoint num="0" id="4797" />
+<TGConnectingPoint num="0" id="7933" />
 <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" />
 <Type type="0" typeOther="" />
@@ -8761,14 +13655,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4800" >
-<father id="4809" num="3" />
+<SUBCOMPONENT type="1203" id="7936" >
+<father id="7945" num="3" />
 <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 vehStatus" />
-<TGConnectingPoint num="0" id="4799" />
+<TGConnectingPoint num="0" id="7935" />
 <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" />
 <Type type="0" typeOther="" />
@@ -8778,33 +13672,33 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1202" id="4824" >
-<father id="4877" num="1" />
+<SUBCOMPONENT type="1202" id="7960" >
+<father id="8015" num="1" />
 <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="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" />
+<TGConnectingPoint num="0" id="7952" />
+<TGConnectingPoint num="1" id="7953" />
+<TGConnectingPoint num="2" id="7954" />
+<TGConnectingPoint num="3" id="7955" />
+<TGConnectingPoint num="4" id="7956" />
+<TGConnectingPoint num="5" id="7957" />
+<TGConnectingPoint num="6" id="7958" />
+<TGConnectingPoint num="7" id="7959" />
 <extraparam>
 <Attribute access="2" id="error" value="" type="4" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4811" >
-<father id="4824" num="0" />
+<SUBCOMPONENT type="1203" id="7947" >
+<father id="7960" 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="187" minY="-13" maxY="137" />
 <infoparam name="Primitive port" value="Channel ECUStatus" />
-<TGConnectingPoint num="0" id="4810" />
+<TGConnectingPoint num="0" id="7946" />
 <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" />
 <Type type="0" typeOther="" />
@@ -8814,14 +13708,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4813" >
-<father id="4824" num="1" />
+<SUBCOMPONENT type="1203" id="7949" >
+<father id="7960" 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="187" minY="-13" maxY="137" />
 <infoparam name="Primitive port" value="Channel percStatus" />
-<TGConnectingPoint num="0" id="4812" />
+<TGConnectingPoint num="0" id="7948" />
 <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" />
 <Type type="0" typeOther="" />
@@ -8831,14 +13725,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4815" >
-<father id="4824" num="2" />
+<SUBCOMPONENT type="1203" id="7951" >
+<father id="7960" 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="187" minY="-13" maxY="137" />
 <infoparam name="Primitive port" value="Channel UIstat" />
-<TGConnectingPoint num="0" id="4814" />
+<TGConnectingPoint num="0" id="7950" />
 <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" />
 <Type type="0" typeOther="" />
@@ -8848,21 +13742,21 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1202" id="4851" >
-<father id="4877" num="2" />
+<SUBCOMPONENT type="1202" id="7989" >
+<father id="8015" 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" />
+<TGConnectingPoint num="0" id="7981" />
+<TGConnectingPoint num="1" id="7982" />
+<TGConnectingPoint num="2" id="7983" />
+<TGConnectingPoint num="3" id="7984" />
+<TGConnectingPoint num="4" id="7985" />
+<TGConnectingPoint num="5" id="7986" />
+<TGConnectingPoint num="6" id="7987" />
+<TGConnectingPoint num="7" id="7988" />
 <extraparam>
 <Attribute access="2" id="perceptData" value="" type="0" typeOther="" />
 <Attribute access="2" id="plan" value="" type="0" typeOther="" />
@@ -8875,16 +13769,33 @@
 <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" />
+<SUBCOMPONENT type="1203" id="9329" >
+<father id="7989" num="0" />
+<cdparam x="709" 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 comm" />
-<TGConnectingPoint num="0" id="6167" />
+<TGConnectingPoint num="0" id="9338" />
+<extraparam>
+<Prop commName="V2Vdata" 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="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="7962" >
+<father id="7989" num="1" />
+<cdparam x="854" 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 IMUdata" />
+<TGConnectingPoint num="0" id="7961" />
 <extraparam>
-<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" />
+<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="" />
@@ -8892,14 +13803,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4826" >
-<father id="4851" num="1" />
+<SUBCOMPONENT type="1203" id="7964" >
+<father id="7989" num="2" />
 <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 CamData" />
-<TGConnectingPoint num="0" id="4825" />
+<TGConnectingPoint num="0" id="7963" />
 <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" />
 <Type type="0" typeOther="" />
@@ -8909,14 +13820,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4828" >
-<father id="4851" num="2" />
+<SUBCOMPONENT type="1203" id="7966" >
+<father id="7989" num="3" />
 <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 RadarData" />
-<TGConnectingPoint num="0" id="4827" />
+<TGConnectingPoint num="0" id="7965" />
 <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" />
 <Type type="0" typeOther="" />
@@ -8926,14 +13837,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4830" >
-<father id="4851" num="3" />
+<SUBCOMPONENT type="1203" id="7968" >
+<father id="7989" num="4" />
 <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="4829" />
+<TGConnectingPoint num="0" id="7967" />
 <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="" />
@@ -8943,16 +13854,16 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4832" >
-<father id="4851" num="4" />
-<cdparam x="735" y="278" />
+<SUBCOMPONENT type="1203" id="7970" >
+<father id="7989" num="5" />
+<cdparam x="760" 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 trafficOut" />
-<TGConnectingPoint num="0" id="4831" />
+<TGConnectingPoint num="0" id="7969" />
 <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="V2Idata" 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="" />
@@ -8960,14 +13871,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4834" >
-<father id="4851" num="5" />
+<SUBCOMPONENT type="1203" id="7972" >
+<father id="7989" num="6" />
 <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 destOut" />
-<TGConnectingPoint num="0" id="4833" />
+<TGConnectingPoint num="0" id="7971" />
 <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" />
 <Type type="0" typeOther="" />
@@ -8977,14 +13888,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4836" >
-<father id="4851" num="6" />
+<SUBCOMPONENT type="1203" id="7974" >
+<father id="7989" num="7" />
 <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="-13" maxX="447" minY="-13" maxY="162" />
 <infoparam name="Primitive port" value="Channel commandOut" />
-<TGConnectingPoint num="0" id="4835" />
+<TGConnectingPoint num="0" id="7973" />
 <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" />
 <Type type="0" typeOther="" />
@@ -8994,14 +13905,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4838" >
-<father id="4851" num="7" />
+<SUBCOMPONENT type="1203" id="7976" >
+<father id="7989" num="8" />
 <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="447" minY="-13" maxY="162" />
 <infoparam name="Primitive port" value="Channel LidarData" />
-<TGConnectingPoint num="0" id="4837" />
+<TGConnectingPoint num="0" id="7975" />
 <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" />
 <Type type="0" typeOther="" />
@@ -9011,14 +13922,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4840" >
-<father id="4851" num="8" />
+<SUBCOMPONENT type="1203" id="7978" >
+<father id="7989" num="9" />
 <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="447" minY="-13" maxY="162" />
 <infoparam name="Primitive port" value="Channel vehStatus" />
-<TGConnectingPoint num="0" id="4839" />
+<TGConnectingPoint num="0" id="7977" />
 <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" />
 <Type type="0" typeOther="" />
@@ -9028,14 +13939,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4842" >
-<father id="4851" num="9" />
+<SUBCOMPONENT type="1203" id="7980" >
+<father id="7989" num="10" />
 <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="447" minY="-13" maxY="162" />
 <infoparam name="Primitive port" value="Channel GPSRTK" />
-<TGConnectingPoint num="0" id="4841" />
+<TGConnectingPoint num="0" id="7979" />
 <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" />
 <Type type="0" typeOther="" />
@@ -9045,32 +13956,49 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1202" id="4868" >
-<father id="4877" num="3" />
+<SUBCOMPONENT type="1202" id="8006" >
+<father id="8015" num="3" />
 <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="ExteriorInterface" />
-<TGConnectingPoint num="0" id="4860" />
-<TGConnectingPoint num="1" id="4861" />
-<TGConnectingPoint num="2" id="4862" />
-<TGConnectingPoint num="3" id="4863" />
-<TGConnectingPoint num="4" id="4864" />
-<TGConnectingPoint num="5" id="4865" />
-<TGConnectingPoint num="6" id="4866" />
-<TGConnectingPoint num="7" id="4867" />
+<TGConnectingPoint num="0" id="7998" />
+<TGConnectingPoint num="1" id="7999" />
+<TGConnectingPoint num="2" id="8000" />
+<TGConnectingPoint num="3" id="8001" />
+<TGConnectingPoint num="4" id="8002" />
+<TGConnectingPoint num="5" id="8003" />
+<TGConnectingPoint num="6" id="8004" />
+<TGConnectingPoint num="7" id="8005" />
+<extraparam>
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="9319" >
+<father id="8006" num="0" />
+<cdparam x="708" 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 comm" />
+<TGConnectingPoint num="0" id="9328" />
 <extraparam>
+<Prop commName="V2Vdata" 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>
-<SUBCOMPONENT type="1203" id="4853" >
-<father id="4868" num="0" />
+<SUBCOMPONENT type="1203" id="7991" >
+<father id="8006" num="1" />
 <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 destOut" />
-<TGConnectingPoint num="0" id="4852" />
+<TGConnectingPoint num="0" id="7990" />
 <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" />
 <Type type="0" typeOther="" />
@@ -9080,16 +14008,16 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4855" >
-<father id="4868" num="1" />
-<cdparam x="735" y="573" />
+<SUBCOMPONENT type="1203" id="7993" >
+<father id="8006" num="2" />
+<cdparam x="760" 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 trafficOut" />
-<TGConnectingPoint num="0" id="4854" />
+<TGConnectingPoint num="0" id="7992" />
 <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="V2Idata" 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="" />
@@ -9097,14 +14025,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4857" >
-<father id="4868" num="2" />
+<SUBCOMPONENT type="1203" id="7995" >
+<father id="8006" num="3" />
 <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 V2XOut" />
-<TGConnectingPoint num="0" id="4856" />
+<TGConnectingPoint num="0" id="7994" />
 <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" />
 <Type type="0" typeOther="" />
@@ -9114,14 +14042,14 @@
 <Type type="0" typeOther="" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1203" id="4859" >
-<father id="4868" num="3" />
+<SUBCOMPONENT type="1203" id="7997" >
+<father id="8006" num="4" />
 <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 UIout" />
-<TGConnectingPoint num="0" id="4858" />
+<TGConnectingPoint num="0" id="7996" />
 <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" />
 <Type type="0" typeOther="" />
@@ -9132,33 +14060,33 @@
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1202" id="4888" >
+<COMPONENT type="1202" id="8026" >
 <cdparam x="157" y="101" />
 <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="FusionLidar" />
-<TGConnectingPoint num="0" id="4880" />
-<TGConnectingPoint num="1" id="4881" />
-<TGConnectingPoint num="2" id="4882" />
-<TGConnectingPoint num="3" id="4883" />
-<TGConnectingPoint num="4" id="4884" />
-<TGConnectingPoint num="5" id="4885" />
-<TGConnectingPoint num="6" id="4886" />
-<TGConnectingPoint num="7" id="4887" />
+<TGConnectingPoint num="0" id="8018" />
+<TGConnectingPoint num="1" id="8019" />
+<TGConnectingPoint num="2" id="8020" />
+<TGConnectingPoint num="3" id="8021" />
+<TGConnectingPoint num="4" id="8022" />
+<TGConnectingPoint num="5" id="8023" />
+<TGConnectingPoint num="6" id="8024" />
+<TGConnectingPoint num="7" id="8025" />
 <extraparam>
 <Attribute access="2" id="signal" value="" type="0" typeOther="" />
 <Attribute access="2" id="fusionInterval" value="" type="0" typeOther="" />
 </extraparam>
 </COMPONENT>
-<SUBCOMPONENT type="1203" id="4879" >
-<father id="4888" num="0" />
+<SUBCOMPONENT type="1203" id="8017" >
+<father id="8026" num="0" />
 <cdparam x="344" y="140" />
 <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 LidarData" />
-<TGConnectingPoint num="0" id="4878" />
+<TGConnectingPoint num="0" id="8016" />
 <extraparam>
 <Prop commName="LidarData" 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="" />
@@ -9169,33 +14097,33 @@
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1202" id="4899" >
+<COMPONENT type="1202" id="8037" >
 <cdparam x="159" y="446" />
 <sizeparam width="228" height="145" 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="Camera" />
-<TGConnectingPoint num="0" id="4891" />
-<TGConnectingPoint num="1" id="4892" />
-<TGConnectingPoint num="2" id="4893" />
-<TGConnectingPoint num="3" id="4894" />
-<TGConnectingPoint num="4" id="4895" />
-<TGConnectingPoint num="5" id="4896" />
-<TGConnectingPoint num="6" id="4897" />
-<TGConnectingPoint num="7" id="4898" />
+<TGConnectingPoint num="0" id="8029" />
+<TGConnectingPoint num="1" id="8030" />
+<TGConnectingPoint num="2" id="8031" />
+<TGConnectingPoint num="3" id="8032" />
+<TGConnectingPoint num="4" id="8033" />
+<TGConnectingPoint num="5" id="8034" />
+<TGConnectingPoint num="6" id="8035" />
+<TGConnectingPoint num="7" id="8036" />
 <extraparam>
 <Attribute access="2" id="signal" value="" type="0" typeOther="" />
 <Attribute access="2" id="cameraInterval" value="" type="0" typeOther="" />
 </extraparam>
 </COMPONENT>
-<SUBCOMPONENT type="1203" id="4890" >
-<father id="4899" num="0" />
+<SUBCOMPONENT type="1203" id="8028" >
+<father id="8037" num="0" />
 <cdparam x="374" y="495" />
 <sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="-13" maxX="215" minY="-13" maxY="132" />
 <infoparam name="Primitive port" value="Channel CamData" />
-<TGConnectingPoint num="0" id="4889" />
+<TGConnectingPoint num="0" id="8027" />
 <extraparam>
 <Prop commName="CamData" 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="" />
@@ -9206,33 +14134,33 @@
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1202" id="4910" >
+<COMPONENT type="1202" id="8048" >
 <cdparam x="160" y="274" />
 <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="Radar" />
-<TGConnectingPoint num="0" id="4902" />
-<TGConnectingPoint num="1" id="4903" />
-<TGConnectingPoint num="2" id="4904" />
-<TGConnectingPoint num="3" id="4905" />
-<TGConnectingPoint num="4" id="4906" />
-<TGConnectingPoint num="5" id="4907" />
-<TGConnectingPoint num="6" id="4908" />
-<TGConnectingPoint num="7" id="4909" />
+<TGConnectingPoint num="0" id="8040" />
+<TGConnectingPoint num="1" id="8041" />
+<TGConnectingPoint num="2" id="8042" />
+<TGConnectingPoint num="3" id="8043" />
+<TGConnectingPoint num="4" id="8044" />
+<TGConnectingPoint num="5" id="8045" />
+<TGConnectingPoint num="6" id="8046" />
+<TGConnectingPoint num="7" id="8047" />
 <extraparam>
 <Attribute access="2" id="signal" value="" type="0" typeOther="" />
 <Attribute access="2" id="radarInterval" value="" type="0" typeOther="" />
 </extraparam>
 </COMPONENT>
-<SUBCOMPONENT type="1203" id="4901" >
-<father id="4910" num="0" />
+<SUBCOMPONENT type="1203" id="8039" >
+<father id="8048" num="0" />
 <cdparam x="347" 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="187" minY="-13" maxY="137" />
 <infoparam name="Primitive port" value="Channel RadarData" />
-<TGConnectingPoint num="0" id="4900" />
+<TGConnectingPoint num="0" id="8038" />
 <extraparam>
 <Prop commName="RadarData" 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="" />
@@ -9246,40 +14174,120 @@
 
 </TMLComponentTaskDiagramPanel>
 
+<TMLActivityDiagramPanel name="IMU" minX="10" maxX="2500" minY="10" maxY="1500" >
+<COMPONENT type="1001" id="8050" >
+<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="8049" />
+</COMPONENT>
+
+<COMPONENT type="1006" id="8053" >
+<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="8051" />
+<TGConnectingPoint num="1" id="8052" />
+<extraparam>
+<Data channelName="IMUdata" nbOfSamples="1" secPattern="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1028" id="8057" >
+<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="8055" />
+<TGConnectingPoint num="1" id="8056" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="8054" >
+<father id="8057" 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="8059" >
+<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="8058" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="8060" >
+<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="8058" />
+<P2  x="407" y="102" id="8055" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8061" >
+<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="407" y="142" id="8056" />
+<P2  x="407" y="172" id="8051" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8062" >
+<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="8052" />
+<P2  x="407" y="236" id="8049" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
 <TMLActivityDiagramPanel name="GPS" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1001" id="4912" >
+<COMPONENT type="1001" id="8064" >
 <cdparam x="397" y="251" />
 <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="4911" />
+<TGConnectingPoint num="0" id="8063" />
 </COMPONENT>
 
-<COMPONENT type="1006" id="4915" >
+<COMPONENT type="1006" id="8067" >
 <cdparam x="370" y="188" />
 <sizeparam width="75" 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="GPSRTK(1)" />
-<TGConnectingPoint num="0" id="4913" />
-<TGConnectingPoint num="1" id="4914" />
+<TGConnectingPoint num="0" id="8065" />
+<TGConnectingPoint num="1" id="8066" />
 <extraparam>
 <Data channelName="GPSRTK" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1021" id="4919" >
+<COMPONENT type="1021" id="8071" >
 <cdparam x="402" y="113" />
 <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="4917" />
-<TGConnectingPoint num="1" id="4918" />
+<TGConnectingPoint num="0" id="8069" />
+<TGConnectingPoint num="1" id="8070" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="4916" >
-<father id="4919" num="0" />
+<SUBCOMPONENT type="-1" id="8068" >
+<father id="8071" num="0" />
 <cdparam x="417" y="133" />
 <sizeparam width="71" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -9287,207 +14295,207 @@
 <infoparam name="value of the delay" value="GPSinterval" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1000" id="4921" >
+<COMPONENT type="1000" id="8073" >
 <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="4920" />
+<TGConnectingPoint num="0" id="8072" />
 </COMPONENT>
 
-<CONNECTOR type="115" id="4922" >
+<CONNECTOR type="115" id="8074" >
 <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="4920" />
-<P2  x="407" y="108" id="4917" />
+<P1  x="407" y="70" id="8072" />
+<P2  x="407" y="108" id="8069" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="4923" >
+<CONNECTOR type="115" id="8075" >
 <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="407" y="148" id="4918" />
-<P2  x="407" y="183" id="4913" />
+<P1  x="407" y="148" id="8070" />
+<P2  x="407" y="183" id="8065" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="4924" >
+<CONNECTOR type="115" id="8076" >
 <cdparam x="407" y="213" />
 <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="4914" />
-<P2  x="407" y="246" id="4911" />
+<P1  x="407" y="213" id="8066" />
+<P2  x="407" y="246" id="8063" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
 
 </TMLActivityDiagramPanel>
 
 <TMLActivityDiagramPanel name="V2X" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1001" id="4926" >
+<COMPONENT type="1001" id="8078" >
 <cdparam x="432" y="327" />
 <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="4925" />
+<TGConnectingPoint num="0" id="8077" />
 </COMPONENT>
 
-<COMPONENT type="1006" id="4929" >
+<COMPONENT type="1006" id="8081" >
 <cdparam x="406" y="216" />
 <sizeparam width="73" 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="V2XOut(1)" />
-<TGConnectingPoint num="0" id="4927" />
-<TGConnectingPoint num="1" id="4928" />
+<TGConnectingPoint num="0" id="8079" />
+<TGConnectingPoint num="1" id="8080" />
 <extraparam>
 <Data channelName="V2XOut" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1000" id="4931" >
+<COMPONENT type="1000" id="8083" >
 <cdparam x="435" y="136" />
 <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="4930" />
+<TGConnectingPoint num="0" id="8082" />
 </COMPONENT>
 
-<CONNECTOR type="115" id="4932" >
+<CONNECTOR type="115" id="8084" >
 <cdparam x="442" y="156" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="442" y="156" id="4930" />
-<P2  x="442" y="211" id="4927" />
+<P1  x="442" y="156" id="8082" />
+<P2  x="442" y="211" id="8079" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="4933" >
+<CONNECTOR type="115" id="8085" >
 <cdparam x="442" y="241" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="442" y="241" id="4928" />
-<P2  x="442" y="322" id="4925" />
+<P1  x="442" y="241" id="8080" />
+<P2  x="442" y="322" id="8077" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
 
 </TMLActivityDiagramPanel>
 
 <TMLActivityDiagramPanel name="ECU" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1001" id="4935" >
+<COMPONENT type="1001" id="8087" >
 <cdparam x="397" y="237" />
 <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="4934" />
+<TGConnectingPoint num="0" id="8086" />
 </COMPONENT>
 
-<COMPONENT type="1009" id="4938" >
+<COMPONENT type="1009" id="8090" >
 <cdparam x="373" y="144" />
 <sizeparam width="68" 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="ECUin(1) " />
-<TGConnectingPoint num="0" id="4936" />
-<TGConnectingPoint num="1" id="4937" />
+<TGConnectingPoint num="0" id="8088" />
+<TGConnectingPoint num="1" id="8089" />
 <extraparam>
 <Data channelName="ECUin" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1000" id="4940" >
+<COMPONENT type="1000" id="8092" >
 <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="4939" />
+<TGConnectingPoint num="0" id="8091" />
 </COMPONENT>
 
-<CONNECTOR type="115" id="4941" >
+<CONNECTOR type="115" id="8093" >
 <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="4939" />
-<P2  x="407" y="139" id="4936" />
+<P1  x="407" y="70" id="8091" />
+<P2  x="407" y="139" id="8088" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="4942" >
+<CONNECTOR type="115" id="8094" >
 <cdparam x="407" y="169" />
 <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="169" id="4937" />
-<P2  x="407" y="232" id="4934" />
+<P1  x="407" y="169" id="8089" />
+<P2  x="407" y="232" id="8086" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
 
 </TMLActivityDiagramPanel>
 
 <TMLActivityDiagramPanel name="UI" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1001" id="4944" >
+<COMPONENT type="1001" id="8096" >
 <cdparam x="397" y="193" />
 <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="4943" />
+<TGConnectingPoint num="0" id="8095" />
 </COMPONENT>
 
-<COMPONENT type="1006" id="4947" >
+<COMPONENT type="1006" id="8099" >
 <cdparam x="377" y="135" />
 <sizeparam width="61" 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="UIout(1)" />
-<TGConnectingPoint num="0" id="4945" />
-<TGConnectingPoint num="1" id="4946" />
+<TGConnectingPoint num="0" id="8097" />
+<TGConnectingPoint num="1" id="8098" />
 <extraparam>
 <Data channelName="UIout" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1000" id="4949" >
+<COMPONENT type="1000" id="8101" >
 <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="4948" />
+<TGConnectingPoint num="0" id="8100" />
 </COMPONENT>
 
-<CONNECTOR type="115" id="4950" >
+<CONNECTOR type="115" id="8102" >
 <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="4948" />
-<P2  x="407" y="130" id="4945" />
+<P1  x="407" y="70" id="8100" />
+<P2  x="407" y="130" id="8097" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="4951" >
+<CONNECTOR type="115" id="8103" >
 <cdparam x="407" y="160" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="407" y="160" id="4946" />
-<P2  x="407" y="188" id="4943" />
+<P1  x="407" y="160" id="8098" />
+<P2  x="407" y="188" id="8095" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
 
 </TMLActivityDiagramPanel>
 
 <TMLActivityDiagramPanel name="FusionLidar" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1028" id="6051" >
+<COMPONENT type="1028" id="8107" >
 <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="delayInterval" value="null" />
-<TGConnectingPoint num="0" id="6052" />
-<TGConnectingPoint num="1" id="6053" />
+<TGConnectingPoint num="0" id="8105" />
+<TGConnectingPoint num="1" id="8106" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="6054" >
-<father id="6051" num="0" />
+<SUBCOMPONENT type="-1" id="8104" >
+<father id="8107" 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" />
@@ -9498,157 +14506,159 @@
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="301" id="6034" >
+<COMPONENT type="301" id="8124" >
 <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" />
+<infoparam name="UML Note" value="25Hz Lidar
+" />
+<TGConnectingPoint num="0" id="8108" />
+<TGConnectingPoint num="1" id="8109" />
+<TGConnectingPoint num="2" id="8110" />
+<TGConnectingPoint num="3" id="8111" />
+<TGConnectingPoint num="4" id="8112" />
+<TGConnectingPoint num="5" id="8113" />
+<TGConnectingPoint num="6" id="8114" />
+<TGConnectingPoint num="7" id="8115" />
+<TGConnectingPoint num="8" id="8116" />
+<TGConnectingPoint num="9" id="8117" />
+<TGConnectingPoint num="10" id="8118" />
+<TGConnectingPoint num="11" id="8119" />
+<TGConnectingPoint num="12" id="8120" />
+<TGConnectingPoint num="13" id="8121" />
+<TGConnectingPoint num="14" id="8122" />
+<TGConnectingPoint num="15" id="8123" />
 <extraparam>
 <Line value="25Hz Lidar" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1001" id="4957" >
+<COMPONENT type="1001" id="8126" >
 <cdparam x="398" y="233" />
 <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="4956" />
+<TGConnectingPoint num="0" id="8125" />
 </COMPONENT>
 
-<COMPONENT type="1006" id="4960" >
+<COMPONENT type="1006" id="8129" >
 <cdparam x="363" y="188" />
 <sizeparam width="88" 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="LidarData(1)" />
-<TGConnectingPoint num="0" id="4958" />
-<TGConnectingPoint num="1" id="4959" />
+<TGConnectingPoint num="0" id="8127" />
+<TGConnectingPoint num="1" id="8128" />
 <extraparam>
 <Data channelName="LidarData" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1000" id="4962" >
+<COMPONENT type="1000" id="8131" >
 <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="4961" />
+<TGConnectingPoint num="0" id="8130" />
 </COMPONENT>
 
-<CONNECTOR type="115" id="4965" >
+<CONNECTOR type="115" id="8132" >
 <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="213" id="4959" />
-<P2  x="408" y="228" id="4956" />
+<P1  x="407" y="213" id="8128" />
+<P2  x="408" y="228" id="8125" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="6055" >
+<CONNECTOR type="115" id="8133" >
 <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="113" id="6052" />
+<P1  x="407" y="70" id="8130" />
+<P2  x="407" y="113" id="8105" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="6056" >
+<CONNECTOR type="115" id="8134" >
 <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="153" id="6053" />
-<P2  x="407" y="183" id="4958" />
+<P1  x="407" y="153" id="8106" />
+<P2  x="407" y="183" id="8127" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
 
 </TMLActivityDiagramPanel>
 
 <TMLActivityDiagramPanel name="Camera" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="301" id="6086" >
+<COMPONENT type="301" id="8151" >
 <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" />
+<infoparam name="UML Note" value="25Hz camera
+" />
+<TGConnectingPoint num="0" id="8135" />
+<TGConnectingPoint num="1" id="8136" />
+<TGConnectingPoint num="2" id="8137" />
+<TGConnectingPoint num="3" id="8138" />
+<TGConnectingPoint num="4" id="8139" />
+<TGConnectingPoint num="5" id="8140" />
+<TGConnectingPoint num="6" id="8141" />
+<TGConnectingPoint num="7" id="8142" />
+<TGConnectingPoint num="8" id="8143" />
+<TGConnectingPoint num="9" id="8144" />
+<TGConnectingPoint num="10" id="8145" />
+<TGConnectingPoint num="11" id="8146" />
+<TGConnectingPoint num="12" id="8147" />
+<TGConnectingPoint num="13" id="8148" />
+<TGConnectingPoint num="14" id="8149" />
+<TGConnectingPoint num="15" id="8150" />
 <extraparam>
 <Line value="25Hz camera" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1001" id="4967" >
+<COMPONENT type="1001" id="8153" >
 <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="4966" />
+<TGConnectingPoint num="0" id="8152" />
 </COMPONENT>
 
-<COMPONENT type="1012" id="4975" >
+<COMPONENT type="1012" id="8161" >
 <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="4971" />
-<TGConnectingPoint num="1" id="4972" />
-<TGConnectingPoint num="2" id="4973" />
-<TGConnectingPoint num="3" id="4974" />
+<TGConnectingPoint num="0" id="8157" />
+<TGConnectingPoint num="1" id="8158" />
+<TGConnectingPoint num="2" id="8159" />
+<TGConnectingPoint num="3" id="8160" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="4968" >
-<father id="4975" num="0" />
+<SUBCOMPONENT type="-1" id="8154" >
+<father id="8161" 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="4969" >
-<father id="4975" num="1" />
+<SUBCOMPONENT type="-1" id="8155" >
+<father id="8161" 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="4970" >
-<father id="4975" num="2" />
+<SUBCOMPONENT type="-1" id="8156" >
+<father id="8161" 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" />
@@ -9656,17 +14666,17 @@
 <infoparam name="guard 3" value="[ ]" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1028" id="4979" >
+<COMPONENT type="1028" id="8165" >
 <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="4977" />
-<TGConnectingPoint num="1" id="4978" />
+<TGConnectingPoint num="0" id="8163" />
+<TGConnectingPoint num="1" id="8164" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="4976" >
-<father id="4979" num="0" />
+<SUBCOMPONENT type="-1" id="8162" >
+<father id="8165" 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" />
@@ -9677,119 +14687,120 @@
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1001" id="4985" >
+<COMPONENT type="1001" id="8167" >
 <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="4984" />
+<TGConnectingPoint num="0" id="8166" />
 </COMPONENT>
 
-<COMPONENT type="1006" id="4988" >
+<COMPONENT type="1006" id="8170" >
 <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="4986" />
-<TGConnectingPoint num="1" id="4987" />
+<TGConnectingPoint num="0" id="8168" />
+<TGConnectingPoint num="1" id="8169" />
 <extraparam>
 <Data channelName="CamData" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1000" id="4990" >
+<COMPONENT type="1000" id="8172" >
 <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="4989" />
+<TGConnectingPoint num="0" id="8171" />
 </COMPONENT>
 
-<CONNECTOR type="115" id="4991" >
+<CONNECTOR type="115" id="8173" >
 <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" />
+<P1  x="665" y="281" id="8159" />
+<P2  x="740" y="372" id="8152" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="4992" >
+<CONNECTOR type="115" id="8174" >
 <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" />
+<P1  x="585" y="281" id="8158" />
+<P2  x="496" y="316" id="8168" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="4993" >
+<CONNECTOR type="115" id="8175" >
 <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="625" y="205" id="4978" />
-<P2  x="625" y="256" id="4971" />
+<P1  x="625" y="205" id="8164" />
+<P2  x="625" y="256" id="8157" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="4994" >
+<CONNECTOR type="115" id="8176" >
 <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="625" y="124" id="4989" />
-<P2  x="625" y="165" id="4977" />
+<P1  x="625" y="124" id="8171" />
+<P2  x="625" y="165" id="8163" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="4995" >
+<CONNECTOR type="115" id="8177" >
 <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="4987" />
-<P2  x="496" y="373" id="4984" />
+<P1  x="496" y="346" id="8169" />
+<P2  x="496" y="373" id="8166" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
 
 </TMLActivityDiagramPanel>
 
 <TMLActivityDiagramPanel name="Radar" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="301" id="6069" >
+<COMPONENT type="301" id="8194" >
 <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" />
+<infoparam name="UML Note" value="20 Hz radar
+" />
+<TGConnectingPoint num="0" id="8178" />
+<TGConnectingPoint num="1" id="8179" />
+<TGConnectingPoint num="2" id="8180" />
+<TGConnectingPoint num="3" id="8181" />
+<TGConnectingPoint num="4" id="8182" />
+<TGConnectingPoint num="5" id="8183" />
+<TGConnectingPoint num="6" id="8184" />
+<TGConnectingPoint num="7" id="8185" />
+<TGConnectingPoint num="8" id="8186" />
+<TGConnectingPoint num="9" id="8187" />
+<TGConnectingPoint num="10" id="8188" />
+<TGConnectingPoint num="11" id="8189" />
+<TGConnectingPoint num="12" id="8190" />
+<TGConnectingPoint num="13" id="8191" />
+<TGConnectingPoint num="14" id="8192" />
+<TGConnectingPoint num="15" id="8193" />
 <extraparam>
 <Line value="20 Hz radar" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1028" id="6063" >
+<COMPONENT type="1028" id="8198" >
 <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="delayInterval" value="null" />
-<TGConnectingPoint num="0" id="6064" />
-<TGConnectingPoint num="1" id="6065" />
+<TGConnectingPoint num="0" id="8196" />
+<TGConnectingPoint num="1" id="8197" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="6066" >
-<father id="6063" num="0" />
+<SUBCOMPONENT type="-1" id="8195" >
+<father id="8198" 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" />
@@ -9800,84 +14811,97 @@
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1001" id="5001" >
+<COMPONENT type="1001" id="8200" >
 <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="5000" />
+<TGConnectingPoint num="0" id="8199" />
 </COMPONENT>
 
-<COMPONENT type="1006" id="5004" >
+<COMPONENT type="1006" id="8203" >
 <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="5002" />
-<TGConnectingPoint num="1" id="5003" />
+<TGConnectingPoint num="0" id="8201" />
+<TGConnectingPoint num="1" id="8202" />
 <extraparam>
 <Data channelName="RadarData" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1000" id="5006" >
+<COMPONENT type="1000" id="8205" >
 <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="5005" />
+<TGConnectingPoint num="0" id="8204" />
 </COMPONENT>
 
-<CONNECTOR type="115" id="5009" >
+<CONNECTOR type="115" id="8206" >
 <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="207" id="5003" />
-<P2  x="407" y="236" id="5000" />
+<P1  x="407" y="207" id="8202" />
+<P2  x="407" y="236" id="8199" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="6067" >
+<CONNECTOR type="115" id="8207" >
 <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="5005" />
-<P2  x="407" y="103" id="6064" />
+<P1  x="407" y="70" id="8204" />
+<P2  x="407" y="103" id="8196" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="6068" >
+<CONNECTOR type="115" id="8208" >
 <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="143" id="6065" />
-<P2  x="407" y="177" id="5002" />
+<P1  x="407" y="143" id="8197" />
+<P2  x="407" y="177" id="8201" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
 
 </TMLActivityDiagramPanel>
 
 <TMLActivityDiagramPanel name="ExteriorInterface" minX="10" maxX="2500" minY="10" maxY="1500" >
-<CONNECTOR type="115" id="6189" >
-<cdparam x="407" y="129" />
+<CONNECTOR type="115" id="9343" >
+<cdparam x="286" y="411" />
 <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" />
+<P1  x="286" y="411" id="9342" />
+<P2  x="286" y="438" id="8218" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<COMPONENT type="1028" id="6185" >
+<COMPONENT type="1006" id="9340" >
+<cdparam x="246" y="386" />
+<sizeparam width="81" 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="V2Vdata(1)" />
+<TGConnectingPoint num="0" id="9341" />
+<TGConnectingPoint num="1" id="9342" />
+<extraparam>
+<Data channelName="V2Vdata" nbOfSamples="1" secPattern="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1028" id="8212" >
 <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="delayInterval" value="null" />
-<TGConnectingPoint num="0" id="6186" />
-<TGConnectingPoint num="1" id="6187" />
+<TGConnectingPoint num="0" id="8210" />
+<TGConnectingPoint num="1" id="8211" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="6188" >
-<father id="6185" num="0" />
+<SUBCOMPONENT type="-1" id="8209" >
+<father id="8212" 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" />
@@ -9888,105 +14912,105 @@
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1001" id="5011" >
+<COMPONENT type="1001" id="8214" >
 <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="5010" />
+<TGConnectingPoint num="0" id="8213" />
 </COMPONENT>
 
-<COMPONENT type="1006" id="5014" >
+<COMPONENT type="1006" id="8217" >
 <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="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="write channel" value="destOut(1)" />
-<TGConnectingPoint num="0" id="5012" />
-<TGConnectingPoint num="1" id="5013" />
+<TGConnectingPoint num="0" id="8215" />
+<TGConnectingPoint num="1" id="8216" />
 <extraparam>
 <Data channelName="destOut" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1001" id="5016" >
+<COMPONENT type="1001" id="8219" >
 <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="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="5015" />
+<TGConnectingPoint num="0" id="8218" />
 </COMPONENT>
 
-<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" />
+<COMPONENT type="1006" id="8222" >
+<cdparam x="248" y="325" />
+<sizeparam width="76" 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="5017" />
-<TGConnectingPoint num="1" id="5018" />
+<infoparam name="write channel" value="V2Idata(1)" />
+<TGConnectingPoint num="0" id="8220" />
+<TGConnectingPoint num="1" id="8221" />
 <extraparam>
-<Data channelName="trafficOut" nbOfSamples="1" secPattern="" />
+<Data channelName="V2Idata" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1009" id="5022" >
+<COMPONENT type="1009" id="8225" >
 <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="read channel" value="UIout(1) " />
-<TGConnectingPoint num="0" id="5020" />
-<TGConnectingPoint num="1" id="5021" />
+<TGConnectingPoint num="0" id="8223" />
+<TGConnectingPoint num="1" id="8224" />
 <extraparam>
 <Data channelName="UIout" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1009" id="5025" >
+<COMPONENT type="1009" id="8228" >
 <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="read channel" value="V2XOut(1) " />
-<TGConnectingPoint num="0" id="5023" />
-<TGConnectingPoint num="1" id="5024" />
+<TGConnectingPoint num="0" id="8226" />
+<TGConnectingPoint num="1" id="8227" />
 <extraparam>
 <Data channelName="V2XOut" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1012" id="5033" >
+<COMPONENT type="1012" id="8236" >
 <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="5029" />
-<TGConnectingPoint num="1" id="5030" />
-<TGConnectingPoint num="2" id="5031" />
-<TGConnectingPoint num="3" id="5032" />
+<TGConnectingPoint num="0" id="8232" />
+<TGConnectingPoint num="1" id="8233" />
+<TGConnectingPoint num="2" id="8234" />
+<TGConnectingPoint num="3" id="8235" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="5026" >
-<father id="5033" num="0" />
+<SUBCOMPONENT type="-1" id="8229" >
+<father id="8236" 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="5027" >
-<father id="5033" num="1" />
+<SUBCOMPONENT type="-1" id="8230" >
+<father id="8236" 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="5028" >
-<father id="5033" num="2" />
+<SUBCOMPONENT type="-1" id="8231" >
+<father id="8236" 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" />
@@ -9994,145 +15018,174 @@
 <infoparam name="guard 3" value="[ ]" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1000" id="5035" >
+<COMPONENT type="1000" id="8238" >
 <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="5034" />
+<TGConnectingPoint num="0" id="8237" />
 </COMPONENT>
 
-<CONNECTOR type="115" id="5036" >
+<CONNECTOR type="115" id="8239" >
+<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="8211" />
+<P2  x="407" y="141" id="8232" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8240" >
 <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="540" y="352" id="5013" />
-<P2  x="540" y="448" id="5010" />
+<P1  x="540" y="352" id="8216" />
+<P2  x="540" y="448" id="8213" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5037" >
+<CONNECTOR type="115" id="8241" >
 <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="286" y="236" id="5024" />
-<P2  x="286" y="320" id="5017" />
+<P1  x="286" y="236" id="8227" />
+<P2  x="286" y="320" id="8220" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5038" >
+<CONNECTOR type="115" id="8242" >
 <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="407" y="52" id="5034" />
-<P2  x="407" y="71" id="6186" />
+<P1  x="407" y="52" id="8237" />
+<P2  x="407" y="71" id="8210" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5039" >
+<CONNECTOR type="115" id="8243" >
 <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="367" y="166" id="5030" />
-<P2  x="286" y="206" id="5023" />
+<P1  x="367" y="166" id="8233" />
+<P2  x="286" y="206" id="8226" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5040" >
+<CONNECTOR type="115" id="8244" >
 <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="447" y="166" id="5031" />
-<P2  x="540" y="212" id="5020" />
+<P1  x="447" y="166" id="8234" />
+<P2  x="540" y="212" id="8223" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5041" >
+<CONNECTOR type="115" id="8245" >
 <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="286" y="350" id="5018" />
-<P2  x="286" y="438" id="5015" />
+<P1  x="286" y="350" id="8221" />
+<P2  x="286" y="381" id="9341" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5042" >
+<CONNECTOR type="115" id="8246" >
 <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="540" y="242" id="5021" />
-<P2  x="540" y="322" id="5012" />
+<P1  x="540" y="242" id="8224" />
+<P2  x="540" y="322" id="8215" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
 
 </TMLActivityDiagramPanel>
 
 <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" />
+<CONNECTOR type="115" id="9347" >
+<cdparam x="177" 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="177" y="155" id="8325" />
+<P2  x="119" y="265" id="9345" />
+<AutomaticDrawing  data="true" />
+</CONNECTOR>
+<COMPONENT type="1009" id="9344" >
+<cdparam x="79" y="270" />
+<sizeparam width="80" 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" />
+<infoparam name="read channel" value="V2Idata(1) " />
+<TGConnectingPoint num="0" id="9345" />
+<TGConnectingPoint num="1" id="9346" />
+<extraparam>
+<Data channelName="V2Idata" nbOfSamples="1" secPattern="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1009" id="8249" >
+<cdparam x="308" y="219" />
+<sizeparam width="83" 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="8247" />
+<TGConnectingPoint num="1" id="8248" />
 <extraparam>
-<Data channelName="imuData" nbOfSamples="1" secPattern="" />
+<Data channelName="IMUdata" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="301" id="5059" >
+<COMPONENT type="301" id="8266" >
 <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" />
-<TGConnectingPoint num="12" id="5055" />
-<TGConnectingPoint num="13" id="5056" />
-<TGConnectingPoint num="14" id="5057" />
-<TGConnectingPoint num="15" id="5058" />
+<TGConnectingPoint num="0" id="8250" />
+<TGConnectingPoint num="1" id="8251" />
+<TGConnectingPoint num="2" id="8252" />
+<TGConnectingPoint num="3" id="8253" />
+<TGConnectingPoint num="4" id="8254" />
+<TGConnectingPoint num="5" id="8255" />
+<TGConnectingPoint num="6" id="8256" />
+<TGConnectingPoint num="7" id="8257" />
+<TGConnectingPoint num="8" id="8258" />
+<TGConnectingPoint num="9" id="8259" />
+<TGConnectingPoint num="10" id="8260" />
+<TGConnectingPoint num="11" id="8261" />
+<TGConnectingPoint num="12" id="8262" />
+<TGConnectingPoint num="13" id="8263" />
+<TGConnectingPoint num="14" id="8264" />
+<TGConnectingPoint num="15" id="8265" />
 <extraparam>
 <Line value="Select trajectory" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1012" id="5067" >
+<COMPONENT type="1012" id="8274" >
 <cdparam x="624" y="761" />
 <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="5063" />
-<TGConnectingPoint num="1" id="5064" />
-<TGConnectingPoint num="2" id="5065" />
-<TGConnectingPoint num="3" id="5066" />
+<TGConnectingPoint num="0" id="8270" />
+<TGConnectingPoint num="1" id="8271" />
+<TGConnectingPoint num="2" id="8272" />
+<TGConnectingPoint num="3" id="8273" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="5060" >
-<father id="5067" num="0" />
+<SUBCOMPONENT type="-1" id="8267" >
+<father id="8274" num="0" />
 <cdparam x="599" y="771" />
 <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="5061" >
-<father id="5067" num="1" />
+<SUBCOMPONENT type="-1" id="8268" >
+<father id="8274" num="1" />
 <cdparam x="659" y="771" />
 <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="5062" >
-<father id="5067" num="2" />
+<SUBCOMPONENT type="-1" id="8269" >
+<father id="8274" num="2" />
 <cdparam x="644" y="806" />
 <sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10140,17 +15193,17 @@
 <infoparam name="guard 3" value="[ ]" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1021" id="5071" >
+<COMPONENT type="1021" id="8278" >
 <cdparam x="634" y="684" />
 <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="5069" />
-<TGConnectingPoint num="1" id="5070" />
+<TGConnectingPoint num="0" id="8276" />
+<TGConnectingPoint num="1" id="8277" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="5068" >
-<father id="5071" num="0" />
+<SUBCOMPONENT type="-1" id="8275" >
+<father id="8278" num="0" />
 <cdparam x="649" y="704" />
 <sizeparam width="92" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10158,21 +15211,21 @@
 <infoparam name="value of the delay" value="calcRegulation" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1016" id="5079" >
+<COMPONENT type="1016" id="8286" >
 <cdparam x="538" y="314" />
 <sizeparam width="150" height="5" 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="sequence" value="null" />
-<TGConnectingPoint num="0" id="5073" />
-<TGConnectingPoint num="1" id="5074" />
-<TGConnectingPoint num="2" id="5075" />
-<TGConnectingPoint num="3" id="5076" />
-<TGConnectingPoint num="4" id="5077" />
-<TGConnectingPoint num="5" id="5078" />
-</COMPONENT>
-<SUBCOMPONENT type="-1" id="5072" >
-<father id="5079" num="0" />
+<TGConnectingPoint num="0" id="8280" />
+<TGConnectingPoint num="1" id="8281" />
+<TGConnectingPoint num="2" id="8282" />
+<TGConnectingPoint num="3" id="8283" />
+<TGConnectingPoint num="4" id="8284" />
+<TGConnectingPoint num="5" id="8285" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="8279" >
+<father id="8286" num="0" />
 <cdparam x="692" y="321" />
 <sizeparam width="20" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10180,17 +15233,17 @@
 <infoparam name="Sequence" value="&gt;&gt;" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1021" id="5083" >
+<COMPONENT type="1021" id="8290" >
 <cdparam x="634" y="606" />
 <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="5081" />
-<TGConnectingPoint num="1" id="5082" />
+<TGConnectingPoint num="0" id="8288" />
+<TGConnectingPoint num="1" id="8289" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="5080" >
-<father id="5083" num="0" />
+<SUBCOMPONENT type="-1" id="8287" >
+<father id="8290" num="0" />
 <cdparam x="649" y="626" />
 <sizeparam width="48" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10198,17 +15251,17 @@
 <infoparam name="value of the delay" value="calcTraj" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1021" id="5087" >
+<COMPONENT type="1021" id="8294" >
 <cdparam x="582" y="381" />
 <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="5085" />
-<TGConnectingPoint num="1" id="5086" />
+<TGConnectingPoint num="0" id="8292" />
+<TGConnectingPoint num="1" id="8293" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="5084" >
-<father id="5087" num="0" />
+<SUBCOMPONENT type="-1" id="8291" >
+<father id="8294" num="0" />
 <cdparam x="597" y="401" />
 <sizeparam width="98" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10216,17 +15269,17 @@
 <infoparam name="value of the delay" value="calcInfrastruct2" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1021" id="5091" >
+<COMPONENT type="1021" id="8298" >
 <cdparam x="558" y="425" />
 <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="5089" />
-<TGConnectingPoint num="1" id="5090" />
+<TGConnectingPoint num="0" id="8296" />
+<TGConnectingPoint num="1" id="8297" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="5088" >
-<father id="5091" num="0" />
+<SUBCOMPONENT type="-1" id="8295" >
+<father id="8298" num="0" />
 <cdparam x="573" y="445" />
 <sizeparam width="98" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10234,17 +15287,17 @@
 <infoparam name="value of the delay" value="calcInfrastruct1" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1021" id="5095" >
+<COMPONENT type="1021" id="8302" >
 <cdparam x="495" y="321" />
 <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="5093" />
-<TGConnectingPoint num="1" id="5094" />
+<TGConnectingPoint num="0" id="8300" />
+<TGConnectingPoint num="1" id="8301" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="5092" >
-<father id="5095" num="0" />
+<SUBCOMPONENT type="-1" id="8299" >
+<father id="8302" num="0" />
 <cdparam x="510" y="341" />
 <sizeparam width="75" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10252,17 +15305,17 @@
 <infoparam name="value of the delay" value="calcVehStat" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1021" id="5099" >
+<COMPONENT type="1021" id="8306" >
 <cdparam x="397" y="320" />
 <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="5097" />
-<TGConnectingPoint num="1" id="5098" />
+<TGConnectingPoint num="0" id="8304" />
+<TGConnectingPoint num="1" id="8305" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="5096" >
-<father id="5099" num="0" />
+<SUBCOMPONENT type="-1" id="8303" >
+<father id="8306" num="0" />
 <cdparam x="412" y="340" />
 <sizeparam width="80" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10270,30 +15323,30 @@
 <infoparam name="value of the delay" value="calcObstacle" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1009" id="5102" >
+<COMPONENT type="1009" id="8309" >
 <cdparam x="423" y="147" />
 <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="read channel" value="GPSRTK(1) " />
-<TGConnectingPoint num="0" id="5100" />
-<TGConnectingPoint num="1" id="5101" />
+<TGConnectingPoint num="0" id="8307" />
+<TGConnectingPoint num="1" id="8308" />
 <extraparam>
 <Data channelName="GPSRTK" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1021" id="5106" >
+<COMPONENT type="1021" id="8313" >
 <cdparam x="316" y="316" />
 <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="5104" />
-<TGConnectingPoint num="1" id="5105" />
+<TGConnectingPoint num="0" id="8311" />
+<TGConnectingPoint num="1" id="8312" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="5103" >
-<father id="5106" num="0" />
+<SUBCOMPONENT type="-1" id="8310" >
+<father id="8313" num="0" />
 <cdparam x="331" y="336" />
 <sizeparam width="55" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10301,21 +15354,21 @@
 <infoparam name="value of the delay" value="calcMark" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1016" id="5114" >
+<COMPONENT type="1016" id="8321" >
 <cdparam x="387" y="261" />
 <sizeparam width="150" height="5" 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="sequence" value="null" />
-<TGConnectingPoint num="0" id="5108" />
-<TGConnectingPoint num="1" id="5109" />
-<TGConnectingPoint num="2" id="5110" />
-<TGConnectingPoint num="3" id="5111" />
-<TGConnectingPoint num="4" id="5112" />
-<TGConnectingPoint num="5" id="5113" />
-</COMPONENT>
-<SUBCOMPONENT type="-1" id="5107" >
-<father id="5114" num="0" />
+<TGConnectingPoint num="0" id="8315" />
+<TGConnectingPoint num="1" id="8316" />
+<TGConnectingPoint num="2" id="8317" />
+<TGConnectingPoint num="3" id="8318" />
+<TGConnectingPoint num="4" id="8319" />
+<TGConnectingPoint num="5" id="8320" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="8314" >
+<father id="8321" num="0" />
 <cdparam x="541" y="268" />
 <sizeparam width="20" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10323,21 +15376,21 @@
 <infoparam name="Sequence" value="&gt;&gt;" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1016" id="5122" >
+<COMPONENT type="1016" id="8329" >
 <cdparam x="128" y="150" />
 <sizeparam width="150" height="5" 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="sequence" value="null" />
-<TGConnectingPoint num="0" id="5116" />
-<TGConnectingPoint num="1" id="5117" />
-<TGConnectingPoint num="2" id="5118" />
-<TGConnectingPoint num="3" id="5119" />
-<TGConnectingPoint num="4" id="5120" />
-<TGConnectingPoint num="5" id="5121" />
-</COMPONENT>
-<SUBCOMPONENT type="-1" id="5115" >
-<father id="5122" num="0" />
+<TGConnectingPoint num="0" id="8323" />
+<TGConnectingPoint num="1" id="8324" />
+<TGConnectingPoint num="2" id="8325" />
+<TGConnectingPoint num="3" id="8326" />
+<TGConnectingPoint num="4" id="8327" />
+<TGConnectingPoint num="5" id="8328" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="8322" >
+<father id="8329" num="0" />
 <cdparam x="282" y="157" />
 <sizeparam width="20" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10345,21 +15398,21 @@
 <infoparam name="Sequence" value="&gt;&gt;" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1016" id="5130" >
+<COMPONENT type="1016" id="8337" >
 <cdparam x="351" y="99" />
 <sizeparam width="150" height="5" 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="sequence" value="null" />
-<TGConnectingPoint num="0" id="5124" />
-<TGConnectingPoint num="1" id="5125" />
-<TGConnectingPoint num="2" id="5126" />
-<TGConnectingPoint num="3" id="5127" />
-<TGConnectingPoint num="4" id="5128" />
-<TGConnectingPoint num="5" id="5129" />
-</COMPONENT>
-<SUBCOMPONENT type="-1" id="5123" >
-<father id="5130" num="0" />
+<TGConnectingPoint num="0" id="8331" />
+<TGConnectingPoint num="1" id="8332" />
+<TGConnectingPoint num="2" id="8333" />
+<TGConnectingPoint num="3" id="8334" />
+<TGConnectingPoint num="4" id="8335" />
+<TGConnectingPoint num="5" id="8336" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="8330" >
+<father id="8337" num="0" />
 <cdparam x="505" y="106" />
 <sizeparam width="20" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10367,404 +15420,404 @@
 <infoparam name="Sequence" value="&gt;&gt;" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1009" id="5133" >
+<COMPONENT type="1009" id="8340" >
 <cdparam x="316" y="147" />
 <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="read channel" value="vehStatus(1) " />
-<TGConnectingPoint num="0" id="5131" />
-<TGConnectingPoint num="1" id="5132" />
+<TGConnectingPoint num="0" id="8338" />
+<TGConnectingPoint num="1" id="8339" />
 <extraparam>
 <Data channelName="vehStatus" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1009" id="5136" >
+<COMPONENT type="1009" id="8343" >
 <cdparam x="212" y="220" />
 <sizeparam width="92" 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="LidarData(1) " />
-<TGConnectingPoint num="0" id="5134" />
-<TGConnectingPoint num="1" id="5135" />
+<TGConnectingPoint num="0" id="8341" />
+<TGConnectingPoint num="1" id="8342" />
 <extraparam>
 <Data channelName="LidarData" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1009" id="5139" >
+<COMPONENT type="1009" id="8346" >
 <cdparam x="106" y="219" />
 <sizeparam width="99" 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="RadarData(1) " />
-<TGConnectingPoint num="0" id="5137" />
-<TGConnectingPoint num="1" id="5138" />
+<TGConnectingPoint num="0" id="8344" />
+<TGConnectingPoint num="1" id="8345" />
 <extraparam>
 <Data channelName="RadarData" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1001" id="5141" >
+<COMPONENT type="1001" id="8348" >
 <cdparam x="758" y="948" />
 <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="5140" />
+<TGConnectingPoint num="0" id="8347" />
 </COMPONENT>
 
-<COMPONENT type="1009" id="5144" >
-<cdparam x="10" y="218" />
+<COMPONENT type="1009" id="8351" >
+<cdparam x="10" y="227" />
 <sizeparam width="89" 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="CamData(1) " />
-<TGConnectingPoint num="0" id="5142" />
-<TGConnectingPoint num="1" id="5143" />
+<TGConnectingPoint num="0" id="8349" />
+<TGConnectingPoint num="1" id="8350" />
 <extraparam>
 <Data channelName="CamData" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1009" id="5147" >
+<COMPONENT type="1009" id="8354" >
 <cdparam x="598" y="535" />
 <sizeparam width="82" 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="destOut(1) " />
-<TGConnectingPoint num="0" id="5145" />
-<TGConnectingPoint num="1" id="5146" />
+<TGConnectingPoint num="0" id="8352" />
+<TGConnectingPoint num="1" id="8353" />
 <extraparam>
 <Data channelName="destOut" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1009" id="5150" >
-<cdparam x="520" y="146" />
-<sizeparam width="90" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1009" id="8357" >
+<cdparam x="523" y="146" />
+<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="read channel" value="trafficOut(1) " />
-<TGConnectingPoint num="0" id="5148" />
-<TGConnectingPoint num="1" id="5149" />
+<infoparam name="read channel" value="V2Vdata(1) " />
+<TGConnectingPoint num="0" id="8355" />
+<TGConnectingPoint num="1" id="8356" />
 <extraparam>
-<Data channelName="trafficOut" nbOfSamples="1" secPattern="" />
+<Data channelName="V2Vdata" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1000" id="5152" >
+<COMPONENT type="1000" id="8359" >
 <cdparam x="426" y="44" />
 <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="5151" />
+<TGConnectingPoint num="0" id="8358" />
 </COMPONENT>
 
-<COMPONENT type="1006" id="5155" >
+<COMPONENT type="1006" id="8362" >
 <cdparam x="713" y="821" />
 <sizeparam width="111" 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="commandOut(1)" />
-<TGConnectingPoint num="0" id="5153" />
-<TGConnectingPoint num="1" id="5154" />
+<TGConnectingPoint num="0" id="8360" />
+<TGConnectingPoint num="1" id="8361" />
 <extraparam>
 <Data channelName="commandOut" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1006" id="5158" >
+<COMPONENT type="1006" id="8365" >
 <cdparam x="720" y="895" />
 <sizeparam width="97" 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="percStatus(1)" />
-<TGConnectingPoint num="0" id="5156" />
-<TGConnectingPoint num="1" id="5157" />
+<TGConnectingPoint num="0" id="8363" />
+<TGConnectingPoint num="1" id="8364" />
 <extraparam>
 <Data channelName="percStatus" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1001" id="5160" >
+<COMPONENT type="1001" id="8367" >
 <cdparam x="525" y="942" />
 <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="5159" />
+<TGConnectingPoint num="0" id="8366" />
 </COMPONENT>
 
-<COMPONENT type="1006" id="5163" >
+<COMPONENT type="1006" id="8370" >
 <cdparam x="480" y="815" />
 <sizeparam width="111" 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="commandOut(1)" />
-<TGConnectingPoint num="0" id="5161" />
-<TGConnectingPoint num="1" id="5162" />
+<TGConnectingPoint num="0" id="8368" />
+<TGConnectingPoint num="1" id="8369" />
 <extraparam>
 <Data channelName="commandOut" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1006" id="5166" >
+<COMPONENT type="1006" id="8373" >
 <cdparam x="487" y="889" />
 <sizeparam width="97" 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="percStatus(1)" />
-<TGConnectingPoint num="0" id="5164" />
-<TGConnectingPoint num="1" id="5165" />
+<TGConnectingPoint num="0" id="8371" />
+<TGConnectingPoint num="1" id="8372" />
 <extraparam>
 <Data channelName="percStatus" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<CONNECTOR type="115" id="5167" >
+<CONNECTOR type="115" id="8374" >
 <cdparam x="599" y="776" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="599" y="776" id="5064" />
-<P2  x="535" y="810" id="5161" />
+<P1  x="599" y="776" id="8271" />
+<P2  x="535" y="810" id="8368" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5168" >
+<CONNECTOR type="115" id="8375" >
 <cdparam x="679" y="776" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="679" y="776" id="5065" />
-<P2  x="768" y="816" id="5153" />
+<P1  x="679" y="776" id="8272" />
+<P2  x="768" y="816" id="8360" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5169" >
+<CONNECTOR type="115" id="8376" >
 <cdparam x="627" y="702" />
 <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="719" id="5070" />
-<P2  x="639" y="751" id="5063" />
+<P1  x="639" y="719" id="8277" />
+<P2  x="639" y="751" id="8270" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5170" >
+<CONNECTOR type="115" id="8377" >
 <cdparam x="487" y="266" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="487" y="266" id="5112" />
-<P2  x="613" y="314" id="5073" />
+<P1  x="487" y="266" id="8319" />
+<P2  x="613" y="314" id="8280" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5171" >
+<CONNECTOR type="115" id="8378" >
 <cdparam x="433" y="97" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="475" y="104" id="5129" />
-<P2  x="462" y="261" id="5108" />
+<P1  x="475" y="104" id="8336" />
+<P2  x="462" y="261" id="8315" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5172" >
+<CONNECTOR type="115" id="8379" >
 <cdparam x="635" y="395" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="587" y="319" id="5075" />
-<P2  x="587" y="376" id="5085" />
+<P1  x="587" y="319" id="8282" />
+<P2  x="587" y="376" id="8292" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5173" >
+<CONNECTOR type="115" id="8380" >
 <cdparam x="611" y="395" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="563" y="319" id="5074" />
-<P2  x="563" y="420" id="5089" />
+<P1  x="563" y="319" id="8281" />
+<P2  x="563" y="420" id="8296" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5174" >
+<CONNECTOR type="115" id="8381" >
 <cdparam x="426" y="104" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="426" y="104" id="5127" />
-<P2  x="462" y="142" id="5100" />
+<P1  x="426" y="104" id="8334" />
+<P2  x="462" y="142" id="8307" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5175" >
+<CONNECTOR type="115" id="8382" >
 <cdparam x="482" y="96" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="451" y="104" id="5128" />
-<P2  x="565" y="141" id="5148" />
+<P1  x="451" y="104" id="8335" />
+<P2  x="565" y="141" id="8355" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5176" >
+<CONNECTOR type="115" id="8383" >
 <cdparam x="416" y="89" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="228" y="155" id="5120" />
-<P2  x="258" y="215" id="5134" />
+<P1  x="228" y="155" id="8327" />
+<P2  x="258" y="215" id="8341" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5177" >
+<CONNECTOR type="115" id="8384" >
 <cdparam x="391" y="89" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="203" y="155" id="5119" />
-<P2  x="155" y="214" id="5137" />
+<P1  x="203" y="155" id="8326" />
+<P2  x="155" y="214" id="8344" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5178" >
+<CONNECTOR type="115" id="8385" >
 <cdparam x="407" y="96" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="400" y="104" id="5126" />
-<P2  x="363" y="142" id="5131" />
+<P1  x="400" y="104" id="8333" />
+<P2  x="363" y="142" id="8338" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5179" >
+<CONNECTOR type="115" id="8386" >
 <cdparam x="262" y="655" />
 <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="560" id="5146" />
-<P2  x="639" y="601" id="5081" />
+<P1  x="639" y="560" id="8353" />
+<P2  x="639" y="601" id="8288" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5180" >
+<CONNECTOR type="115" id="8387" >
 <cdparam x="819" y="808" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="768" y="846" id="5154" />
-<P2  x="768" y="890" id="5156" />
+<P1  x="768" y="846" id="8361" />
+<P2  x="768" y="890" id="8363" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5181" >
+<CONNECTOR type="115" id="8388" >
 <cdparam x="768" y="920" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="768" y="920" id="5157" />
-<P2  x="768" y="943" id="5140" />
+<P1  x="768" y="920" id="8364" />
+<P2  x="768" y="943" id="8347" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5182" >
+<CONNECTOR type="115" id="8389" >
 <cdparam x="449" 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="433" y="64" id="5151" />
-<P2  x="426" y="99" id="5124" />
+<P1  x="433" y="64" id="8358" />
+<P2  x="426" y="99" id="8331" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5183" >
+<CONNECTOR type="115" id="8390" >
 <cdparam x="341" y="89" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="153" y="155" id="5117" />
-<P2  x="54" y="213" id="5142" />
+<P1  x="153" y="155" id="8324" />
+<P2  x="54" y="222" id="8349" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5184" >
+<CONNECTOR type="115" id="8391" >
 <cdparam x="276" y="167" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="376" y="104" id="5125" />
-<P2  x="203" y="150" id="5116" />
+<P1  x="376" y="104" id="8332" />
+<P2  x="203" y="150" id="8323" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5185" >
+<CONNECTOR type="115" id="8392" >
 <cdparam x="412" y="266" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="412" y="266" id="5109" />
-<P2  x="321" y="311" id="5104" />
+<P1  x="412" y="266" id="8316" />
+<P2  x="321" y="311" id="8311" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5186" >
+<CONNECTOR type="115" id="8393" >
 <cdparam x="462" y="266" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="436" y="266" id="5110" />
-<P2  x="402" y="315" id="5097" />
+<P1  x="436" y="266" id="8317" />
+<P2  x="402" y="315" id="8304" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5187" >
+<CONNECTOR type="115" id="8394" >
 <cdparam x="511" y="266" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="462" y="266" id="5111" />
-<P2  x="500" y="316" id="5093" />
+<P1  x="462" y="266" id="8318" />
+<P2  x="500" y="316" id="8300" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5188" >
+<CONNECTOR type="115" id="8395" >
 <cdparam x="302" y="499" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="638" y="319" id="5077" />
-<P2  x="639" y="530" id="5145" />
+<P1  x="638" y="319" id="8284" />
+<P2  x="639" y="530" id="8352" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5189" >
+<CONNECTOR type="115" id="8396" >
 <cdparam x="639" y="641" />
 <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="5082" />
-<P2  x="639" y="679" id="5069" />
+<P1  x="639" y="641" id="8289" />
+<P2  x="639" y="679" id="8276" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5190" >
+<CONNECTOR type="115" id="8397" >
 <cdparam x="586" y="802" />
 <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="5162" />
-<P2  x="535" y="884" id="5164" />
+<P1  x="535" y="840" id="8369" />
+<P2  x="535" y="884" id="8371" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5191" >
+<CONNECTOR type="115" id="8398" >
 <cdparam x="535" y="914" />
 <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="5165" />
-<P2  x="535" y="937" id="5159" />
+<P1  x="535" y="914" id="8372" />
+<P2  x="535" y="937" id="8366" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="6184" >
+<CONNECTOR type="115" id="8399" >
 <cdparam x="329" 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="252" y="155" id="5121" />
-<P2  x="349" y="214" id="6182" />
+<P1  x="252" y="155" id="8328" />
+<P2  x="349" y="214" id="8247" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
 
 </TMLActivityDiagramPanel>
 
 <TMLActivityDiagramPanel name="Supervisor" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="1012" id="5199" >
+<COMPONENT type="1012" id="8407" >
 <cdparam x="220" y="338" />
 <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="5195" />
-<TGConnectingPoint num="1" id="5196" />
-<TGConnectingPoint num="2" id="5197" />
-<TGConnectingPoint num="3" id="5198" />
+<TGConnectingPoint num="0" id="8403" />
+<TGConnectingPoint num="1" id="8404" />
+<TGConnectingPoint num="2" id="8405" />
+<TGConnectingPoint num="3" id="8406" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="5192" >
-<father id="5199" num="0" />
+<SUBCOMPONENT type="-1" id="8400" >
+<father id="8407" num="0" />
 <cdparam x="195" y="348" />
 <sizeparam width="45" 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="[ error]" />
 </SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5193" >
-<father id="5199" num="1" />
+<SUBCOMPONENT type="-1" id="8401" >
+<father id="8407" num="1" />
 <cdparam x="255" y="348" />
 <sizeparam width="44" 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="[ else ]" />
 </SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5194" >
-<father id="5199" num="2" />
+<SUBCOMPONENT type="-1" id="8402" >
+<father id="8407" num="2" />
 <cdparam x="240" y="383" />
 <sizeparam width="10" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10772,35 +15825,35 @@
 <infoparam name="guard 3" value="[]" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1012" id="5207" >
+<COMPONENT type="1012" id="8415" >
 <cdparam x="617" y="343" />
 <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="5203" />
-<TGConnectingPoint num="1" id="5204" />
-<TGConnectingPoint num="2" id="5205" />
-<TGConnectingPoint num="3" id="5206" />
+<TGConnectingPoint num="0" id="8411" />
+<TGConnectingPoint num="1" id="8412" />
+<TGConnectingPoint num="2" id="8413" />
+<TGConnectingPoint num="3" id="8414" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="5200" >
-<father id="5207" num="0" />
+<SUBCOMPONENT type="-1" id="8408" >
+<father id="8415" num="0" />
 <cdparam x="592" y="353" />
 <sizeparam width="45" 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="[ error]" />
 </SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5201" >
-<father id="5207" num="1" />
+<SUBCOMPONENT type="-1" id="8409" >
+<father id="8415" num="1" />
 <cdparam x="652" y="353" />
 <sizeparam width="44" 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="[ else ]" />
 </SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5202" >
-<father id="5207" num="2" />
+<SUBCOMPONENT type="-1" id="8410" >
+<father id="8415" num="2" />
 <cdparam x="637" y="388" />
 <sizeparam width="10" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10808,53 +15861,53 @@
 <infoparam name="guard 3" value="[]" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1001" id="5209" >
+<COMPONENT type="1001" id="8417" >
 <cdparam x="437" y="508" />
 <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="5208" />
+<TGConnectingPoint num="0" id="8416" />
 </COMPONENT>
 
-<COMPONENT type="1001" id="5211" >
+<COMPONENT type="1001" id="8419" >
 <cdparam x="357" y="655" />
 <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="5210" />
+<TGConnectingPoint num="0" id="8418" />
 </COMPONENT>
 
-<COMPONENT type="1012" id="5219" >
+<COMPONENT type="1012" id="8427" >
 <cdparam x="392" y="432" />
 <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="5215" />
-<TGConnectingPoint num="1" id="5216" />
-<TGConnectingPoint num="2" id="5217" />
-<TGConnectingPoint num="3" id="5218" />
+<TGConnectingPoint num="0" id="8423" />
+<TGConnectingPoint num="1" id="8424" />
+<TGConnectingPoint num="2" id="8425" />
+<TGConnectingPoint num="3" id="8426" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="5212" >
-<father id="5219" num="0" />
+<SUBCOMPONENT type="-1" id="8420" >
+<father id="8427" num="0" />
 <cdparam x="367" y="442" />
 <sizeparam width="45" 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="[ error]" />
 </SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5213" >
-<father id="5219" num="1" />
+<SUBCOMPONENT type="-1" id="8421" >
+<father id="8427" num="1" />
 <cdparam x="427" y="442" />
 <sizeparam width="44" 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="[ else ]" />
 </SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5214" >
-<father id="5219" num="2" />
+<SUBCOMPONENT type="-1" id="8422" >
+<father id="8427" num="2" />
 <cdparam x="412" y="477" />
 <sizeparam width="10" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10862,74 +15915,74 @@
 <infoparam name="guard 3" value="[]" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1009" id="5222" >
+<COMPONENT type="1009" id="8430" >
 <cdparam x="495" y="241" />
 <sizeparam width="101" 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="percStatus(1) " />
-<TGConnectingPoint num="0" id="5220" />
-<TGConnectingPoint num="1" id="5221" />
+<TGConnectingPoint num="0" id="8428" />
+<TGConnectingPoint num="1" id="8429" />
 <extraparam>
 <Data channelName="percStatus" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1009" id="5225" >
+<COMPONENT type="1009" id="8433" >
 <cdparam x="357" y="314" />
 <sizeparam width="101" 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="percStatus(1) " />
-<TGConnectingPoint num="0" id="5223" />
-<TGConnectingPoint num="1" id="5224" />
+<TGConnectingPoint num="0" id="8431" />
+<TGConnectingPoint num="1" id="8432" />
 <extraparam>
 <Data channelName="percStatus" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1009" id="5228" >
+<COMPONENT type="1009" id="8436" >
 <cdparam x="257" y="234" />
 <sizeparam width="98" 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="ECUStatus(1) " />
-<TGConnectingPoint num="0" id="5226" />
-<TGConnectingPoint num="1" id="5227" />
+<TGConnectingPoint num="0" id="8434" />
+<TGConnectingPoint num="1" id="8435" />
 <extraparam>
 <Data channelName="ECUStatus" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1012" id="5236" >
+<COMPONENT type="1012" id="8444" >
 <cdparam x="392" y="162" />
 <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="5232" />
-<TGConnectingPoint num="1" id="5233" />
-<TGConnectingPoint num="2" id="5234" />
-<TGConnectingPoint num="3" id="5235" />
+<TGConnectingPoint num="0" id="8440" />
+<TGConnectingPoint num="1" id="8441" />
+<TGConnectingPoint num="2" id="8442" />
+<TGConnectingPoint num="3" id="8443" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="5229" >
-<father id="5236" num="0" />
+<SUBCOMPONENT type="-1" id="8437" >
+<father id="8444" num="0" />
 <cdparam x="367" y="172" />
 <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="5230" >
-<father id="5236" num="1" />
+<SUBCOMPONENT type="-1" id="8438" >
+<father id="8444" num="1" />
 <cdparam x="427" y="172" />
 <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="5231" >
-<father id="5236" num="2" />
+<SUBCOMPONENT type="-1" id="8439" >
+<father id="8444" num="2" />
 <cdparam x="412" y="207" />
 <sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
@@ -10937,216 +15990,216 @@
 <infoparam name="guard 3" value="[ ]" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1000" id="5238" >
+<COMPONENT type="1000" id="8446" >
 <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="5237" />
+<TGConnectingPoint num="0" id="8445" />
 </COMPONENT>
 
-<COMPONENT type="1001" id="5240" >
+<COMPONENT type="1001" id="8448" >
 <cdparam x="662" y="419" />
 <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="5239" />
+<TGConnectingPoint num="0" id="8447" />
 </COMPONENT>
 
-<COMPONENT type="1001" id="5242" >
+<COMPONENT type="1001" id="8450" >
 <cdparam x="582" y="566" />
 <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="5241" />
+<TGConnectingPoint num="0" id="8449" />
 </COMPONENT>
 
-<COMPONENT type="1001" id="5244" >
+<COMPONENT type="1001" id="8452" >
 <cdparam x="265" y="414" />
 <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="5243" />
+<TGConnectingPoint num="0" id="8451" />
 </COMPONENT>
 
-<COMPONENT type="1001" id="5246" >
+<COMPONENT type="1001" id="8454" >
 <cdparam x="185" y="561" />
 <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="5245" />
+<TGConnectingPoint num="0" id="8453" />
 </COMPONENT>
 
-<CONNECTOR type="115" id="5247" >
+<CONNECTOR type="115" id="8455" >
 <cdparam x="592" 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="592" y="358" id="5204" />
-<P2  x="592" y="561" id="5241" />
+<P1  x="592" y="358" id="8412" />
+<P2  x="592" y="561" id="8449" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5248" >
+<CONNECTOR type="115" id="8456" >
 <cdparam x="367" y="447" />
 <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="447" id="5216" />
-<P2  x="367" y="650" id="5210" />
+<P1  x="367" y="447" id="8424" />
+<P2  x="367" y="650" id="8418" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5249" >
+<CONNECTOR type="115" id="8457" >
 <cdparam x="195" 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="195" y="353" id="5196" />
-<P2  x="195" y="556" id="5245" />
+<P1  x="195" y="353" id="8404" />
+<P2  x="195" y="556" id="8453" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5250" >
+<CONNECTOR type="115" id="8458" >
 <cdparam x="545" y="266" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="545" y="266" id="5221" />
-<P2  x="632" y="333" id="5203" />
+<P1  x="545" y="266" id="8429" />
+<P2  x="632" y="333" id="8411" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5251" >
+<CONNECTOR type="115" id="8459" >
 <cdparam x="306" y="259" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="306" y="259" id="5227" />
-<P2  x="235" y="328" id="5195" />
+<P1  x="306" y="259" id="8435" />
+<P2  x="235" y="328" id="8403" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5252" >
+<CONNECTOR type="115" id="8460" >
 <cdparam x="407" y="339" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="407" y="339" id="5224" />
-<P2  x="407" y="422" id="5215" />
+<P1  x="407" y="339" id="8432" />
+<P2  x="407" y="422" id="8423" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5253" >
+<CONNECTOR type="115" id="8461" >
 <cdparam x="447" y="177" />
 <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="177" id="5234" />
-<P2  x="545" y="236" id="5220" />
+<P1  x="447" y="177" id="8442" />
+<P2  x="545" y="236" id="8428" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5254" >
+<CONNECTOR type="115" id="8462" >
 <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="5237" />
-<P2  x="407" y="152" id="5232" />
+<P1  x="407" y="70" id="8445" />
+<P2  x="407" y="152" id="8440" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5255" >
+<CONNECTOR type="115" id="8463" >
 <cdparam x="367" y="177" />
 <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="177" id="5233" />
-<P2  x="306" y="229" id="5226" />
+<P1  x="367" y="177" id="8441" />
+<P2  x="306" y="229" id="8434" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5256" >
+<CONNECTOR type="115" id="8464" >
 <cdparam x="407" y="217" />
 <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="217" id="5235" />
-<P2  x="407" y="309" id="5223" />
+<P1  x="407" y="217" id="8443" />
+<P2  x="407" y="309" id="8431" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5257" >
+<CONNECTOR type="115" id="8465" >
 <cdparam x="447" y="447" />
 <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="447" id="5217" />
-<P2  x="447" y="503" id="5208" />
+<P1  x="447" y="447" id="8425" />
+<P2  x="447" y="503" id="8416" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5258" >
+<CONNECTOR type="115" id="8466" >
 <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="672" y="358" id="5205" />
-<P2  x="672" y="414" id="5239" />
+<P1  x="672" y="358" id="8413" />
+<P2  x="672" y="414" id="8447" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5259" >
+<CONNECTOR type="115" id="8467" >
 <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="275" y="353" id="5197" />
-<P2  x="275" y="409" id="5243" />
+<P1  x="275" y="353" id="8405" />
+<P2  x="275" y="409" id="8451" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
 
 </TMLActivityDiagramPanel>
 
 <TMLActivityDiagramPanel name="MABX" minX="10" maxX="2500" minY="10" maxY="1500" >
-<COMPONENT type="301" id="5276" >
+<COMPONENT type="301" id="8484" >
 <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="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" />
+<TGConnectingPoint num="0" id="8468" />
+<TGConnectingPoint num="1" id="8469" />
+<TGConnectingPoint num="2" id="8470" />
+<TGConnectingPoint num="3" id="8471" />
+<TGConnectingPoint num="4" id="8472" />
+<TGConnectingPoint num="5" id="8473" />
+<TGConnectingPoint num="6" id="8474" />
+<TGConnectingPoint num="7" id="8475" />
+<TGConnectingPoint num="8" id="8476" />
+<TGConnectingPoint num="9" id="8477" />
+<TGConnectingPoint num="10" id="8478" />
+<TGConnectingPoint num="11" id="8479" />
+<TGConnectingPoint num="12" id="8480" />
+<TGConnectingPoint num="13" id="8481" />
+<TGConnectingPoint num="14" id="8482" />
+<TGConnectingPoint num="15" id="8483" />
 <extraparam>
 <Line value="Command rejected by MABX box" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1012" id="5284" >
+<COMPONENT type="1012" id="8492" >
 <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="choice" value="null" />
-<TGConnectingPoint num="0" id="5280" />
-<TGConnectingPoint num="1" id="5281" />
-<TGConnectingPoint num="2" id="5282" />
-<TGConnectingPoint num="3" id="5283" />
+<TGConnectingPoint num="0" id="8488" />
+<TGConnectingPoint num="1" id="8489" />
+<TGConnectingPoint num="2" id="8490" />
+<TGConnectingPoint num="3" id="8491" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="5277" >
-<father id="5284" num="0" />
+<SUBCOMPONENT type="-1" id="8485" >
+<father id="8492" 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" />
+<SUBCOMPONENT type="-1" id="8486" >
+<father id="8492" 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" />
+<SUBCOMPONENT type="-1" id="8487" >
+<father id="8492" 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" />
@@ -11154,85 +16207,85 @@
 <infoparam name="guard 3" value="[ ]" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1006" id="5287" >
+<COMPONENT type="1006" id="8495" >
 <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="vehStatus(1)" />
-<TGConnectingPoint num="0" id="5285" />
-<TGConnectingPoint num="1" id="5286" />
+<TGConnectingPoint num="0" id="8493" />
+<TGConnectingPoint num="1" id="8494" />
 <extraparam>
 <Data channelName="vehStatus" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="301" id="5304" >
+<COMPONENT type="301" id="8512" >
 <cdparam x="132" y="525" />
 <sizeparam width="347" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="UML Note" value="ECUin includes wheel rotation, braking, acceleration
 " />
-<TGConnectingPoint num="0" id="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" />
+<TGConnectingPoint num="0" id="8496" />
+<TGConnectingPoint num="1" id="8497" />
+<TGConnectingPoint num="2" id="8498" />
+<TGConnectingPoint num="3" id="8499" />
+<TGConnectingPoint num="4" id="8500" />
+<TGConnectingPoint num="5" id="8501" />
+<TGConnectingPoint num="6" id="8502" />
+<TGConnectingPoint num="7" id="8503" />
+<TGConnectingPoint num="8" id="8504" />
+<TGConnectingPoint num="9" id="8505" />
+<TGConnectingPoint num="10" id="8506" />
+<TGConnectingPoint num="11" id="8507" />
+<TGConnectingPoint num="12" id="8508" />
+<TGConnectingPoint num="13" id="8509" />
+<TGConnectingPoint num="14" id="8510" />
+<TGConnectingPoint num="15" id="8511" />
 <extraparam>
 <Line value="ECUin includes wheel rotation, braking, acceleration" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1001" id="5306" >
+<COMPONENT type="1001" id="8514" >
 <cdparam x="401" y="372" />
 <sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="5305" />
+<TGConnectingPoint num="0" id="8513" />
 </COMPONENT>
 
-<COMPONENT type="1012" id="5314" >
+<COMPONENT type="1012" id="8522" >
 <cdparam x="396" y="272" />
 <sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="5310" />
-<TGConnectingPoint num="1" id="5311" />
-<TGConnectingPoint num="2" id="5312" />
-<TGConnectingPoint num="3" id="5313" />
+<TGConnectingPoint num="0" id="8518" />
+<TGConnectingPoint num="1" id="8519" />
+<TGConnectingPoint num="2" id="8520" />
+<TGConnectingPoint num="3" id="8521" />
 </COMPONENT>
-<SUBCOMPONENT type="-1" id="5307" >
-<father id="5314" num="0" />
+<SUBCOMPONENT type="-1" id="8515" >
+<father id="8522" num="0" />
 <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" />
 <infoparam name="guard 1" value="[ ]" />
 </SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5308" >
-<father id="5314" num="1" />
+<SUBCOMPONENT type="-1" id="8516" >
+<father id="8522" num="1" />
 <cdparam x="431" y="282" />
 <sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
 <infoparam name="guard 2" value="[ ]" />
 </SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5309" >
-<father id="5314" num="2" />
+<SUBCOMPONENT type="-1" id="8517" >
+<father id="8522" num="2" />
 <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" />
@@ -11240,205 +16293,125 @@
 <infoparam name="guard 3" value="[ ]" />
 </SUBCOMPONENT>
 
-<COMPONENT type="1001" id="5316" >
+<COMPONENT type="1001" id="8524" >
 <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" />
+<TGConnectingPoint num="0" id="8523" />
 </COMPONENT>
 
-<COMPONENT type="1006" id="5319" >
+<COMPONENT type="1006" id="8527" >
 <cdparam x="255" y="420" />
 <sizeparam width="94" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="write channel" value="ECUStatus(1)" />
-<TGConnectingPoint num="0" id="5317" />
-<TGConnectingPoint num="1" id="5318" />
+<TGConnectingPoint num="0" id="8525" />
+<TGConnectingPoint num="1" id="8526" />
 <extraparam>
 <Data channelName="ECUStatus" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1006" id="5322" >
+<COMPONENT type="1006" id="8530" >
 <cdparam x="270" y="343" />
 <sizeparam width="64" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="write channel" value="ECUin(1)" />
-<TGConnectingPoint num="0" id="5320" />
-<TGConnectingPoint num="1" id="5321" />
+<TGConnectingPoint num="0" id="8528" />
+<TGConnectingPoint num="1" id="8529" />
 <extraparam>
 <Data channelName="ECUin" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1009" id="5325" >
+<COMPONENT type="1009" id="8533" >
 <cdparam x="354" y="204" />
 <sizeparam width="115" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="read channel" value="commandOut(1) " />
-<TGConnectingPoint num="0" id="5323" />
-<TGConnectingPoint num="1" id="5324" />
+<TGConnectingPoint num="0" id="8531" />
+<TGConnectingPoint num="1" id="8532" />
 <extraparam>
 <Data channelName="commandOut" nbOfSamples="1" secPattern="" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1000" id="5327" >
+<COMPONENT type="1000" id="8535" >
 <cdparam x="333" y="93" />
 <sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="5326" />
+<TGConnectingPoint num="0" id="8534" />
 </COMPONENT>
 
-<CONNECTOR type="115" id="5328" >
+<CONNECTOR type="115" id="8536" >
 <cdparam x="374" y="154" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="380" y="156" id="5282" />
-<P2  x="411" y="199" id="5323" />
+<P1  x="380" y="156" id="8490" />
+<P2  x="411" y="199" id="8531" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5329" >
+<CONNECTOR type="115" id="8537" >
 <cdparam x="411" y="229" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="411" y="229" id="5324" />
-<P2  x="411" y="262" id="5310" />
+<P1  x="411" y="229" id="8532" />
+<P2  x="411" y="262" id="8518" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5330" >
+<CONNECTOR type="115" id="8538" >
 <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="340" y="113" id="5326" />
-<P2  x="340" y="131" id="5280" />
+<P1  x="340" y="113" id="8534" />
+<P2  x="340" y="131" id="8488" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5331" >
+<CONNECTOR type="115" id="8539" >
 <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="371" y="287" id="5311" />
-<P2  x="302" y="338" id="5320" />
+<P1  x="371" y="287" id="8519" />
+<P2  x="302" y="338" id="8528" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5332" >
+<CONNECTOR type="115" id="8540" >
 <cdparam x="302" y="368" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="null" />
-<P1  x="302" y="368" id="5321" />
-<P2  x="302" y="415" id="5317" />
+<P1  x="302" y="368" id="8529" />
+<P2  x="302" y="415" id="8525" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5333" >
+<CONNECTOR type="115" id="8541" >
 <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="302" y="445" id="5318" />
-<P2  x="302" y="483" id="5315" />
+<P1  x="302" y="445" id="8526" />
+<P2  x="302" y="483" id="8523" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5334" >
+<CONNECTOR type="115" id="8542" >
 <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" />
+<P1  x="411" y="327" id="8521" />
+<P2  x="411" y="367" id="8513" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
-<CONNECTOR type="115" id="5335" >
+<CONNECTOR type="115" id="8543" >
 <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="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" />
+<P1  x="300" y="156" id="8489" />
+<P2  x="273" y="202" id="8493" />
 <AutomaticDrawing  data="true" />
 </CONNECTOR>
 
@@ -11451,1368 +16424,1368 @@
 
 <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="1100" id="6103" >
+<COMPONENT type="1100" id="8577" >
 <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" />
+<TGConnectingPoint num="0" id="8553" />
+<TGConnectingPoint num="1" id="8554" />
+<TGConnectingPoint num="2" id="8555" />
+<TGConnectingPoint num="3" id="8556" />
+<TGConnectingPoint num="4" id="8557" />
+<TGConnectingPoint num="5" id="8558" />
+<TGConnectingPoint num="6" id="8559" />
+<TGConnectingPoint num="7" id="8560" />
+<TGConnectingPoint num="8" id="8561" />
+<TGConnectingPoint num="9" id="8562" />
+<TGConnectingPoint num="10" id="8563" />
+<TGConnectingPoint num="11" id="8564" />
+<TGConnectingPoint num="12" id="8565" />
+<TGConnectingPoint num="13" id="8566" />
+<TGConnectingPoint num="14" id="8567" />
+<TGConnectingPoint num="15" id="8568" />
+<TGConnectingPoint num="16" id="8569" />
+<TGConnectingPoint num="17" id="8570" />
+<TGConnectingPoint num="18" id="8571" />
+<TGConnectingPoint num="19" id="8572" />
+<TGConnectingPoint num="20" id="8573" />
+<TGConnectingPoint num="21" id="8574" />
+<TGConnectingPoint num="22" id="8575" />
+<TGConnectingPoint num="23" id="8576" />
 <extraparam>
 <info stereotype="CPURR" nodeName="IMU" />
 <attributes nbOfCores="1" byteDataSize="4"  schedulingPolicy="0"  sliceTime="10000"  goIdleTime="10"  maxConsecutiveIdleCycles="10"  pipelineSize="5"  taskSwitchingTime="20"  branchingPredictionPenalty="2"  cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
 </extraparam>
 </COMPONENT>
-<SUBCOMPONENT type="1101" id="6128" >
-<father id="6103" num="0" />
+<SUBCOMPONENT type="1101" id="8552" >
+<father id="8577" num="0" />
 <cdparam x="212" y="986" />
-<sizeparam width="130" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="108" 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" />
+<cdrectangleparam minX="0" maxX="142" minY="0" maxY="60" />
+<infoparam name="TGComponent" value="Design::IMU" />
+<TGConnectingPoint num="0" id="8544" />
+<TGConnectingPoint num="1" id="8545" />
+<TGConnectingPoint num="2" id="8546" />
+<TGConnectingPoint num="3" id="8547" />
+<TGConnectingPoint num="4" id="8548" />
+<TGConnectingPoint num="5" id="8549" />
+<TGConnectingPoint num="6" id="8550" />
+<TGConnectingPoint num="7" id="8551" />
 <extraparam>
-<info value="TMLTask::name" taskName="name" referenceTaskName="TMLTask" priority="0" operation="VOID" fatherComponentMECType="0" />
+<info value="Design::IMU" taskName="IMU" referenceTaskName="Design" priority="0" operation="IMU" fatherComponentMECType="0" />
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1102" id="5360" >
+<COMPONENT type="1102" id="8602" >
 <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="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" />
+<TGConnectingPoint num="0" id="8578" />
+<TGConnectingPoint num="1" id="8579" />
+<TGConnectingPoint num="2" id="8580" />
+<TGConnectingPoint num="3" id="8581" />
+<TGConnectingPoint num="4" id="8582" />
+<TGConnectingPoint num="5" id="8583" />
+<TGConnectingPoint num="6" id="8584" />
+<TGConnectingPoint num="7" id="8585" />
+<TGConnectingPoint num="8" id="8586" />
+<TGConnectingPoint num="9" id="8587" />
+<TGConnectingPoint num="10" id="8588" />
+<TGConnectingPoint num="11" id="8589" />
+<TGConnectingPoint num="12" id="8590" />
+<TGConnectingPoint num="13" id="8591" />
+<TGConnectingPoint num="14" id="8592" />
+<TGConnectingPoint num="15" id="8593" />
+<TGConnectingPoint num="16" id="8594" />
+<TGConnectingPoint num="17" id="8595" />
+<TGConnectingPoint num="18" id="8596" />
+<TGConnectingPoint num="19" id="8597" />
+<TGConnectingPoint num="20" id="8598" />
+<TGConnectingPoint num="21" id="8599" />
+<TGConnectingPoint num="22" id="8600" />
+<TGConnectingPoint num="23" id="8601" />
 <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="5394" >
+<COMPONENT type="1100" id="8636" >
 <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="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" />
+<TGConnectingPoint num="0" id="8612" />
+<TGConnectingPoint num="1" id="8613" />
+<TGConnectingPoint num="2" id="8614" />
+<TGConnectingPoint num="3" id="8615" />
+<TGConnectingPoint num="4" id="8616" />
+<TGConnectingPoint num="5" id="8617" />
+<TGConnectingPoint num="6" id="8618" />
+<TGConnectingPoint num="7" id="8619" />
+<TGConnectingPoint num="8" id="8620" />
+<TGConnectingPoint num="9" id="8621" />
+<TGConnectingPoint num="10" id="8622" />
+<TGConnectingPoint num="11" id="8623" />
+<TGConnectingPoint num="12" id="8624" />
+<TGConnectingPoint num="13" id="8625" />
+<TGConnectingPoint num="14" id="8626" />
+<TGConnectingPoint num="15" id="8627" />
+<TGConnectingPoint num="16" id="8628" />
+<TGConnectingPoint num="17" id="8629" />
+<TGConnectingPoint num="18" id="8630" />
+<TGConnectingPoint num="19" id="8631" />
+<TGConnectingPoint num="20" id="8632" />
+<TGConnectingPoint num="21" id="8633" />
+<TGConnectingPoint num="22" id="8634" />
+<TGConnectingPoint num="23" id="8635" />
 <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="5369" >
-<father id="5394" num="0" />
+<SUBCOMPONENT type="1101" id="8611" >
+<father id="8636" num="0" />
 <cdparam x="790" y="537" />
-<sizeparam width="100" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="111" 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="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" />
+<cdrectangleparam minX="0" maxX="39" minY="0" maxY="60" />
+<infoparam name="TGComponent" value="Design::GPS" />
+<TGConnectingPoint num="0" id="8603" />
+<TGConnectingPoint num="1" id="8604" />
+<TGConnectingPoint num="2" id="8605" />
+<TGConnectingPoint num="3" id="8606" />
+<TGConnectingPoint num="4" id="8607" />
+<TGConnectingPoint num="5" id="8608" />
+<TGConnectingPoint num="6" id="8609" />
+<TGConnectingPoint num="7" id="8610" />
 <extraparam>
-<info value="Des::GPS" taskName="GPS" referenceTaskName="Des" priority="0" operation="GPS" fatherComponentMECType="0" />
+<info value="Design::GPS" taskName="GPS" referenceTaskName="Design" priority="0" operation="GPS" fatherComponentMECType="0" />
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1102" id="5419" >
+<COMPONENT type="1102" id="8661" >
 <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="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" />
+<TGConnectingPoint num="0" id="8637" />
+<TGConnectingPoint num="1" id="8638" />
+<TGConnectingPoint num="2" id="8639" />
+<TGConnectingPoint num="3" id="8640" />
+<TGConnectingPoint num="4" id="8641" />
+<TGConnectingPoint num="5" id="8642" />
+<TGConnectingPoint num="6" id="8643" />
+<TGConnectingPoint num="7" id="8644" />
+<TGConnectingPoint num="8" id="8645" />
+<TGConnectingPoint num="9" id="8646" />
+<TGConnectingPoint num="10" id="8647" />
+<TGConnectingPoint num="11" id="8648" />
+<TGConnectingPoint num="12" id="8649" />
+<TGConnectingPoint num="13" id="8650" />
+<TGConnectingPoint num="14" id="8651" />
+<TGConnectingPoint num="15" id="8652" />
+<TGConnectingPoint num="16" id="8653" />
+<TGConnectingPoint num="17" id="8654" />
+<TGConnectingPoint num="18" id="8655" />
+<TGConnectingPoint num="19" id="8656" />
+<TGConnectingPoint num="20" id="8657" />
+<TGConnectingPoint num="21" id="8658" />
+<TGConnectingPoint num="22" id="8659" />
+<TGConnectingPoint num="23" id="8660" />
 <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="5453" >
+<COMPONENT type="1100" id="8695" >
 <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="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" />
+<TGConnectingPoint num="0" id="8671" />
+<TGConnectingPoint num="1" id="8672" />
+<TGConnectingPoint num="2" id="8673" />
+<TGConnectingPoint num="3" id="8674" />
+<TGConnectingPoint num="4" id="8675" />
+<TGConnectingPoint num="5" id="8676" />
+<TGConnectingPoint num="6" id="8677" />
+<TGConnectingPoint num="7" id="8678" />
+<TGConnectingPoint num="8" id="8679" />
+<TGConnectingPoint num="9" id="8680" />
+<TGConnectingPoint num="10" id="8681" />
+<TGConnectingPoint num="11" id="8682" />
+<TGConnectingPoint num="12" id="8683" />
+<TGConnectingPoint num="13" id="8684" />
+<TGConnectingPoint num="14" id="8685" />
+<TGConnectingPoint num="15" id="8686" />
+<TGConnectingPoint num="16" id="8687" />
+<TGConnectingPoint num="17" id="8688" />
+<TGConnectingPoint num="18" id="8689" />
+<TGConnectingPoint num="19" id="8690" />
+<TGConnectingPoint num="20" id="8691" />
+<TGConnectingPoint num="21" id="8692" />
+<TGConnectingPoint num="22" id="8693" />
+<TGConnectingPoint num="23" id="8694" />
 <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="5428" >
-<father id="5453" num="0" />
+<SUBCOMPONENT type="1101" id="8670" >
+<father id="8695" num="0" />
 <cdparam x="1560" y="725" />
-<sizeparam width="100" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="111" 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="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" />
+<cdrectangleparam minX="0" maxX="139" minY="0" maxY="63" />
+<infoparam name="TGComponent" value="Design::ECU" />
+<TGConnectingPoint num="0" id="8662" />
+<TGConnectingPoint num="1" id="8663" />
+<TGConnectingPoint num="2" id="8664" />
+<TGConnectingPoint num="3" id="8665" />
+<TGConnectingPoint num="4" id="8666" />
+<TGConnectingPoint num="5" id="8667" />
+<TGConnectingPoint num="6" id="8668" />
+<TGConnectingPoint num="7" id="8669" />
 <extraparam>
-<info value="Des::ECU" taskName="ECU" referenceTaskName="Des" priority="0" operation="GPS" fatherComponentMECType="0" />
+<info value="Design::ECU" taskName="ECU" referenceTaskName="Design" priority="0" operation="GPS" fatherComponentMECType="0" />
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1102" id="5478" >
+<COMPONENT type="1102" id="8720" >
 <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="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" />
-<TGConnectingPoint num="13" id="5467" />
-<TGConnectingPoint num="14" id="5468" />
-<TGConnectingPoint num="15" id="5469" />
-<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" />
+<TGConnectingPoint num="0" id="8696" />
+<TGConnectingPoint num="1" id="8697" />
+<TGConnectingPoint num="2" id="8698" />
+<TGConnectingPoint num="3" id="8699" />
+<TGConnectingPoint num="4" id="8700" />
+<TGConnectingPoint num="5" id="8701" />
+<TGConnectingPoint num="6" id="8702" />
+<TGConnectingPoint num="7" id="8703" />
+<TGConnectingPoint num="8" id="8704" />
+<TGConnectingPoint num="9" id="8705" />
+<TGConnectingPoint num="10" id="8706" />
+<TGConnectingPoint num="11" id="8707" />
+<TGConnectingPoint num="12" id="8708" />
+<TGConnectingPoint num="13" id="8709" />
+<TGConnectingPoint num="14" id="8710" />
+<TGConnectingPoint num="15" id="8711" />
+<TGConnectingPoint num="16" id="8712" />
+<TGConnectingPoint num="17" id="8713" />
+<TGConnectingPoint num="18" id="8714" />
+<TGConnectingPoint num="19" id="8715" />
+<TGConnectingPoint num="20" id="8716" />
+<TGConnectingPoint num="21" id="8717" />
+<TGConnectingPoint num="22" id="8718" />
+<TGConnectingPoint num="23" id="8719" />
 <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="5503" >
+<COMPONENT type="1102" id="8745" >
 <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" />
-<TGConnectingPoint num="0" id="5479" />
-<TGConnectingPoint num="1" id="5480" />
-<TGConnectingPoint num="2" id="5481" />
-<TGConnectingPoint num="3" id="5482" />
-<TGConnectingPoint num="4" id="5483" />
-<TGConnectingPoint num="5" id="5484" />
-<TGConnectingPoint num="6" id="5485" />
-<TGConnectingPoint num="7" id="5486" />
-<TGConnectingPoint num="8" id="5487" />
-<TGConnectingPoint num="9" id="5488" />
-<TGConnectingPoint num="10" id="5489" />
-<TGConnectingPoint num="11" id="5490" />
-<TGConnectingPoint num="12" id="5491" />
-<TGConnectingPoint num="13" id="5492" />
-<TGConnectingPoint num="14" id="5493" />
-<TGConnectingPoint num="15" id="5494" />
-<TGConnectingPoint num="16" id="5495" />
-<TGConnectingPoint num="17" id="5496" />
-<TGConnectingPoint num="18" id="5497" />
-<TGConnectingPoint num="19" id="5498" />
-<TGConnectingPoint num="20" id="5499" />
-<TGConnectingPoint num="21" id="5500" />
-<TGConnectingPoint num="22" id="5501" />
-<TGConnectingPoint num="23" id="5502" />
+<TGConnectingPoint num="0" id="8721" />
+<TGConnectingPoint num="1" id="8722" />
+<TGConnectingPoint num="2" id="8723" />
+<TGConnectingPoint num="3" id="8724" />
+<TGConnectingPoint num="4" id="8725" />
+<TGConnectingPoint num="5" id="8726" />
+<TGConnectingPoint num="6" id="8727" />
+<TGConnectingPoint num="7" id="8728" />
+<TGConnectingPoint num="8" id="8729" />
+<TGConnectingPoint num="9" id="8730" />
+<TGConnectingPoint num="10" id="8731" />
+<TGConnectingPoint num="11" id="8732" />
+<TGConnectingPoint num="12" id="8733" />
+<TGConnectingPoint num="13" id="8734" />
+<TGConnectingPoint num="14" id="8735" />
+<TGConnectingPoint num="15" id="8736" />
+<TGConnectingPoint num="16" id="8737" />
+<TGConnectingPoint num="17" id="8738" />
+<TGConnectingPoint num="18" id="8739" />
+<TGConnectingPoint num="19" id="8740" />
+<TGConnectingPoint num="20" id="8741" />
+<TGConnectingPoint num="21" id="8742" />
+<TGConnectingPoint num="22" id="8743" />
+<TGConnectingPoint num="23" id="8744" />
 <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="5537" >
+<COMPONENT type="1100" id="8779" >
 <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="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" />
-<TGConnectingPoint num="7" id="5520" />
-<TGConnectingPoint num="8" id="5521" />
-<TGConnectingPoint num="9" id="5522" />
-<TGConnectingPoint num="10" id="5523" />
-<TGConnectingPoint num="11" id="5524" />
-<TGConnectingPoint num="12" id="5525" />
-<TGConnectingPoint num="13" id="5526" />
-<TGConnectingPoint num="14" id="5527" />
-<TGConnectingPoint num="15" id="5528" />
-<TGConnectingPoint num="16" id="5529" />
-<TGConnectingPoint num="17" id="5530" />
-<TGConnectingPoint num="18" id="5531" />
-<TGConnectingPoint num="19" id="5532" />
-<TGConnectingPoint num="20" id="5533" />
-<TGConnectingPoint num="21" id="5534" />
-<TGConnectingPoint num="22" id="5535" />
-<TGConnectingPoint num="23" id="5536" />
+<TGConnectingPoint num="0" id="8755" />
+<TGConnectingPoint num="1" id="8756" />
+<TGConnectingPoint num="2" id="8757" />
+<TGConnectingPoint num="3" id="8758" />
+<TGConnectingPoint num="4" id="8759" />
+<TGConnectingPoint num="5" id="8760" />
+<TGConnectingPoint num="6" id="8761" />
+<TGConnectingPoint num="7" id="8762" />
+<TGConnectingPoint num="8" id="8763" />
+<TGConnectingPoint num="9" id="8764" />
+<TGConnectingPoint num="10" id="8765" />
+<TGConnectingPoint num="11" id="8766" />
+<TGConnectingPoint num="12" id="8767" />
+<TGConnectingPoint num="13" id="8768" />
+<TGConnectingPoint num="14" id="8769" />
+<TGConnectingPoint num="15" id="8770" />
+<TGConnectingPoint num="16" id="8771" />
+<TGConnectingPoint num="17" id="8772" />
+<TGConnectingPoint num="18" id="8773" />
+<TGConnectingPoint num="19" id="8774" />
+<TGConnectingPoint num="20" id="8775" />
+<TGConnectingPoint num="21" id="8776" />
+<TGConnectingPoint num="22" id="8777" />
+<TGConnectingPoint num="23" id="8778" />
 <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="5512" >
-<father id="5537" num="0" />
+<SUBCOMPONENT type="1101" id="8754" >
+<father id="8779" num="0" />
 <cdparam x="667" y="199" />
-<sizeparam width="90" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="109" 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" />
-<TGConnectingPoint num="0" id="5504" />
-<TGConnectingPoint num="1" id="5505" />
-<TGConnectingPoint num="2" id="5506" />
-<TGConnectingPoint num="3" id="5507" />
-<TGConnectingPoint num="4" id="5508" />
-<TGConnectingPoint num="5" id="5509" />
-<TGConnectingPoint num="6" id="5510" />
-<TGConnectingPoint num="7" id="5511" />
+<cdrectangleparam minX="0" maxX="141" minY="0" maxY="60" />
+<infoparam name="TGComponent" value="Design::V2X" />
+<TGConnectingPoint num="0" id="8746" />
+<TGConnectingPoint num="1" id="8747" />
+<TGConnectingPoint num="2" id="8748" />
+<TGConnectingPoint num="3" id="8749" />
+<TGConnectingPoint num="4" id="8750" />
+<TGConnectingPoint num="5" id="8751" />
+<TGConnectingPoint num="6" id="8752" />
+<TGConnectingPoint num="7" id="8753" />
 <extraparam>
-<info value="Des::V2X" taskName="V2X" referenceTaskName="Des" priority="0" operation="V2X" fatherComponentMECType="0" />
+<info value="Design::V2X" taskName="V2X" referenceTaskName="Design" priority="0" operation="V2X" fatherComponentMECType="0" />
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1100" id="5571" >
+<COMPONENT type="1100" id="8813" >
 <cdparam x="736" y="377" />
 <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" />
-<TGConnectingPoint num="0" id="5547" />
-<TGConnectingPoint num="1" id="5548" />
-<TGConnectingPoint num="2" id="5549" />
-<TGConnectingPoint num="3" id="5550" />
-<TGConnectingPoint num="4" id="5551" />
-<TGConnectingPoint num="5" id="5552" />
-<TGConnectingPoint num="6" id="5553" />
-<TGConnectingPoint num="7" id="5554" />
-<TGConnectingPoint num="8" id="5555" />
-<TGConnectingPoint num="9" id="5556" />
-<TGConnectingPoint num="10" id="5557" />
-<TGConnectingPoint num="11" id="5558" />
-<TGConnectingPoint num="12" id="5559" />
-<TGConnectingPoint num="13" id="5560" />
-<TGConnectingPoint num="14" id="5561" />
-<TGConnectingPoint num="15" id="5562" />
-<TGConnectingPoint num="16" id="5563" />
-<TGConnectingPoint num="17" id="5564" />
-<TGConnectingPoint num="18" id="5565" />
-<TGConnectingPoint num="19" id="5566" />
-<TGConnectingPoint num="20" id="5567" />
-<TGConnectingPoint num="21" id="5568" />
-<TGConnectingPoint num="22" id="5569" />
-<TGConnectingPoint num="23" id="5570" />
+<TGConnectingPoint num="0" id="8789" />
+<TGConnectingPoint num="1" id="8790" />
+<TGConnectingPoint num="2" id="8791" />
+<TGConnectingPoint num="3" id="8792" />
+<TGConnectingPoint num="4" id="8793" />
+<TGConnectingPoint num="5" id="8794" />
+<TGConnectingPoint num="6" id="8795" />
+<TGConnectingPoint num="7" id="8796" />
+<TGConnectingPoint num="8" id="8797" />
+<TGConnectingPoint num="9" id="8798" />
+<TGConnectingPoint num="10" id="8799" />
+<TGConnectingPoint num="11" id="8800" />
+<TGConnectingPoint num="12" id="8801" />
+<TGConnectingPoint num="13" id="8802" />
+<TGConnectingPoint num="14" id="8803" />
+<TGConnectingPoint num="15" id="8804" />
+<TGConnectingPoint num="16" id="8805" />
+<TGConnectingPoint num="17" id="8806" />
+<TGConnectingPoint num="18" id="8807" />
+<TGConnectingPoint num="19" id="8808" />
+<TGConnectingPoint num="20" id="8809" />
+<TGConnectingPoint num="21" id="8810" />
+<TGConnectingPoint num="22" id="8811" />
+<TGConnectingPoint num="23" id="8812" />
 <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>
-<SUBCOMPONENT type="1101" id="5546" >
-<father id="5571" num="0" />
+<SUBCOMPONENT type="1101" id="8788" >
+<father id="8813" num="0" />
 <cdparam x="789" y="416" />
-<sizeparam width="171" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="190" 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" />
-<TGConnectingPoint num="0" id="5538" />
-<TGConnectingPoint num="1" id="5539" />
-<TGConnectingPoint num="2" id="5540" />
-<TGConnectingPoint num="3" id="5541" />
-<TGConnectingPoint num="4" id="5542" />
-<TGConnectingPoint num="5" id="5543" />
-<TGConnectingPoint num="6" id="5544" />
-<TGConnectingPoint num="7" id="5545" />
+<cdrectangleparam minX="0" maxX="131" minY="0" maxY="60" />
+<infoparam name="TGComponent" value="Design::ExteriorInterface" />
+<TGConnectingPoint num="0" id="8780" />
+<TGConnectingPoint num="1" id="8781" />
+<TGConnectingPoint num="2" id="8782" />
+<TGConnectingPoint num="3" id="8783" />
+<TGConnectingPoint num="4" id="8784" />
+<TGConnectingPoint num="5" id="8785" />
+<TGConnectingPoint num="6" id="8786" />
+<TGConnectingPoint num="7" id="8787" />
 <extraparam>
-<info value="Des::ExteriorInterface" taskName="ExteriorInterface" referenceTaskName="Des" priority="0" operation="ExteriorInterface" fatherComponentMECType="0" />
+<info value="Design::ExteriorInterface" taskName="ExteriorInterface" referenceTaskName="Design" priority="0" operation="ExteriorInterface" fatherComponentMECType="0" />
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1102" id="5596" >
+<COMPONENT type="1102" id="8838" >
 <cdparam x="1245" y="164" />
 <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" />
-<TGConnectingPoint num="0" id="5572" />
-<TGConnectingPoint num="1" id="5573" />
-<TGConnectingPoint num="2" id="5574" />
-<TGConnectingPoint num="3" id="5575" />
-<TGConnectingPoint num="4" id="5576" />
-<TGConnectingPoint num="5" id="5577" />
-<TGConnectingPoint num="6" id="5578" />
-<TGConnectingPoint num="7" id="5579" />
-<TGConnectingPoint num="8" id="5580" />
-<TGConnectingPoint num="9" id="5581" />
-<TGConnectingPoint num="10" id="5582" />
-<TGConnectingPoint num="11" id="5583" />
-<TGConnectingPoint num="12" id="5584" />
-<TGConnectingPoint num="13" id="5585" />
-<TGConnectingPoint num="14" id="5586" />
-<TGConnectingPoint num="15" id="5587" />
-<TGConnectingPoint num="16" id="5588" />
-<TGConnectingPoint num="17" id="5589" />
-<TGConnectingPoint num="18" id="5590" />
-<TGConnectingPoint num="19" id="5591" />
-<TGConnectingPoint num="20" id="5592" />
-<TGConnectingPoint num="21" id="5593" />
-<TGConnectingPoint num="22" id="5594" />
-<TGConnectingPoint num="23" id="5595" />
+<TGConnectingPoint num="0" id="8814" />
+<TGConnectingPoint num="1" id="8815" />
+<TGConnectingPoint num="2" id="8816" />
+<TGConnectingPoint num="3" id="8817" />
+<TGConnectingPoint num="4" id="8818" />
+<TGConnectingPoint num="5" id="8819" />
+<TGConnectingPoint num="6" id="8820" />
+<TGConnectingPoint num="7" id="8821" />
+<TGConnectingPoint num="8" id="8822" />
+<TGConnectingPoint num="9" id="8823" />
+<TGConnectingPoint num="10" id="8824" />
+<TGConnectingPoint num="11" id="8825" />
+<TGConnectingPoint num="12" id="8826" />
+<TGConnectingPoint num="13" id="8827" />
+<TGConnectingPoint num="14" id="8828" />
+<TGConnectingPoint num="15" id="8829" />
+<TGConnectingPoint num="16" id="8830" />
+<TGConnectingPoint num="17" id="8831" />
+<TGConnectingPoint num="18" id="8832" />
+<TGConnectingPoint num="19" id="8833" />
+<TGConnectingPoint num="20" id="8834" />
+<TGConnectingPoint num="21" id="8835" />
+<TGConnectingPoint num="22" id="8836" />
+<TGConnectingPoint num="23" id="8837" />
 <extraparam>
 <info stereotype="BUS-RR" nodeName="internalIpadBus" />
 <attributes byteDataSize="4"  arbitrationPolicy="0"  sliceTime="10000"  pipelineSize="1"  clockRatio="1"  privacy="1" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1105" id="5621" >
+<COMPONENT type="1105" id="8863" >
 <cdparam x="1518" y="81" />
 <sizeparam width="137" height="127" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="MemoryiPad" value="name" />
-<TGConnectingPoint num="0" id="5597" />
-<TGConnectingPoint num="1" id="5598" />
-<TGConnectingPoint num="2" id="5599" />
-<TGConnectingPoint num="3" id="5600" />
-<TGConnectingPoint num="4" id="5601" />
-<TGConnectingPoint num="5" id="5602" />
-<TGConnectingPoint num="6" id="5603" />
-<TGConnectingPoint num="7" id="5604" />
-<TGConnectingPoint num="8" id="5605" />
-<TGConnectingPoint num="9" id="5606" />
-<TGConnectingPoint num="10" id="5607" />
-<TGConnectingPoint num="11" id="5608" />
-<TGConnectingPoint num="12" id="5609" />
-<TGConnectingPoint num="13" id="5610" />
-<TGConnectingPoint num="14" id="5611" />
-<TGConnectingPoint num="15" id="5612" />
-<TGConnectingPoint num="16" id="5613" />
-<TGConnectingPoint num="17" id="5614" />
-<TGConnectingPoint num="18" id="5615" />
-<TGConnectingPoint num="19" id="5616" />
-<TGConnectingPoint num="20" id="5617" />
-<TGConnectingPoint num="21" id="5618" />
-<TGConnectingPoint num="22" id="5619" />
-<TGConnectingPoint num="23" id="5620" />
+<TGConnectingPoint num="0" id="8839" />
+<TGConnectingPoint num="1" id="8840" />
+<TGConnectingPoint num="2" id="8841" />
+<TGConnectingPoint num="3" id="8842" />
+<TGConnectingPoint num="4" id="8843" />
+<TGConnectingPoint num="5" id="8844" />
+<TGConnectingPoint num="6" id="8845" />
+<TGConnectingPoint num="7" id="8846" />
+<TGConnectingPoint num="8" id="8847" />
+<TGConnectingPoint num="9" id="8848" />
+<TGConnectingPoint num="10" id="8849" />
+<TGConnectingPoint num="11" id="8850" />
+<TGConnectingPoint num="12" id="8851" />
+<TGConnectingPoint num="13" id="8852" />
+<TGConnectingPoint num="14" id="8853" />
+<TGConnectingPoint num="15" id="8854" />
+<TGConnectingPoint num="16" id="8855" />
+<TGConnectingPoint num="17" id="8856" />
+<TGConnectingPoint num="18" id="8857" />
+<TGConnectingPoint num="19" id="8858" />
+<TGConnectingPoint num="20" id="8859" />
+<TGConnectingPoint num="21" id="8860" />
+<TGConnectingPoint num="22" id="8861" />
+<TGConnectingPoint num="23" id="8862" />
 <extraparam>
 <info stereotype="MEMORY" nodeName="MemoryiPad" />
 <attributes byteDataSize="4"  clockRatio="1"  bufferType="0" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1102" id="5646" >
+<COMPONENT type="1102" id="8888" >
 <cdparam x="780" y="963" />
 <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="internalBus" value="name" />
-<TGConnectingPoint num="0" id="5622" />
-<TGConnectingPoint num="1" id="5623" />
-<TGConnectingPoint num="2" id="5624" />
-<TGConnectingPoint num="3" id="5625" />
-<TGConnectingPoint num="4" id="5626" />
-<TGConnectingPoint num="5" id="5627" />
-<TGConnectingPoint num="6" id="5628" />
-<TGConnectingPoint num="7" id="5629" />
-<TGConnectingPoint num="8" id="5630" />
-<TGConnectingPoint num="9" id="5631" />
-<TGConnectingPoint num="10" id="5632" />
-<TGConnectingPoint num="11" id="5633" />
-<TGConnectingPoint num="12" id="5634" />
-<TGConnectingPoint num="13" id="5635" />
-<TGConnectingPoint num="14" id="5636" />
-<TGConnectingPoint num="15" id="5637" />
-<TGConnectingPoint num="16" id="5638" />
-<TGConnectingPoint num="17" id="5639" />
-<TGConnectingPoint num="18" id="5640" />
-<TGConnectingPoint num="19" id="5641" />
-<TGConnectingPoint num="20" id="5642" />
-<TGConnectingPoint num="21" id="5643" />
-<TGConnectingPoint num="22" id="5644" />
-<TGConnectingPoint num="23" id="5645" />
+<TGConnectingPoint num="0" id="8864" />
+<TGConnectingPoint num="1" id="8865" />
+<TGConnectingPoint num="2" id="8866" />
+<TGConnectingPoint num="3" id="8867" />
+<TGConnectingPoint num="4" id="8868" />
+<TGConnectingPoint num="5" id="8869" />
+<TGConnectingPoint num="6" id="8870" />
+<TGConnectingPoint num="7" id="8871" />
+<TGConnectingPoint num="8" id="8872" />
+<TGConnectingPoint num="9" id="8873" />
+<TGConnectingPoint num="10" id="8874" />
+<TGConnectingPoint num="11" id="8875" />
+<TGConnectingPoint num="12" id="8876" />
+<TGConnectingPoint num="13" id="8877" />
+<TGConnectingPoint num="14" id="8878" />
+<TGConnectingPoint num="15" id="8879" />
+<TGConnectingPoint num="16" id="8880" />
+<TGConnectingPoint num="17" id="8881" />
+<TGConnectingPoint num="18" id="8882" />
+<TGConnectingPoint num="19" id="8883" />
+<TGConnectingPoint num="20" id="8884" />
+<TGConnectingPoint num="21" id="8885" />
+<TGConnectingPoint num="22" id="8886" />
+<TGConnectingPoint num="23" id="8887" />
 <extraparam>
 <info stereotype="BUS-RR" nodeName="internalBus" />
 <attributes byteDataSize="4"  arbitrationPolicy="0"  sliceTime="10000"  pipelineSize="1"  clockRatio="1"  privacy="1" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1105" id="5671" >
+<COMPONENT type="1105" id="8913" >
 <cdparam x="805" y="1043" />
 <sizeparam width="200" height="100" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="MemorySystem" value="name" />
-<TGConnectingPoint num="0" id="5647" />
-<TGConnectingPoint num="1" id="5648" />
-<TGConnectingPoint num="2" id="5649" />
-<TGConnectingPoint num="3" id="5650" />
-<TGConnectingPoint num="4" id="5651" />
-<TGConnectingPoint num="5" id="5652" />
-<TGConnectingPoint num="6" id="5653" />
-<TGConnectingPoint num="7" id="5654" />
-<TGConnectingPoint num="8" id="5655" />
-<TGConnectingPoint num="9" id="5656" />
-<TGConnectingPoint num="10" id="5657" />
-<TGConnectingPoint num="11" id="5658" />
-<TGConnectingPoint num="12" id="5659" />
-<TGConnectingPoint num="13" id="5660" />
-<TGConnectingPoint num="14" id="5661" />
-<TGConnectingPoint num="15" id="5662" />
-<TGConnectingPoint num="16" id="5663" />
-<TGConnectingPoint num="17" id="5664" />
-<TGConnectingPoint num="18" id="5665" />
-<TGConnectingPoint num="19" id="5666" />
-<TGConnectingPoint num="20" id="5667" />
-<TGConnectingPoint num="21" id="5668" />
-<TGConnectingPoint num="22" id="5669" />
-<TGConnectingPoint num="23" id="5670" />
+<TGConnectingPoint num="0" id="8889" />
+<TGConnectingPoint num="1" id="8890" />
+<TGConnectingPoint num="2" id="8891" />
+<TGConnectingPoint num="3" id="8892" />
+<TGConnectingPoint num="4" id="8893" />
+<TGConnectingPoint num="5" id="8894" />
+<TGConnectingPoint num="6" id="8895" />
+<TGConnectingPoint num="7" id="8896" />
+<TGConnectingPoint num="8" id="8897" />
+<TGConnectingPoint num="9" id="8898" />
+<TGConnectingPoint num="10" id="8899" />
+<TGConnectingPoint num="11" id="8900" />
+<TGConnectingPoint num="12" id="8901" />
+<TGConnectingPoint num="13" id="8902" />
+<TGConnectingPoint num="14" id="8903" />
+<TGConnectingPoint num="15" id="8904" />
+<TGConnectingPoint num="16" id="8905" />
+<TGConnectingPoint num="17" id="8906" />
+<TGConnectingPoint num="18" id="8907" />
+<TGConnectingPoint num="19" id="8908" />
+<TGConnectingPoint num="20" id="8909" />
+<TGConnectingPoint num="21" id="8910" />
+<TGConnectingPoint num="22" id="8911" />
+<TGConnectingPoint num="23" id="8912" />
 <extraparam>
 <info stereotype="MEMORY" nodeName="MemorySystem" />
 <attributes byteDataSize="4"  clockRatio="1"  bufferType="0" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1100" id="5705" >
+<COMPONENT type="1100" id="8947" >
 <cdparam x="965" y="148" />
 <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="UI" value="name" />
-<TGConnectingPoint num="0" id="5681" />
-<TGConnectingPoint num="1" id="5682" />
-<TGConnectingPoint num="2" id="5683" />
-<TGConnectingPoint num="3" id="5684" />
-<TGConnectingPoint num="4" id="5685" />
-<TGConnectingPoint num="5" id="5686" />
-<TGConnectingPoint num="6" id="5687" />
-<TGConnectingPoint num="7" id="5688" />
-<TGConnectingPoint num="8" id="5689" />
-<TGConnectingPoint num="9" id="5690" />
-<TGConnectingPoint num="10" id="5691" />
-<TGConnectingPoint num="11" id="5692" />
-<TGConnectingPoint num="12" id="5693" />
-<TGConnectingPoint num="13" id="5694" />
-<TGConnectingPoint num="14" id="5695" />
-<TGConnectingPoint num="15" id="5696" />
-<TGConnectingPoint num="16" id="5697" />
-<TGConnectingPoint num="17" id="5698" />
-<TGConnectingPoint num="18" id="5699" />
-<TGConnectingPoint num="19" id="5700" />
-<TGConnectingPoint num="20" id="5701" />
-<TGConnectingPoint num="21" id="5702" />
-<TGConnectingPoint num="22" id="5703" />
-<TGConnectingPoint num="23" id="5704" />
+<TGConnectingPoint num="0" id="8923" />
+<TGConnectingPoint num="1" id="8924" />
+<TGConnectingPoint num="2" id="8925" />
+<TGConnectingPoint num="3" id="8926" />
+<TGConnectingPoint num="4" id="8927" />
+<TGConnectingPoint num="5" id="8928" />
+<TGConnectingPoint num="6" id="8929" />
+<TGConnectingPoint num="7" id="8930" />
+<TGConnectingPoint num="8" id="8931" />
+<TGConnectingPoint num="9" id="8932" />
+<TGConnectingPoint num="10" id="8933" />
+<TGConnectingPoint num="11" id="8934" />
+<TGConnectingPoint num="12" id="8935" />
+<TGConnectingPoint num="13" id="8936" />
+<TGConnectingPoint num="14" id="8937" />
+<TGConnectingPoint num="15" id="8938" />
+<TGConnectingPoint num="16" id="8939" />
+<TGConnectingPoint num="17" id="8940" />
+<TGConnectingPoint num="18" id="8941" />
+<TGConnectingPoint num="19" id="8942" />
+<TGConnectingPoint num="20" id="8943" />
+<TGConnectingPoint num="21" id="8944" />
+<TGConnectingPoint num="22" id="8945" />
+<TGConnectingPoint num="23" id="8946" />
 <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>
-<SUBCOMPONENT type="1101" id="5680" >
-<father id="5705" num="0" />
+<SUBCOMPONENT type="1101" id="8922" >
+<father id="8947" num="0" />
 <cdparam x="1033" y="193" />
-<sizeparam width="79" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="98" 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" />
-<TGConnectingPoint num="0" id="5672" />
-<TGConnectingPoint num="1" id="5673" />
-<TGConnectingPoint num="2" id="5674" />
-<TGConnectingPoint num="3" id="5675" />
-<TGConnectingPoint num="4" id="5676" />
-<TGConnectingPoint num="5" id="5677" />
-<TGConnectingPoint num="6" id="5678" />
-<TGConnectingPoint num="7" id="5679" />
+<cdrectangleparam minX="0" maxX="152" minY="0" maxY="60" />
+<infoparam name="TGComponent" value="Design::UI" />
+<TGConnectingPoint num="0" id="8914" />
+<TGConnectingPoint num="1" id="8915" />
+<TGConnectingPoint num="2" id="8916" />
+<TGConnectingPoint num="3" id="8917" />
+<TGConnectingPoint num="4" id="8918" />
+<TGConnectingPoint num="5" id="8919" />
+<TGConnectingPoint num="6" id="8920" />
+<TGConnectingPoint num="7" id="8921" />
 <extraparam>
-<info value="Des::UI" taskName="UI" referenceTaskName="Des" priority="0" operation="ECU" fatherComponentMECType="0" />
+<info value="Design::UI" taskName="UI" referenceTaskName="Design" priority="0" operation="ECU" fatherComponentMECType="0" />
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1102" id="5730" >
+<COMPONENT type="1102" id="8972" >
 <cdparam x="771" y="295" />
 <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" />
-<TGConnectingPoint num="0" id="5706" />
-<TGConnectingPoint num="1" id="5707" />
-<TGConnectingPoint num="2" id="5708" />
-<TGConnectingPoint num="3" id="5709" />
-<TGConnectingPoint num="4" id="5710" />
-<TGConnectingPoint num="5" id="5711" />
-<TGConnectingPoint num="6" id="5712" />
-<TGConnectingPoint num="7" id="5713" />
-<TGConnectingPoint num="8" id="5714" />
-<TGConnectingPoint num="9" id="5715" />
-<TGConnectingPoint num="10" id="5716" />
-<TGConnectingPoint num="11" id="5717" />
-<TGConnectingPoint num="12" id="5718" />
-<TGConnectingPoint num="13" id="5719" />
-<TGConnectingPoint num="14" id="5720" />
-<TGConnectingPoint num="15" id="5721" />
-<TGConnectingPoint num="16" id="5722" />
-<TGConnectingPoint num="17" id="5723" />
-<TGConnectingPoint num="18" id="5724" />
-<TGConnectingPoint num="19" id="5725" />
-<TGConnectingPoint num="20" id="5726" />
-<TGConnectingPoint num="21" id="5727" />
-<TGConnectingPoint num="22" id="5728" />
-<TGConnectingPoint num="23" id="5729" />
+<TGConnectingPoint num="0" id="8948" />
+<TGConnectingPoint num="1" id="8949" />
+<TGConnectingPoint num="2" id="8950" />
+<TGConnectingPoint num="3" id="8951" />
+<TGConnectingPoint num="4" id="8952" />
+<TGConnectingPoint num="5" id="8953" />
+<TGConnectingPoint num="6" id="8954" />
+<TGConnectingPoint num="7" id="8955" />
+<TGConnectingPoint num="8" id="8956" />
+<TGConnectingPoint num="9" id="8957" />
+<TGConnectingPoint num="10" id="8958" />
+<TGConnectingPoint num="11" id="8959" />
+<TGConnectingPoint num="12" id="8960" />
+<TGConnectingPoint num="13" id="8961" />
+<TGConnectingPoint num="14" id="8962" />
+<TGConnectingPoint num="15" id="8963" />
+<TGConnectingPoint num="16" id="8964" />
+<TGConnectingPoint num="17" id="8965" />
+<TGConnectingPoint num="18" id="8966" />
+<TGConnectingPoint num="19" id="8967" />
+<TGConnectingPoint num="20" id="8968" />
+<TGConnectingPoint num="21" id="8969" />
+<TGConnectingPoint num="22" id="8970" />
+<TGConnectingPoint num="23" id="8971" />
 <extraparam>
 <info stereotype="BUS-RR" nodeName="WiFI" />
 <attributes byteDataSize="4"  arbitrationPolicy="0"  sliceTime="10000"  pipelineSize="1"  clockRatio="1"  privacy="0" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1102" id="5755" >
+<COMPONENT type="1102" id="8997" >
 <cdparam x="159" y="501" />
 <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" />
-<TGConnectingPoint num="0" id="5731" />
-<TGConnectingPoint num="1" id="5732" />
-<TGConnectingPoint num="2" id="5733" />
-<TGConnectingPoint num="3" id="5734" />
-<TGConnectingPoint num="4" id="5735" />
-<TGConnectingPoint num="5" id="5736" />
-<TGConnectingPoint num="6" id="5737" />
-<TGConnectingPoint num="7" id="5738" />
-<TGConnectingPoint num="8" id="5739" />
-<TGConnectingPoint num="9" id="5740" />
-<TGConnectingPoint num="10" id="5741" />
-<TGConnectingPoint num="11" id="5742" />
-<TGConnectingPoint num="12" id="5743" />
-<TGConnectingPoint num="13" id="5744" />
-<TGConnectingPoint num="14" id="5745" />
-<TGConnectingPoint num="15" id="5746" />
-<TGConnectingPoint num="16" id="5747" />
-<TGConnectingPoint num="17" id="5748" />
-<TGConnectingPoint num="18" id="5749" />
-<TGConnectingPoint num="19" id="5750" />
-<TGConnectingPoint num="20" id="5751" />
-<TGConnectingPoint num="21" id="5752" />
-<TGConnectingPoint num="22" id="5753" />
-<TGConnectingPoint num="23" id="5754" />
+<TGConnectingPoint num="0" id="8973" />
+<TGConnectingPoint num="1" id="8974" />
+<TGConnectingPoint num="2" id="8975" />
+<TGConnectingPoint num="3" id="8976" />
+<TGConnectingPoint num="4" id="8977" />
+<TGConnectingPoint num="5" id="8978" />
+<TGConnectingPoint num="6" id="8979" />
+<TGConnectingPoint num="7" id="8980" />
+<TGConnectingPoint num="8" id="8981" />
+<TGConnectingPoint num="9" id="8982" />
+<TGConnectingPoint num="10" id="8983" />
+<TGConnectingPoint num="11" id="8984" />
+<TGConnectingPoint num="12" id="8985" />
+<TGConnectingPoint num="13" id="8986" />
+<TGConnectingPoint num="14" id="8987" />
+<TGConnectingPoint num="15" id="8988" />
+<TGConnectingPoint num="16" id="8989" />
+<TGConnectingPoint num="17" id="8990" />
+<TGConnectingPoint num="18" id="8991" />
+<TGConnectingPoint num="19" id="8992" />
+<TGConnectingPoint num="20" id="8993" />
+<TGConnectingPoint num="21" id="8994" />
+<TGConnectingPoint num="22" id="8995" />
+<TGConnectingPoint num="23" id="8996" />
 <extraparam>
 <info stereotype="BUS-RR" nodeName="EthernetLaser" />
 <attributes byteDataSize="4"  arbitrationPolicy="0"  sliceTime="10000"  pipelineSize="1"  clockRatio="1"  privacy="1" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1102" id="5780" >
+<COMPONENT type="1102" id="9022" >
 <cdparam x="1101" y="800" />
 <sizeparam width="181" 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="CANVedecom" value="name" />
-<TGConnectingPoint num="0" id="5756" />
-<TGConnectingPoint num="1" id="5757" />
-<TGConnectingPoint num="2" id="5758" />
-<TGConnectingPoint num="3" id="5759" />
-<TGConnectingPoint num="4" id="5760" />
-<TGConnectingPoint num="5" id="5761" />
-<TGConnectingPoint num="6" id="5762" />
-<TGConnectingPoint num="7" id="5763" />
-<TGConnectingPoint num="8" id="5764" />
-<TGConnectingPoint num="9" id="5765" />
-<TGConnectingPoint num="10" id="5766" />
-<TGConnectingPoint num="11" id="5767" />
-<TGConnectingPoint num="12" id="5768" />
-<TGConnectingPoint num="13" id="5769" />
-<TGConnectingPoint num="14" id="5770" />
-<TGConnectingPoint num="15" id="5771" />
-<TGConnectingPoint num="16" id="5772" />
-<TGConnectingPoint num="17" id="5773" />
-<TGConnectingPoint num="18" id="5774" />
-<TGConnectingPoint num="19" id="5775" />
-<TGConnectingPoint num="20" id="5776" />
-<TGConnectingPoint num="21" id="5777" />
-<TGConnectingPoint num="22" id="5778" />
-<TGConnectingPoint num="23" id="5779" />
+<TGConnectingPoint num="0" id="8998" />
+<TGConnectingPoint num="1" id="8999" />
+<TGConnectingPoint num="2" id="9000" />
+<TGConnectingPoint num="3" id="9001" />
+<TGConnectingPoint num="4" id="9002" />
+<TGConnectingPoint num="5" id="9003" />
+<TGConnectingPoint num="6" id="9004" />
+<TGConnectingPoint num="7" id="9005" />
+<TGConnectingPoint num="8" id="9006" />
+<TGConnectingPoint num="9" id="9007" />
+<TGConnectingPoint num="10" id="9008" />
+<TGConnectingPoint num="11" id="9009" />
+<TGConnectingPoint num="12" id="9010" />
+<TGConnectingPoint num="13" id="9011" />
+<TGConnectingPoint num="14" id="9012" />
+<TGConnectingPoint num="15" id="9013" />
+<TGConnectingPoint num="16" id="9014" />
+<TGConnectingPoint num="17" id="9015" />
+<TGConnectingPoint num="18" id="9016" />
+<TGConnectingPoint num="19" id="9017" />
+<TGConnectingPoint num="20" id="9018" />
+<TGConnectingPoint num="21" id="9019" />
+<TGConnectingPoint num="22" id="9020" />
+<TGConnectingPoint num="23" id="9021" />
 <extraparam>
 <info stereotype="BUS-CAN" nodeName="CANVedecom" />
 <attributes byteDataSize="4"  arbitrationPolicy="2"  sliceTime="10000"  pipelineSize="1"  clockRatio="1"  privacy="0" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1100" id="5814" >
+<COMPONENT type="1100" id="9056" >
 <cdparam x="1174" y="683" />
 <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="MABX" value="name" />
-<TGConnectingPoint num="0" id="5790" />
-<TGConnectingPoint num="1" id="5791" />
-<TGConnectingPoint num="2" id="5792" />
-<TGConnectingPoint num="3" id="5793" />
-<TGConnectingPoint num="4" id="5794" />
-<TGConnectingPoint num="5" id="5795" />
-<TGConnectingPoint num="6" id="5796" />
-<TGConnectingPoint num="7" id="5797" />
-<TGConnectingPoint num="8" id="5798" />
-<TGConnectingPoint num="9" id="5799" />
-<TGConnectingPoint num="10" id="5800" />
-<TGConnectingPoint num="11" id="5801" />
-<TGConnectingPoint num="12" id="5802" />
-<TGConnectingPoint num="13" id="5803" />
-<TGConnectingPoint num="14" id="5804" />
-<TGConnectingPoint num="15" id="5805" />
-<TGConnectingPoint num="16" id="5806" />
-<TGConnectingPoint num="17" id="5807" />
-<TGConnectingPoint num="18" id="5808" />
-<TGConnectingPoint num="19" id="5809" />
-<TGConnectingPoint num="20" id="5810" />
-<TGConnectingPoint num="21" id="5811" />
-<TGConnectingPoint num="22" id="5812" />
-<TGConnectingPoint num="23" id="5813" />
+<TGConnectingPoint num="0" id="9032" />
+<TGConnectingPoint num="1" id="9033" />
+<TGConnectingPoint num="2" id="9034" />
+<TGConnectingPoint num="3" id="9035" />
+<TGConnectingPoint num="4" id="9036" />
+<TGConnectingPoint num="5" id="9037" />
+<TGConnectingPoint num="6" id="9038" />
+<TGConnectingPoint num="7" id="9039" />
+<TGConnectingPoint num="8" id="9040" />
+<TGConnectingPoint num="9" id="9041" />
+<TGConnectingPoint num="10" id="9042" />
+<TGConnectingPoint num="11" id="9043" />
+<TGConnectingPoint num="12" id="9044" />
+<TGConnectingPoint num="13" id="9045" />
+<TGConnectingPoint num="14" id="9046" />
+<TGConnectingPoint num="15" id="9047" />
+<TGConnectingPoint num="16" id="9048" />
+<TGConnectingPoint num="17" id="9049" />
+<TGConnectingPoint num="18" id="9050" />
+<TGConnectingPoint num="19" id="9051" />
+<TGConnectingPoint num="20" id="9052" />
+<TGConnectingPoint num="21" id="9053" />
+<TGConnectingPoint num="22" id="9054" />
+<TGConnectingPoint num="23" id="9055" />
 <extraparam>
 <info stereotype="CPURR" nodeName="MABX" />
 <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="5789" >
-<father id="5814" num="0" />
+<SUBCOMPONENT type="1101" id="9031" >
+<father id="9056" num="0" />
 <cdparam x="1247" y="730" />
-<sizeparam width="100" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="119" 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::MABX" />
-<TGConnectingPoint num="0" id="5781" />
-<TGConnectingPoint num="1" id="5782" />
-<TGConnectingPoint num="2" id="5783" />
-<TGConnectingPoint num="3" id="5784" />
-<TGConnectingPoint num="4" id="5785" />
-<TGConnectingPoint num="5" id="5786" />
-<TGConnectingPoint num="6" id="5787" />
-<TGConnectingPoint num="7" id="5788" />
+<cdrectangleparam minX="0" maxX="131" minY="0" maxY="60" />
+<infoparam name="TGComponent" value="Design::MABX" />
+<TGConnectingPoint num="0" id="9023" />
+<TGConnectingPoint num="1" id="9024" />
+<TGConnectingPoint num="2" id="9025" />
+<TGConnectingPoint num="3" id="9026" />
+<TGConnectingPoint num="4" id="9027" />
+<TGConnectingPoint num="5" id="9028" />
+<TGConnectingPoint num="6" id="9029" />
+<TGConnectingPoint num="7" id="9030" />
 <extraparam>
-<info value="Des::MABX" taskName="MABX" referenceTaskName="Des" priority="0" operation="MABX" fatherComponentMECType="0" />
+<info value="Design::MABX" taskName="MABX" referenceTaskName="Design" priority="0" operation="MABX" fatherComponentMECType="0" />
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1100" id="5857" >
+<COMPONENT type="1100" id="9099" >
 <cdparam x="774" y="789" />
 <sizeparam width="262" height="144" 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="System" value="name" />
-<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" />
+<TGConnectingPoint num="0" id="9075" />
+<TGConnectingPoint num="1" id="9076" />
+<TGConnectingPoint num="2" id="9077" />
+<TGConnectingPoint num="3" id="9078" />
+<TGConnectingPoint num="4" id="9079" />
+<TGConnectingPoint num="5" id="9080" />
+<TGConnectingPoint num="6" id="9081" />
+<TGConnectingPoint num="7" id="9082" />
+<TGConnectingPoint num="8" id="9083" />
+<TGConnectingPoint num="9" id="9084" />
+<TGConnectingPoint num="10" id="9085" />
+<TGConnectingPoint num="11" id="9086" />
+<TGConnectingPoint num="12" id="9087" />
+<TGConnectingPoint num="13" id="9088" />
+<TGConnectingPoint num="14" id="9089" />
+<TGConnectingPoint num="15" id="9090" />
+<TGConnectingPoint num="16" id="9091" />
+<TGConnectingPoint num="17" id="9092" />
+<TGConnectingPoint num="18" id="9093" />
+<TGConnectingPoint num="19" id="9094" />
+<TGConnectingPoint num="20" id="9095" />
+<TGConnectingPoint num="21" id="9096" />
+<TGConnectingPoint num="22" id="9097" />
+<TGConnectingPoint num="23" id="9098" />
 <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="5823" >
-<father id="5857" num="0" />
+<SUBCOMPONENT type="1101" id="9065" >
+<father id="9099" num="0" />
 <cdparam x="821" y="883" />
-<sizeparam width="135" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="154" 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" />
-<TGConnectingPoint num="0" id="5815" />
-<TGConnectingPoint num="1" id="5816" />
-<TGConnectingPoint num="2" id="5817" />
-<TGConnectingPoint num="3" id="5818" />
-<TGConnectingPoint num="4" id="5819" />
-<TGConnectingPoint num="5" id="5820" />
-<TGConnectingPoint num="6" id="5821" />
-<TGConnectingPoint num="7" id="5822" />
+<cdrectangleparam minX="0" maxX="108" minY="0" maxY="104" />
+<infoparam name="TGComponent" value="Design::Perception" />
+<TGConnectingPoint num="0" id="9057" />
+<TGConnectingPoint num="1" id="9058" />
+<TGConnectingPoint num="2" id="9059" />
+<TGConnectingPoint num="3" id="9060" />
+<TGConnectingPoint num="4" id="9061" />
+<TGConnectingPoint num="5" id="9062" />
+<TGConnectingPoint num="6" id="9063" />
+<TGConnectingPoint num="7" id="9064" />
 <extraparam>
-<info value="Des::Perception" taskName="Perception" referenceTaskName="Des" priority="0" operation="GPS" fatherComponentMECType="0" />
+<info value="Design::Perception" taskName="Perception" referenceTaskName="Design" priority="0" operation="GPS" fatherComponentMECType="0" />
 </extraparam>
 </SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="5832" >
-<father id="5857" num="1" />
+<SUBCOMPONENT type="1101" id="9074" >
+<father id="9099" num="1" />
 <cdparam x="830" y="835" />
-<sizeparam width="133" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="152" 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" />
-<TGConnectingPoint num="4" id="5828" />
-<TGConnectingPoint num="5" id="5829" />
-<TGConnectingPoint num="6" id="5830" />
-<TGConnectingPoint num="7" id="5831" />
+<cdrectangleparam minX="0" maxX="110" minY="0" maxY="104" />
+<infoparam name="TGComponent" value="Design::Supervisor" />
+<TGConnectingPoint num="0" id="9066" />
+<TGConnectingPoint num="1" id="9067" />
+<TGConnectingPoint num="2" id="9068" />
+<TGConnectingPoint num="3" id="9069" />
+<TGConnectingPoint num="4" id="9070" />
+<TGConnectingPoint num="5" id="9071" />
+<TGConnectingPoint num="6" id="9072" />
+<TGConnectingPoint num="7" id="9073" />
 <extraparam>
-<info value="Des::Supervisor" taskName="Supervisor" referenceTaskName="Des" priority="0" operation="Supervisor" fatherComponentMECType="0" />
+<info value="Design::Supervisor" taskName="Supervisor" referenceTaskName="Design" priority="0" operation="Supervisor" fatherComponentMECType="0" />
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1100" id="5891" >
+<COMPONENT type="1100" id="9133" >
 <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" />
-<TGConnectingPoint num="0" id="5867" />
-<TGConnectingPoint num="1" id="5868" />
-<TGConnectingPoint num="2" id="5869" />
-<TGConnectingPoint num="3" id="5870" />
-<TGConnectingPoint num="4" id="5871" />
-<TGConnectingPoint num="5" id="5872" />
-<TGConnectingPoint num="6" id="5873" />
-<TGConnectingPoint num="7" id="5874" />
-<TGConnectingPoint num="8" id="5875" />
-<TGConnectingPoint num="9" id="5876" />
-<TGConnectingPoint num="10" id="5877" />
-<TGConnectingPoint num="11" id="5878" />
-<TGConnectingPoint num="12" id="5879" />
-<TGConnectingPoint num="13" id="5880" />
-<TGConnectingPoint num="14" id="5881" />
-<TGConnectingPoint num="15" id="5882" />
-<TGConnectingPoint num="16" id="5883" />
-<TGConnectingPoint num="17" id="5884" />
-<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" />
-<TGConnectingPoint num="23" id="5890" />
+<TGConnectingPoint num="0" id="9109" />
+<TGConnectingPoint num="1" id="9110" />
+<TGConnectingPoint num="2" id="9111" />
+<TGConnectingPoint num="3" id="9112" />
+<TGConnectingPoint num="4" id="9113" />
+<TGConnectingPoint num="5" id="9114" />
+<TGConnectingPoint num="6" id="9115" />
+<TGConnectingPoint num="7" id="9116" />
+<TGConnectingPoint num="8" id="9117" />
+<TGConnectingPoint num="9" id="9118" />
+<TGConnectingPoint num="10" id="9119" />
+<TGConnectingPoint num="11" id="9120" />
+<TGConnectingPoint num="12" id="9121" />
+<TGConnectingPoint num="13" id="9122" />
+<TGConnectingPoint num="14" id="9123" />
+<TGConnectingPoint num="15" id="9124" />
+<TGConnectingPoint num="16" id="9125" />
+<TGConnectingPoint num="17" id="9126" />
+<TGConnectingPoint num="18" id="9127" />
+<TGConnectingPoint num="19" id="9128" />
+<TGConnectingPoint num="20" id="9129" />
+<TGConnectingPoint num="21" id="9130" />
+<TGConnectingPoint num="22" id="9131" />
+<TGConnectingPoint num="23" id="9132" />
 <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="5866" >
-<father id="5891" num="0" />
+<SUBCOMPONENT type="1101" id="9108" >
+<father id="9133" num="0" />
 <cdparam x="200" y="434" />
-<sizeparam width="138" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="157" 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" />
-<TGConnectingPoint num="0" id="5858" />
-<TGConnectingPoint num="1" id="5859" />
-<TGConnectingPoint num="2" id="5860" />
-<TGConnectingPoint num="3" id="5861" />
-<TGConnectingPoint num="4" id="5862" />
-<TGConnectingPoint num="5" id="5863" />
-<TGConnectingPoint num="6" id="5864" />
-<TGConnectingPoint num="7" id="5865" />
+<cdrectangleparam minX="0" maxX="93" minY="0" maxY="60" />
+<infoparam name="TGComponent" value="Design::FusionLidar" />
+<TGConnectingPoint num="0" id="9100" />
+<TGConnectingPoint num="1" id="9101" />
+<TGConnectingPoint num="2" id="9102" />
+<TGConnectingPoint num="3" id="9103" />
+<TGConnectingPoint num="4" id="9104" />
+<TGConnectingPoint num="5" id="9105" />
+<TGConnectingPoint num="6" id="9106" />
+<TGConnectingPoint num="7" id="9107" />
 <extraparam>
-<info value="Des::FusionLidar" taskName="FusionLidar" referenceTaskName="Des" priority="0" operation="GPS" fatherComponentMECType="0" />
+<info value="Design::FusionLidar" taskName="FusionLidar" referenceTaskName="Design" priority="0" operation="GPS" fatherComponentMECType="0" />
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1102" id="5916" >
+<COMPONENT type="1102" id="9158" >
 <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" />
-<TGConnectingPoint num="0" id="5892" />
-<TGConnectingPoint num="1" id="5893" />
-<TGConnectingPoint num="2" id="5894" />
-<TGConnectingPoint num="3" id="5895" />
-<TGConnectingPoint num="4" id="5896" />
-<TGConnectingPoint num="5" id="5897" />
-<TGConnectingPoint num="6" id="5898" />
-<TGConnectingPoint num="7" id="5899" />
-<TGConnectingPoint num="8" id="5900" />
-<TGConnectingPoint num="9" id="5901" />
-<TGConnectingPoint num="10" id="5902" />
-<TGConnectingPoint num="11" id="5903" />
-<TGConnectingPoint num="12" id="5904" />
-<TGConnectingPoint num="13" id="5905" />
-<TGConnectingPoint num="14" id="5906" />
-<TGConnectingPoint num="15" id="5907" />
-<TGConnectingPoint num="16" id="5908" />
-<TGConnectingPoint num="17" id="5909" />
-<TGConnectingPoint num="18" id="5910" />
-<TGConnectingPoint num="19" id="5911" />
-<TGConnectingPoint num="20" id="5912" />
-<TGConnectingPoint num="21" id="5913" />
-<TGConnectingPoint num="22" id="5914" />
-<TGConnectingPoint num="23" id="5915" />
+<TGConnectingPoint num="0" id="9134" />
+<TGConnectingPoint num="1" id="9135" />
+<TGConnectingPoint num="2" id="9136" />
+<TGConnectingPoint num="3" id="9137" />
+<TGConnectingPoint num="4" id="9138" />
+<TGConnectingPoint num="5" id="9139" />
+<TGConnectingPoint num="6" id="9140" />
+<TGConnectingPoint num="7" id="9141" />
+<TGConnectingPoint num="8" id="9142" />
+<TGConnectingPoint num="9" id="9143" />
+<TGConnectingPoint num="10" id="9144" />
+<TGConnectingPoint num="11" id="9145" />
+<TGConnectingPoint num="12" id="9146" />
+<TGConnectingPoint num="13" id="9147" />
+<TGConnectingPoint num="14" id="9148" />
+<TGConnectingPoint num="15" id="9149" />
+<TGConnectingPoint num="16" id="9150" />
+<TGConnectingPoint num="17" id="9151" />
+<TGConnectingPoint num="18" id="9152" />
+<TGConnectingPoint num="19" id="9153" />
+<TGConnectingPoint num="20" id="9154" />
+<TGConnectingPoint num="21" id="9155" />
+<TGConnectingPoint num="22" id="9156" />
+<TGConnectingPoint num="23" id="9157" />
 <extraparam>
 <info stereotype="BUS-RR" nodeName="CANRadar" />
 <attributes byteDataSize="4"  arbitrationPolicy="0"  sliceTime="10000"  pipelineSize="1"  clockRatio="1"  privacy="1" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1100" id="5950" >
+<COMPONENT type="1100" id="9192" >
 <cdparam x="158" y="571" />
 <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" />
-<TGConnectingPoint num="0" id="5926" />
-<TGConnectingPoint num="1" id="5927" />
-<TGConnectingPoint num="2" id="5928" />
-<TGConnectingPoint num="3" id="5929" />
-<TGConnectingPoint num="4" id="5930" />
-<TGConnectingPoint num="5" id="5931" />
-<TGConnectingPoint num="6" id="5932" />
-<TGConnectingPoint num="7" id="5933" />
-<TGConnectingPoint num="8" id="5934" />
-<TGConnectingPoint num="9" id="5935" />
-<TGConnectingPoint num="10" id="5936" />
-<TGConnectingPoint num="11" id="5937" />
-<TGConnectingPoint num="12" id="5938" />
-<TGConnectingPoint num="13" id="5939" />
-<TGConnectingPoint num="14" id="5940" />
-<TGConnectingPoint num="15" id="5941" />
-<TGConnectingPoint num="16" id="5942" />
-<TGConnectingPoint num="17" id="5943" />
-<TGConnectingPoint num="18" id="5944" />
-<TGConnectingPoint num="19" id="5945" />
-<TGConnectingPoint num="20" id="5946" />
-<TGConnectingPoint num="21" id="5947" />
-<TGConnectingPoint num="22" id="5948" />
-<TGConnectingPoint num="23" id="5949" />
+<TGConnectingPoint num="0" id="9168" />
+<TGConnectingPoint num="1" id="9169" />
+<TGConnectingPoint num="2" id="9170" />
+<TGConnectingPoint num="3" id="9171" />
+<TGConnectingPoint num="4" id="9172" />
+<TGConnectingPoint num="5" id="9173" />
+<TGConnectingPoint num="6" id="9174" />
+<TGConnectingPoint num="7" id="9175" />
+<TGConnectingPoint num="8" id="9176" />
+<TGConnectingPoint num="9" id="9177" />
+<TGConnectingPoint num="10" id="9178" />
+<TGConnectingPoint num="11" id="9179" />
+<TGConnectingPoint num="12" id="9180" />
+<TGConnectingPoint num="13" id="9181" />
+<TGConnectingPoint num="14" id="9182" />
+<TGConnectingPoint num="15" id="9183" />
+<TGConnectingPoint num="16" id="9184" />
+<TGConnectingPoint num="17" id="9185" />
+<TGConnectingPoint num="18" id="9186" />
+<TGConnectingPoint num="19" id="9187" />
+<TGConnectingPoint num="20" id="9188" />
+<TGConnectingPoint num="21" id="9189" />
+<TGConnectingPoint num="22" id="9190" />
+<TGConnectingPoint num="23" id="9191" />
 <extraparam>
 <info stereotype="CPURR" nodeName="Radar" />
 <attributes nbOfCores="1" byteDataSize="4"  schedulingPolicy="0"  sliceTime="10000"  goIdleTime="10"  maxConsecutiveIdleCycles="10"  pipelineSize="5"  taskSwitchingTime="20"  branchingPredictionPenalty="2"  cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
 </extraparam>
 </COMPONENT>
-<SUBCOMPONENT type="1101" id="5925" >
-<father id="5950" num="0" />
+<SUBCOMPONENT type="1101" id="9167" >
+<father id="9192" num="0" />
 <cdparam x="199" y="621" />
-<sizeparam width="104" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="123" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
-<cdrectangleparam minX="0" maxX="146" minY="0" maxY="60" />
-<infoparam name="TGComponent" value="Des::Radar" />
-<TGConnectingPoint num="0" id="5917" />
-<TGConnectingPoint num="1" id="5918" />
-<TGConnectingPoint num="2" id="5919" />
-<TGConnectingPoint num="3" id="5920" />
-<TGConnectingPoint num="4" id="5921" />
-<TGConnectingPoint num="5" id="5922" />
-<TGConnectingPoint num="6" id="5923" />
-<TGConnectingPoint num="7" id="5924" />
+<cdrectangleparam minX="0" maxX="127" minY="0" maxY="60" />
+<infoparam name="TGComponent" value="Design::Radar" />
+<TGConnectingPoint num="0" id="9159" />
+<TGConnectingPoint num="1" id="9160" />
+<TGConnectingPoint num="2" id="9161" />
+<TGConnectingPoint num="3" id="9162" />
+<TGConnectingPoint num="4" id="9163" />
+<TGConnectingPoint num="5" id="9164" />
+<TGConnectingPoint num="6" id="9165" />
+<TGConnectingPoint num="7" id="9166" />
 <extraparam>
-<info value="Des::Radar" taskName="Radar" referenceTaskName="Des" priority="0" operation="ECU" fatherComponentMECType="0" />
+<info value="Design::Radar" taskName="Radar" referenceTaskName="Design" priority="0" operation="ECU" fatherComponentMECType="0" />
 </extraparam>
 </SUBCOMPONENT>
 
-<COMPONENT type="1102" id="5975" >
+<COMPONENT type="1102" id="9217" >
 <cdparam x="166" y="872" />
 <sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="EthernetCamera" value="name" />
-<TGConnectingPoint num="0" id="5951" />
-<TGConnectingPoint num="1" id="5952" />
-<TGConnectingPoint num="2" id="5953" />
-<TGConnectingPoint num="3" id="5954" />
-<TGConnectingPoint num="4" id="5955" />
-<TGConnectingPoint num="5" id="5956" />
-<TGConnectingPoint num="6" id="5957" />
-<TGConnectingPoint num="7" id="5958" />
-<TGConnectingPoint num="8" id="5959" />
-<TGConnectingPoint num="9" id="5960" />
-<TGConnectingPoint num="10" id="5961" />
-<TGConnectingPoint num="11" id="5962" />
-<TGConnectingPoint num="12" id="5963" />
-<TGConnectingPoint num="13" id="5964" />
-<TGConnectingPoint num="14" id="5965" />
-<TGConnectingPoint num="15" id="5966" />
-<TGConnectingPoint num="16" id="5967" />
-<TGConnectingPoint num="17" id="5968" />
-<TGConnectingPoint num="18" id="5969" />
-<TGConnectingPoint num="19" id="5970" />
-<TGConnectingPoint num="20" id="5971" />
-<TGConnectingPoint num="21" id="5972" />
-<TGConnectingPoint num="22" id="5973" />
-<TGConnectingPoint num="23" id="5974" />
+<TGConnectingPoint num="0" id="9193" />
+<TGConnectingPoint num="1" id="9194" />
+<TGConnectingPoint num="2" id="9195" />
+<TGConnectingPoint num="3" id="9196" />
+<TGConnectingPoint num="4" id="9197" />
+<TGConnectingPoint num="5" id="9198" />
+<TGConnectingPoint num="6" id="9199" />
+<TGConnectingPoint num="7" id="9200" />
+<TGConnectingPoint num="8" id="9201" />
+<TGConnectingPoint num="9" id="9202" />
+<TGConnectingPoint num="10" id="9203" />
+<TGConnectingPoint num="11" id="9204" />
+<TGConnectingPoint num="12" id="9205" />
+<TGConnectingPoint num="13" id="9206" />
+<TGConnectingPoint num="14" id="9207" />
+<TGConnectingPoint num="15" id="9208" />
+<TGConnectingPoint num="16" id="9209" />
+<TGConnectingPoint num="17" id="9210" />
+<TGConnectingPoint num="18" id="9211" />
+<TGConnectingPoint num="19" id="9212" />
+<TGConnectingPoint num="20" id="9213" />
+<TGConnectingPoint num="21" id="9214" />
+<TGConnectingPoint num="22" id="9215" />
+<TGConnectingPoint num="23" id="9216" />
 <extraparam>
 <info stereotype="BUS-RR" nodeName="EthernetCamera" />
 <attributes byteDataSize="4"  arbitrationPolicy="0"  sliceTime="10000"  pipelineSize="1"  clockRatio="1"  privacy="1" />
 </extraparam>
 </COMPONENT>
 
-<COMPONENT type="1100" id="6009" >
+<COMPONENT type="1100" id="9251" >
 <cdparam x="166" y="756" />
 <sizeparam width="250" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="Camera" value="name" />
-<TGConnectingPoint num="0" id="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" />
+<TGConnectingPoint num="0" id="9227" />
+<TGConnectingPoint num="1" id="9228" />
+<TGConnectingPoint num="2" id="9229" />
+<TGConnectingPoint num="3" id="9230" />
+<TGConnectingPoint num="4" id="9231" />
+<TGConnectingPoint num="5" id="9232" />
+<TGConnectingPoint num="6" id="9233" />
+<TGConnectingPoint num="7" id="9234" />
+<TGConnectingPoint num="8" id="9235" />
+<TGConnectingPoint num="9" id="9236" />
+<TGConnectingPoint num="10" id="9237" />
+<TGConnectingPoint num="11" id="9238" />
+<TGConnectingPoint num="12" id="9239" />
+<TGConnectingPoint num="13" id="9240" />
+<TGConnectingPoint num="14" id="9241" />
+<TGConnectingPoint num="15" id="9242" />
+<TGConnectingPoint num="16" id="9243" />
+<TGConnectingPoint num="17" id="9244" />
+<TGConnectingPoint num="18" id="9245" />
+<TGConnectingPoint num="19" id="9246" />
+<TGConnectingPoint num="20" id="9247" />
+<TGConnectingPoint num="21" id="9248" />
+<TGConnectingPoint num="22" id="9249" />
+<TGConnectingPoint num="23" id="9250" />
 <extraparam>
 <info stereotype="CPURR" nodeName="Camera" />
 <attributes nbOfCores="1" byteDataSize="4"  schedulingPolicy="0"  sliceTime="10000"  goIdleTime="10"  maxConsecutiveIdleCycles="10"  pipelineSize="5"  taskSwitchingTime="20"  branchingPredictionPenalty="2"  cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
 </extraparam>
 </COMPONENT>
-<SUBCOMPONENT type="1101" id="5984" >
-<father id="6009" num="0" />
+<SUBCOMPONENT type="1101" id="9226" >
+<father id="9251" num="0" />
 <cdparam x="207" y="806" />
-<sizeparam width="115" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="134" 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="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" />
+<cdrectangleparam minX="0" maxX="116" minY="0" maxY="60" />
+<infoparam name="TGComponent" value="Design::Camera" />
+<TGConnectingPoint num="0" id="9218" />
+<TGConnectingPoint num="1" id="9219" />
+<TGConnectingPoint num="2" id="9220" />
+<TGConnectingPoint num="3" id="9221" />
+<TGConnectingPoint num="4" id="9222" />
+<TGConnectingPoint num="5" id="9223" />
+<TGConnectingPoint num="6" id="9224" />
+<TGConnectingPoint num="7" id="9225" />
 <extraparam>
-<info value="Des::Camera" taskName="Camera" referenceTaskName="Des" priority="0" operation="ECU" fatherComponentMECType="0" />
+<info value="Design::Camera" taskName="Camera" referenceTaskName="Design" priority="0" operation="ECU" fatherComponentMECType="0" />
 </extraparam>
 </SUBCOMPONENT>
 
-<CONNECTOR type="125" id="6010" >
+<CONNECTOR type="125" id="9252" >
 <cdparam x="774" y="933" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="905" y="789" id="5834" />
-<P2  x="965" y="644" id="5340" />
+<P1  x="905" y="789" id="9076" />
+<P2  x="965" y="644" id="8582" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6011" >
+<CONNECTOR type="125" id="9253" >
 <cdparam x="840" y="602" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="840" y="596" id="5376" />
-<P2  x="840" y="619" id="5337" />
+<P1  x="840" y="596" id="8618" />
+<P2  x="840" y="619" id="8579" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6012" >
+<CONNECTOR type="125" id="9254" >
 <cdparam x="1529" y="681" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="1529" y="681" id="5437" />
-<P2  x="1503" y="656" id="5410" />
+<P1  x="1529" y="681" id="8679" />
+<P2  x="1503" y="656" id="8652" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6013" >
+<CONNECTOR type="125" id="9255" >
 <cdparam x="1361" y="683" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="1361" y="683" id="5799" />
-<P2  x="1378" y="656" id="5409" />
+<P1  x="1361" y="683" id="9041" />
+<P2  x="1378" y="656" id="8651" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6014" >
+<CONNECTOR type="125" id="9256" >
 <cdparam x="774" y="897" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="774" y="897" id="5845" />
-<P2  x="416" y="897" id="5955" />
+<P1  x="774" y="897" id="9087" />
+<P2  x="416" y="897" id="9197" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6015" >
+<CONNECTOR type="125" id="9257" >
 <cdparam x="774" y="861" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="774" y="861" id="5836" />
-<P2  x="408" y="712" id="5896" />
+<P1  x="774" y="861" id="9078" />
+<P2  x="408" y="712" id="9138" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6016" >
+<CONNECTOR type="125" id="9258" >
 <cdparam x="970" y="789" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="970" y="789" id="5842" />
-<P2  x="1152" y="406" id="5468" />
+<P1  x="970" y="789" id="9084" />
+<P2  x="1152" y="406" id="8710" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6017" >
+<CONNECTOR type="125" id="9259" >
 <cdparam x="1168" y="251" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="1152" y="248" id="5696" />
-<P2  x="1152" y="356" id="5462" />
+<P1  x="1152" y="248" id="8938" />
+<P2  x="1152" y="356" id="8704" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6018" >
+<CONNECTOR type="125" id="9260" >
 <cdparam x="1361" y="783" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="1361" y="783" id="5805" />
-<P2  x="1361" y="872" id="5488" />
+<P1  x="1361" y="783" id="9047" />
+<P2  x="1361" y="872" id="8730" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6019" >
+<CONNECTOR type="125" id="9261" >
 <cdparam x="1036" y="897" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="1036" y="897" id="5846" />
-<P2  x="1174" y="897" id="5482" />
+<P1  x="1036" y="897" id="9088" />
+<P2  x="1174" y="897" id="8724" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6020" >
+<CONNECTOR type="125" id="9262" >
 <cdparam x="768" y="249" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="768" y="249" id="5528" />
-<P2  x="833" y="295" id="5714" />
+<P1  x="768" y="249" id="8770" />
+<P2  x="833" y="295" id="8956" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6021" >
+<CONNECTOR type="125" id="9263" >
 <cdparam x="1504" y="190" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="1518" y="176" id="5609" />
-<P2  x="1495" y="176" id="5583" />
+<P1  x="1518" y="176" id="8851" />
+<P2  x="1495" y="176" id="8825" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6022" >
+<CONNECTOR type="125" id="9264" >
 <cdparam x="1202" y="217" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="1215" y="223" id="5694" />
-<P2  x="1245" y="201" id="5584" />
+<P1  x="1215" y="223" id="8936" />
+<P2  x="1245" y="201" id="8826" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6023" >
+<CONNECTOR type="125" id="9265" >
 <cdparam x="781" y="703" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="905" y="1043" id="5648" />
-<P2  x="905" y="1013" id="5628" />
+<P1  x="905" y="1043" id="8890" />
+<P2  x="905" y="1013" id="8870" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6024" >
+<CONNECTOR type="125" id="9266" >
 <cdparam x="955" y="601" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="905" y="933" id="5839" />
-<P2  x="905" y="963" id="5623" />
+<P1  x="905" y="933" id="9081" />
+<P2  x="905" y="963" id="8865" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6025" >
+<CONNECTOR type="125" id="9267" >
 <cdparam x="1017" y="406" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="896" y="377" id="5548" />
-<P2  x="896" y="345" id="5712" />
+<P1  x="896" y="377" id="8790" />
+<P2  x="896" y="345" id="8954" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6026" >
+<CONNECTOR type="125" id="9268" >
 <cdparam x="1160" y="227" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="1027" y="248" id="5695" />
-<P2  x="958" y="295" id="5715" />
+<P1  x="1027" y="248" id="8937" />
+<P2  x="958" y="295" id="8957" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6027" >
+<CONNECTOR type="125" id="9269" >
 <cdparam x="836" y="299" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="774" y="825" id="5843" />
-<P2  x="409" y="513" id="5742" />
+<P1  x="774" y="825" id="9085" />
+<P2  x="409" y="513" id="8984" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6028" >
+<CONNECTOR type="125" id="9270" >
 <cdparam x="708" y="38" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="284" y="484" id="5873" />
-<P2  x="284" y="501" id="5732" />
+<P1  x="284" y="484" id="9115" />
+<P2  x="284" y="501" id="8974" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6029" >
+<CONNECTOR type="125" id="9271" >
 <cdparam x="1226" y="328" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="1236" y="783" id="5804" />
-<P2  x="1236" y="800" id="5765" />
+<P1  x="1236" y="783" id="9046" />
+<P2  x="1236" y="800" id="9007" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6030" >
+<CONNECTOR type="125" id="9272" >
 <cdparam x="1070" y="350" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="1036" y="825" id="5844" />
-<P2  x="1101" y="825" id="5759" />
+<P1  x="1036" y="825" id="9086" />
+<P2  x="1101" y="825" id="9001" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6031" >
+<CONNECTOR type="125" id="9273" >
 <cdparam x="707" y="291" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="283" y="671" id="5932" />
-<P2  x="283" y="687" id="5893" />
+<P1  x="283" y="671" id="9174" />
+<P2  x="283" y="687" id="9135" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
 <spy value="false" />
 </extraparam>
 </CONNECTOR>
-<CONNECTOR type="125" id="6032" >
+<CONNECTOR type="125" id="9274" >
 <cdparam x="712" y="407" />
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="{info}" />
-<P1  x="291" y="856" id="5991" />
-<P2  x="291" y="872" id="5952" />
+<P1  x="291" y="856" id="9233" />
+<P2  x="291" y="872" id="9194" />
 <AutomaticDrawing  data="true" />
 <extraparam>
 <info priority="0" />
diff --git a/src/ui/GTMLModeling.java b/src/ui/GTMLModeling.java
index 046a9d0c43..d7cfebd54c 100755
--- a/src/ui/GTMLModeling.java
+++ b/src/ui/GTMLModeling.java
@@ -3402,6 +3402,8 @@ if (tgc instanceof TMLArchiCrossbarNode) {
 	    	outChans.put(chan,rd);
 	    	toAdd.add(rd);
 	    	toAdd.add(wr);
+		listE.addCor(rd, (TGComponent) rd.getReferenceObject());
+		listE.addCor(wr, (TGComponent) wr.getReferenceObject());
 	    }
 	    tmlm.removeAllChannels();
 	    for (TMLChannel c:toAdd){
@@ -3412,8 +3414,9 @@ if (tgc instanceof TMLArchiCrossbarNode) {
 	
 	TMLActivity act = firewall.getActivityDiagram();
 	TMLADStartState adStart = (TMLADStartState) firewallADP.getComponentList().get(0);
-	TMLStartState start = new TMLStartState("start", firewallADP.getComponentList().get(0));
+	TMLStartState start = new TMLStartState("start", adStart);
 	act.setFirst(start);
+	listE.addCor(start,adStart);
 	/*
 	TMLForLoop loop = new TMLForLoop("infiniteloop",firewallADP.getComponentList().get(0));
 	loop.setInit("");
@@ -3425,7 +3428,9 @@ if (tgc instanceof TMLArchiCrossbarNode) {
 	TMLChoice choice = new TMLChoice("chooseChannel", firewallADP.getComponentList().get(0));
 	act.addElement(choice);
 	loop.addNext(choice);
-	*/
+	
+*/
+
 	TMLADExecI exec = new TMLADExecI(200,50,firewallADP.getMinX(), firewallADP.getMaxX(), firewallADP.getMinY(), firewallADP.getMaxY(), false,null, firewallADP);
 	exec.setDelayValue("100");
 	firewallADP.addComponent(exec,200,50,false,true);
@@ -3438,7 +3443,8 @@ if (tgc instanceof TMLArchiCrossbarNode) {
 	ex.setAction("100");
 	act.addElement(ex);
 	start.addNext(ex);
-	
+	listE.addCor(ex,exec);
+
 	TMLADChoice adChoice = new TMLADChoice(200,100, firewallADP.getMinX(), firewallADP.getMaxX(), firewallADP.getMinY(), firewallADP.getMaxY(), false,null, firewallADP);
 	firewallADP.addComponent(adChoice, 100,100,false,true);
 	
@@ -3449,6 +3455,7 @@ if (tgc instanceof TMLArchiCrossbarNode) {
 	TMLChoice choice = new TMLChoice("chooseChannel", adChoice);
 	act.addElement(choice);
 	ex.addNext(choice);
+	listE.addCor(choice,adChoice);
 	
 	TMLComponentTaskDiagramPanel tcdp =tmlcdp.tmlctdp;
 
@@ -3504,15 +3511,16 @@ if (tgc instanceof TMLArchiCrossbarNode) {
 	    adRC.setChannelName(newChan.getName());
 	    adRC.setSamples("1");
 
-	    tmp =new TGConnectorTMLAD(adChoice.getX(), adChoice.getY(), firewallADP.getMinX(), firewallADP.getMaxX(), firewallADP.getMinY(), firewallADP.getMaxY(), false, null,firewallADP,adChoice.getTGConnectingPointAtIndex(i), adRC.getTGConnectingPointAtIndex(0), new Vector());
-	    firewallADP.addComponent(tmp, adChoice.getX(),adChoice.getY(),false,true);
+	    tmp =new TGConnectorTMLAD(exec.getX(), exec.getY(), firewallADP.getMinX(), firewallADP.getMaxX(), firewallADP.getMinY(), firewallADP.getMaxY(), false, null,firewallADP,adChoice.getTGConnectingPointAtIndex(i), adRC.getTGConnectingPointAtIndex(0), new Vector());
+	    firewallADP.addComponent(tmp, exec.getX(),exec.getY(),false,true);
 
 	    firewallADP.addComponent(adRC,xpos,150,false,true);
 	    TMLReadChannel rd = new TMLReadChannel(newChan.getName(), adRC);
 	    rd.setNbOfSamples("1");
 	    rd.addChannel(newChan);
 	    choice.addNext(rd);
-	    choice.addGuard("[]");
+	    choice.addGuard("");
+	    listE.addCor(rd,adRC);
 	    act.addElement(rd);
 	    if (channelAllowed(chan)){
 	        TMLChannel wrChan = outChans.get(chan);
@@ -3522,14 +3530,37 @@ if (tgc instanceof TMLArchiCrossbarNode) {
 	    	adWC.setSamples("1");
 		firewallADP.addComponent(adWC, xpos,200, false,true);
 
-		tmp =new TGConnectorTMLAD(adChoice.getX(), adChoice.getY(), firewallADP.getMinX(), firewallADP.getMaxX(), firewallADP.getMinY(), firewallADP.getMaxY(), false, null,firewallADP,adRC.getTGConnectingPointAtIndex(1), adWC.getTGConnectingPointAtIndex(0), new Vector());
-		firewallADP.addComponent(tmp, adChoice.getX(),adChoice.getY(),false,true);
+		tmp =new TGConnectorTMLAD(exec.getX(), exec.getY(), firewallADP.getMinX(), firewallADP.getMaxX(), firewallADP.getMinY(), firewallADP.getMaxY(), false, null,firewallADP,adRC.getTGConnectingPointAtIndex(1), adWC.getTGConnectingPointAtIndex(0), new Vector());
+		firewallADP.addComponent(tmp, exec.getX(),exec.getY(),false,true);
 
 	        TMLWriteChannel wr = new TMLWriteChannel(wrChan.getName(), adWC);
 	        wr.setNbOfSamples("1");
 	        wr.addChannel(wrChan);
 		rd.addNext(wr);
 		act.addElement(wr);
+		listE.addCor(wr, adWC);
+	
+		TMLADStopState adStop = new TMLADStopState(xpos,200, firewallADP.getMinX(), firewallADP.getMaxX(), firewallADP.getMinY(), firewallADP.getMaxY(), false,null, firewallADP);
+		firewallADP.addComponent(adStop, xpos,200, false,true);
+		tmp =new TGConnectorTMLAD(adStop.getX(), adStop.getY(), firewallADP.getMinX(), firewallADP.getMaxX(), firewallADP.getMinY(), firewallADP.getMaxY(), false, null,firewallADP,adWC.getTGConnectingPointAtIndex(1), adStop.getTGConnectingPointAtIndex(0), new Vector());
+		firewallADP.addComponent(tmp, adStop.getX(),adStop.getY(),false,true);
+
+		TMLStopState stop = new TMLStopState("stop", adStop);
+		wr.addNext(stop);
+		act.addElement(stop);
+		listE.addCor(stop,adStop);
+	    }
+	    else {
+		TMLADStopState adStop = new TMLADStopState(xpos,200, firewallADP.getMinX(), firewallADP.getMaxX(), firewallADP.getMinY(), firewallADP.getMaxY(), false,null, firewallADP);
+		firewallADP.addComponent(adStop, xpos,200, false,true);
+	
+		tmp =new TGConnectorTMLAD(adStop.getX(), adStop.getY(), firewallADP.getMinX(), firewallADP.getMaxX(), firewallADP.getMinY(), firewallADP.getMaxY(), false, null,firewallADP,adRC.getTGConnectingPointAtIndex(1), adStop.getTGConnectingPointAtIndex(0), new Vector());
+		firewallADP.addComponent(tmp, adStop.getX(),adStop.getY(),false,true);
+
+		TMLStopState stop = new TMLStopState("stop", adStop);
+		rd.addNext(stop);
+		act.addElement(stop);
+		listE.addCor(stop,adStop);
 	    }
 	    for (TMLTask t:tmlm.getTasks()){
 	        TMLActivity actd = t.getActivityDiagram();
@@ -3539,6 +3570,20 @@ if (tgc instanceof TMLArchiCrossbarNode) {
 	    xpos+=100;
 	    i++;
 	}
+	/*while (i<4){
+	    	TMLADStopState adStop = new TMLADStopState(xpos,200, firewallADP.getMinX(), firewallADP.getMaxX(), firewallADP.getMinY(), firewallADP.getMaxY(), false,null, firewallADP);
+		firewallADP.addComponent(adStop, xpos,200, false,true);
+	
+		tmp =new TGConnectorTMLAD(adStop.getX(), adStop.getY(), firewallADP.getMinX(), firewallADP.getMaxX(), firewallADP.getMinY(), firewallADP.getMaxY(), false, null,firewallADP,adChoice.getTGConnectingPointAtIndex(i), adStop.getTGConnectingPointAtIndex(0), new Vector());
+		firewallADP.addComponent(tmp, adStop.getX(),adStop.getY(),false,true);
+
+		TMLStopState stop = new TMLStopState("stop", adStop);
+		choice.addNext(stop);
+		choice.addGuard("");
+		act.addElement(stop);
+		listE.addCor(stop,adStop);
+	    i++;
+	}*/
 	HwCPU cpu = new HwCPU(firewallNode.getName());
 	map.getTMLArchitecture().replaceFirewall(firewallNode,cpu);
 	map.addTaskToHwExecutionNode(firewall,cpu);
diff --git a/src/ui/TGComponent.java b/src/ui/TGComponent.java
index e3204d4a84..465abd15cc 100755
--- a/src/ui/TGComponent.java
+++ b/src/ui/TGComponent.java
@@ -1004,7 +1004,6 @@ public abstract class TGComponent implements CDElement, GenericTree {
 
 
         if (tdp.DIPLO_ANIMATE_ON) {
-	    System.out.println(getName());
             if (breakpoint) {
                 //System.out.println("breakpoint");
                 g.setColor(ColorManager.BREAKPOINT);
@@ -1054,8 +1053,7 @@ public abstract class TGComponent implements CDElement, GenericTree {
                       drawDiploID(g);
                       }*/
                 } else if (tdp instanceof TMLArchiDiagramPanel) {
-		  //  if (false){
-                    if (getDIPLOID() != -1) {
+		     if (getDIPLOID() != -1) {
                         if (tdp.DIPLO_ID_ON) {
                             drawDiploID(g);
                         }
@@ -1067,7 +1065,7 @@ public abstract class TGComponent implements CDElement, GenericTree {
 			if (ts !=null && ts.size()>0){
 			    transactions = new ArrayList<SimulationTransaction>(ts);
 			    transaction = transactions.get(transactions.size()-1).taskName+ ":" +transactions.get(transactions.size()-1).command;
-			  //  drawTransaction(g);
+			    drawTransaction(g);
 			    for (int i=0; i< nbInternalTGComponent; i++){
 				Object ob = getChild(i);
 				if (ob instanceof TMLArchiArtifact){
-- 
GitLab