diff --git a/MPSoC/Makefile.forsoclib b/MPSoC/Makefile.forsoclib
index 40e374ba529352268887fda735947fe7de36ed28..0f79af53ddf7553f79863461d4be8d15184867e9 100755
--- a/MPSoC/Makefile.forsoclib
+++ b/MPSoC/Makefile.forsoclib
@@ -1,6 +1,9 @@
SOCLIB_CPU=ppc
MUTEKH_CPU=ppc
+#SOCLIB_CPU=mips32el
+#MUTEKH_CPU=mips
+
include generated_topcell/procinfo.mk
#SOCLIB_CPU=sparcv8
diff --git a/MPSoC/generated_src/Block0.c b/MPSoC/generated_src/Block0.c
index 33791df616046245e12ae8bc4dc0abfce8b15884..70a4437a0cf916dc098dbbf61aacc9e129cd351c 100644
--- a/MPSoC/generated_src/Block0.c
+++ b/MPSoC/generated_src/Block0.c
@@ -14,7 +14,6 @@ static uint32_t _val;
void *mainFunc__Block0(struct mwmr_s *channels_Block0[]){
struct mwmr_s *Block0_val__Block1_val= channels_Block0[0];
- int __timerValue = 0;
int __currentState = STATE__START__STATE;
__attribute__((unused)) request __req0;
diff --git a/MPSoC/generated_src/Block1.c b/MPSoC/generated_src/Block1.c
index c5a8daddf19b2d5c988d1f810e29577d81c26fa5..d8825b4c8cd52ec5ac175b41e9101d8527e81f69 100644
--- a/MPSoC/generated_src/Block1.c
+++ b/MPSoC/generated_src/Block1.c
@@ -14,7 +14,6 @@ static uint32_t _val;
void *mainFunc__Block1(struct mwmr_s *channels_Block1[]){
struct mwmr_s *Block0_val__Block1_val= channels_Block1[0];
- int __timerValue = 0;
int __currentState = STATE__START__STATE;
__attribute__((unused)) request __req0;
diff --git a/MPSoC/generated_src/main.c b/MPSoC/generated_src/main.c
index a28ffcb8b8b6a1ce0e95a00e932fbfd85fac1eff..2d646dedd9c0eefde657736096b50e5a769d2b62 100644
--- a/MPSoC/generated_src/main.c
+++ b/MPSoC/generated_src/main.c
@@ -32,9 +32,8 @@ pthread_barrier_t barrier ;
pthread_attr_t *attr_t;
pthread_mutex_t __mainMutex;
-#define MWMRADDR 0xB0200000
-#define LOCKSADDR 0xC0200000
#define CHANNEL0 __attribute__((section("section_channel0")))
+#define LOCK0 __attribute__((section("section_lock0")))
#define base(arg) arg
typedef struct mwmr_s mwmr_t;
@@ -42,10 +41,10 @@ typedef struct mwmr_s mwmr_t;
/* Synchronous channels */
/* Asynchronous channels */
asyncchannel __Block0_val__Block1_val;
-uint32_t *const Block0_val__Block1_val_lock= LOCKSADDR+0x0;
+uint32_t const Block0_val__Block1_val_lock LOCK0;
struct mwmr_status_s Block0_val__Block1_val_status CHANNEL0= MWMR_STATUS_INITIALIZER(1, 1);
-uint8_t Block0_val__Block1_val_data[32*2];
-struct mwmr_s Block0_val__Block1_val CHANNEL0= MWMR_INITIALIZER(1, 1, Block0_val__Block1_val_data,&Block0_val__Block1_val_status,"Block0_val__Block1_val",Block0_val__Block1_val_lock);
+uint8_t Block0_val__Block1_val_data[32] CHANNEL0;
+struct mwmr_s Block0_val__Block1_val CHANNEL0= MWMR_INITIALIZER(1, 1, Block0_val__Block1_val_data,&Block0_val__Block1_val_status,"Block0_val__Block1_val",&Block0_val__Block1_val_lock);
int main(int argc, char *argv[]) {
@@ -64,6 +63,11 @@ int main(int argc, char *argv[]) {
__Block0_val__Block1_val.isBlocking = 0;
__Block0_val__Block1_val.maxNbOfMessages = 1;
__Block0_val__Block1_val.mwmr_fifo = &Block0_val__Block1_val;
+ Block0_val__Block1_val.status =&Block0_val__Block1_val_status;
+ Block0_val__Block1_val.status->lock=0;
+ Block0_val__Block1_val.status->rptr=0;
+ Block0_val__Block1_val.status->usage=0;
+ Block0_val__Block1_val.status->wptr=0;
/* Threads of tasks */
pthread_t thread__Block1;
diff --git a/MPSoC/generated_topcell/config b/MPSoC/generated_topcell/config
index 4af535719acb1e2370efdaa197ad2038d943b910..891f2e6710357e613dd5b136d7121e97c5adcc6b 100644
--- a/MPSoC/generated_topcell/config
+++ b/MPSoC/generated_topcell/config
@@ -14,9 +14,13 @@
CONFIG_PTHREAD_MAIN
CONFIG_PTHREAD_TIME
+#DG 20.06.
+#CONFIG_SRL_SOCLIB
+#CONFIG_SRL
+
#ajoute DG
#DG enleve 8.9.
-#CONFIG_PTHREAD_ATTRIBUTES
+CONFIG_PTHREAD_ATTRIBUTES
#ajoute DG
CONFIG_PTHREAD_STACK_SIZE 32768
@@ -30,6 +34,8 @@
#ajoute DG
CONFIG_MWMR
CONFIG_MWMR_SOCLIB
+#DG 20.06.
+#CONFIG_MWMR_USE_RAMLOCKS
#fin ajoute DG
CONFIG_MUTEK_SCHEDULER_STATIC
diff --git a/MPSoC/generated_topcell/config_noproc b/MPSoC/generated_topcell/config_noproc
index 381dcdf32f8191e107f29988d1da87279b252b6e..dced2dbb79b80800c5ddb1851879fdb519c7cc2b 100644
--- a/MPSoC/generated_topcell/config_noproc
+++ b/MPSoC/generated_topcell/config_noproc
@@ -14,9 +14,13 @@
CONFIG_PTHREAD_MAIN
CONFIG_PTHREAD_TIME
+#DG 20.06.
+#CONFIG_SRL_SOCLIB
+#CONFIG_SRL
+
#ajoute DG
#DG enleve 8.9.
-#CONFIG_PTHREAD_ATTRIBUTES
+CONFIG_PTHREAD_ATTRIBUTES
#ajoute DG
CONFIG_PTHREAD_STACK_SIZE 32768
@@ -30,6 +34,8 @@
#ajoute DG
CONFIG_MWMR
CONFIG_MWMR_SOCLIB
+#DG 20.06.
+#CONFIG_MWMR_USE_RAMLOCKS
#fin ajoute DG
CONFIG_MUTEK_SCHEDULER_STATIC
diff --git a/MPSoC/generated_topcell/deployinfo_map.h b/MPSoC/generated_topcell/deployinfo_map.h
index 3048d5aa65cc95db32b6832117d753c72f1ce5d9..642e838fdf4698b559df68c9cba41234e1b0efaf 100644
--- a/MPSoC/generated_topcell/deployinfo_map.h
+++ b/MPSoC/generated_topcell/deployinfo_map.h
@@ -4,3 +4,7 @@
.channel0 : { \
*(section_channel0)\
} > uram0\
+
+ .lock0 : { \
+*(section_lock0)\
+} > uram0\
diff --git a/MPSoC/src/asyncchannel.c b/MPSoC/src/asyncchannel.c
index 1333eb115c48095317b56bf95a4875dda8aedf83..7143adb6c3e918d047425f94d07e33aa745d0f2e 100755
--- a/MPSoC/src/asyncchannel.c
+++ b/MPSoC/src/asyncchannel.c
@@ -37,6 +37,13 @@ void async_read( struct mwmr_s *fifo, void *_ptr, int lensw ){
}
void async_write( struct mwmr_s *fifo, void *_ptr, int lensw ){
+ debugInt("debug fifo \n",fifo);
+ debugInt("debug ptr \n",_ptr);
+ debugInt("debug lensw \n", lensw);
+ debugInt("debug fifo status address \n", &(fifo->status));
+ debugInt("debug fifo status \n", fifo->status);
+ debugInt("debug fifo lock address\n", &(fifo->status->lock));
+ debugInt("debug fifo lock \n", fifo->status->lock);
mwmr_write(fifo,_ptr,lensw);
}
@@ -103,14 +110,18 @@ void destroyAsyncchannel(asyncchannel *asyncch) {
}
void addMessageToAsyncChannel(asyncchannel *channel, message *msg) {
-
msg->next = channel->pendingMessages;
channel->pendingMessages = msg;
channel->currentNbOfMessages = channel->currentNbOfMessages+1;
- debugInt("asyncchannel write: address %x \n",channel->mwmr_fifo);
+ debugInt("asyncchannel write: address \n",channel->mwmr_fifo);
debugInt("asyncchannel \n",channel->mwmr_fifo->depth);
debugInt("asyncchannel \n",channel->mwmr_fifo->width);
- debugInt("channel->mwmr_fifo: \n",channel->mwmr_fifo);
+ debugInt("asyncchannel->mwmr_fifo: \n",channel->mwmr_fifo);
+ debugInt("asyncchannel->fifo status address \n", &(channel->mwmr_fifo->status));
+ debugInt("asyncchannel->fifo lock address\n", &(channel->mwmr_fifo->status->lock));
+ debugInt("asyncchannel->fifo lock \n", channel->mwmr_fifo->status->lock);
+ debugInt("asyncchannel->fifo usage \n", channel->mwmr_fifo->status->usage);
+ debugInt("asyncchannel->fifo rptr \n", channel->mwmr_fifo->status->rptr);
+ debugInt("asyncchannel->fifo wptr \n", channel->mwmr_fifo->status->wptr);
async_write(channel->mwmr_fifo, &msg, 1 );
-
}
diff --git a/MPSoC/src/asyncchannel.h b/MPSoC/src/asyncchannel.h
index d7f6ae9bf26f8d031013bb982df66ab11ca97dcd..a826538f6c9ee91728d8c8570f0479956b22d377 100755
--- a/MPSoC/src/asyncchannel.h
+++ b/MPSoC/src/asyncchannel.h
@@ -20,7 +20,7 @@ struct asyncchannel {
};
typedef struct asyncchannel asyncchannel;
-//DG 7.9. add MWMR as parameter
+
asyncchannel *getNewAsyncchannel(char *inname, char *outname, int isBlocking, int maxNbOfMessages, struct mwmr_s *fifo);
void destroyAsyncchannel(asyncchannel *syncch);
message* getAndRemoveOldestMessageFromAsyncChannel(asyncchannel *channel);
diff --git a/MPSoC/src/request_manager.c b/MPSoC/src/request_manager.c
index 1e00b35e3e9ff4971be6e9dcc09f1689e6e8fe42..a43269fdb8e6ebe8600b4f8fe66df7ca9d3db73c 100755
--- a/MPSoC/src/request_manager.c
+++ b/MPSoC/src/request_manager.c
@@ -9,12 +9,9 @@
#include "mytimelib.h"
#include "random.h"
#include "asyncchannel.h"
-#include "syncchannel.h" //ajoute DG
+#include "syncchannel.h"
#include "tracemanager.h"
-
-//DG 6.7. ici, il faut qu'on transmet egalement par les canaux MWMR; pour les syncchannels, c'etait totalement implicite et fait par le request manager tout seul!! j'ai ajoute des fonctions addMessageToSyncChannel(req->syncChannel, msg); et getAndRemoveMessageFromSyncChannel au fichier syncchannel.c
-
void executeSendSyncTransaction(request *req) {
int cpt;
request *selectedReq;
@@ -28,8 +25,6 @@ void executeSendSyncTransaction(request *req) {
request* currentReq = req->syncChannel->inWaitQueue;
debugMsg("*****Execute send sync tr");
- //un syncchannel n'a qu'un seul message; il manque encore le test si on peut ecrire
-
while(currentReq != NULL) {
cpt ++;
currentReq = currentReq->next;
@@ -45,7 +40,7 @@ void executeSendSyncTransaction(request *req) {
}
// Remove all related request from list requests
- //req->syncChannel->inWaitQueue = removeRequestFromList(req->syncChannel->inWaitQueue, selectedReq);//enleve 21.09.
+ //req->syncChannel->inWaitQueue = removeRequestFromList(req->syncChannel->inWaitQueue, selectedReq);
debugMsg("Setting related request");
req->relatedRequest = selectedReq;
@@ -56,17 +51,12 @@ void executeSendSyncTransaction(request *req) {
// Handle parameters
copyParameters(req, selectedReq);
- //ajoute DG 7.7. choix randomise du writer a deja ete fait
- //actuellement sans mwmr, gestionnaire central
- // sync_write(selectedReq->syncChannel->mwmr_fifo, selectedReq->ID);//pas clair quell donne est a transmettre, choisi ID
- //sync_write(channel->mwmr_fifo, &msg, 1 );
- //debugMsg("before sync write\n");
debugInt("syncchannel address \n", req->syncChannel->mwmr_fifo);
- sync_write(req->syncChannel->mwmr_fifo, selectedReq->ID, 1 );//pas clair quelle donnee est a transmettre, choisi ID
+ sync_write(req->syncChannel->mwmr_fifo, selectedReq->ID, 1 );// transmit ID
// debugMsg("after sync write\n");
- // fin ajoute
+
debugMsg("Signaling");
- //DG 21.09. faut changer?
+
pthread_cond_signal(selectedReq->listOfRequests->wakeupCondition);
traceSynchroRequest(req, selectedReq);
@@ -111,11 +101,10 @@ void executeReceiveSyncTransaction(request *req) {
debugMsg("Signaling");
pthread_cond_signal(selectedReq->listOfRequests->wakeupCondition);
- //ajoute DG async_read(channel->mwmr_fifo, &msg, 1);
debugInt("syncchannel read: address \n",selectedReq->syncChannel->mwmr_fifo);
sync_read(selectedReq->syncChannel->mwmr_fifo, selectedReq->ID, 1);
- //sync_read(selectedReq->syncChannel->mwmr_fifo, selectedReq->ID); //pas clair quell donne est a transmettre, choisi ID
- //fin ajoute
+ //transmit ID
+
debugMsg("after syncchannel read");
traceSynchroRequest(selectedReq, req);
}
@@ -522,9 +511,6 @@ request *private__executeRequests(setOfRequests *list) {
return private__executeRequests0(list, nbOfRequests(list));
}
-
-
-
request *executeOneRequest(setOfRequests *list, request *req) {
req->nextRequestInList = NULL;
req->listOfRequests = list;
@@ -574,7 +560,7 @@ request *executeListOfRequests(setOfRequests *list) {
pthread_cond_timedwait(list->wakeupCondition, list->mutex, &(list->minTimeToWait));
} else {
debug2Msg(list->owner, "Releasing mutex");
- //DG 21.09. enlever 11.02. remis (ok for synchronous)
+
pthread_cond_wait(list->wakeupCondition, list->mutex);
}
debug2Msg(list->owner, "Waking up for requests! -> getting mutex");
diff --git a/MPSoC/src/syncchannel.h b/MPSoC/src/syncchannel.h
index e9b8ca106a09aba13c977b578ced2ec5547e0103..d573af0733a661d71a22e7b574eaf810ea7372e8 100755
--- a/MPSoC/src/syncchannel.h
+++ b/MPSoC/src/syncchannel.h
@@ -12,16 +12,15 @@ struct syncchannel {
struct request* inWaitQueue;
struct request* outWaitQueue;
bool isBroadcast;
- struct mwmr_s *mwmr_fifo;//DG 29.04. ajoute
+ struct mwmr_s *mwmr_fifo;
};
typedef struct syncchannel syncchannel;
void setBroadcast(syncchannel *syncch, bool b);
-//DG 7.9. add MWMR as parameter
+
syncchannel *getNewSyncchannel(char *inname, char *outname, struct mwmr_s *fifo);
-//syncchannel *getNewSyncchannel(char *inname, char *outname);
//request *makeNewSendSync(int hasDelay, long delay, int nbOfParams, int *params[]);
//request *makeNewReceiveSync(int hasDelay, long delay, int nbOfParams, int *params[]);
void destroySyncchannel(syncchannel *syncch);
diff --git a/bin/config.xml b/bin/config.xml
index 625da1ad37cac1c9f066802276fe8c25953bdd87..93fa2149de547fbd39a7cfce86f51c3f3e78bbc6 100755
--- a/bin/config.xml
+++ b/bin/config.xml
@@ -66,7 +66,7 @@
-<LastWindowAttributes x="0" y="22" width="1280" height="998" max="true" />
+<LastWindowAttributes x="326" y="101" width="1461" height="933" max="false" />
<ProVerifHash data=""/>
diff --git a/modeling/DASIP2016/DASIP2016_2RAM.xml b/modeling/DASIP2016/DASIP2016_2RAM.xml
index 7395595328c1e43dce2e97fe49f3b3776eeee280..d4d36611d6d4f48456358c978a0076e2537fc639 100644
--- a/modeling/DASIP2016/DASIP2016_2RAM.xml
+++ b/modeling/DASIP2016/DASIP2016_2RAM.xml
@@ -3,13 +3,13 @@
<TURTLEGMODELING version="0.98-beta4">
<Modeling type="TML Component Design" nameTab="Braking - FV" >
-<TMLComponentTaskDiagramPanel name="TML Component Task Diagram" minX="10" maxX="1933" minY="10" maxY="1433" channels="true" events="true" requests="true" zoom="1.0000000000000009" >
+<TMLComponentTaskDiagramPanel name="TML Component Task Diagram" minX="10" maxX="1934" minY="10" maxY="1434" channels="true" events="true" requests="true" zoom="1.0000000000000009" >
<CONNECTOR type="126" id="2" >
<cdparam x="472" y="108" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="460" y="109" id="23" />
-<P2 x="195" y="81" id="215" />
+<P1 x="460" y="109" id="29" />
+<P2 x="195" y="81" id="219" />
<Point x="460" y="95" />
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="1" >
@@ -26,15 +26,15 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
<P1 x="195" y="174" id="217" />
-<P2 x="355" y="174" id="21" />
+<P2 x="355" y="174" id="31" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="5" >
<cdparam x="1018" y="479" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="1018" y="479" id="196" />
-<P2 x="525" y="154" id="25" />
+<P1 x="1018" y="479" id="204" />
+<P2 x="525" y="154" id="27" />
<Point x="1018" y="168" />
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="4" >
@@ -50,15 +50,15 @@
<cdparam x="221" y="113" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="195" y="125" id="219" />
-<P2 x="355" y="125" id="27" />
+<P1 x="195" y="125" id="215" />
+<P2 x="355" y="125" id="25" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="7" >
<cdparam x="1309" y="685" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="1360" y="664" id="55" />
+<P1 x="1360" y="664" id="53" />
<P2 x="1415" y="739" id="42" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -66,15 +66,15 @@
<cdparam x="1183" y="534" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="1138" y="555" id="204" />
-<P2 x="1241" y="625" id="53" />
+<P1 x="1138" y="555" id="196" />
+<P2 x="1241" y="625" id="55" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="9" >
<cdparam x="1555" y="370" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="1353" y="380" id="185" />
+<P1 x="1353" y="380" id="183" />
<P2 x="1449" y="380" id="66" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -83,23 +83,23 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
<P1 x="1080" y="479" id="200" />
-<P2 x="1160" y="382" id="183" />
+<P2 x="1160" y="382" id="185" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="11" >
<cdparam x="843" y="483" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="828" y="457" id="133" />
-<P2 x="977" y="518" id="198" />
+<P1 x="828" y="457" id="129" />
+<P2 x="977" y="518" id="202" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="12" >
<cdparam x="686" y="624" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="692" y="584" id="161" />
-<P2 x="692" y="487" id="135" />
+<P1 x="692" y="584" id="159" />
+<P2 x="692" y="487" id="127" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="13" >
@@ -107,15 +107,15 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
<P1 x="695" y="707" id="172" />
-<P2 x="695" y="646" id="159" />
+<P2 x="695" y="646" id="161" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="14" >
<cdparam x="247" y="495" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="375" y="208" id="29" />
-<P2 x="301" y="454" id="92" />
+<P1 x="375" y="208" id="23" />
+<P2 x="301" y="454" id="88" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="15" >
@@ -130,15 +130,15 @@
<cdparam x="247" y="467" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="480" y="208" id="31" />
-<P2 x="521" y="291" id="105" />
+<P1 x="480" y="208" id="21" />
+<P2 x="521" y="291" id="103" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="17" >
<cdparam x="555" y="415" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="548" y="495" id="88" />
+<P1 x="548" y="495" id="92" />
<P2 x="605" y="479" id="131" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -146,16 +146,16 @@
<cdparam x="531" y="310" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="569" y="351" id="103" />
-<P2 x="605" y="444" id="129" />
+<P1 x="569" y="351" id="105" />
+<P2 x="605" y="444" id="133" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="19" >
<cdparam x="708" y="372" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="708" y="359" id="148" />
-<P2 x="708" y="421" id="127" />
+<P1 x="708" y="359" id="146" />
+<P2 x="708" y="421" id="135" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="20" >
@@ -163,14 +163,14 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
<P1 x="706" y="116" id="116" />
-<P2 x="706" y="302" id="146" />
+<P2 x="706" y="302" id="148" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1202" id="41" >
<cdparam x="355" y="122" />
<sizeparam width="170" height="99" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Primitive component" value="DSRCManagement" />
<TGConnectingPoint num="0" id="33" />
<TGConnectingPoint num="1" id="34" />
@@ -187,14 +187,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="22" >
<father id="41" num="0" />
-<cdparam x="342" y="174" />
+<cdparam x="467" y="208" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Channel neighbourhoodData" />
+<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="21" />
<extraparam>
-<Prop commName="neighbourhoodData" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -204,14 +204,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="24" >
<father id="41" num="1" />
-<cdparam x="447" y="109" />
+<cdparam x="362" y="208" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
+<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
<TGConnectingPoint num="0" id="23" />
<extraparam>
-<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="neighbourhoodInfo" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -221,14 +221,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="26" >
<father id="41" num="2" />
-<cdparam x="512" y="154" />
+<cdparam x="342" y="125" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
+<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
<TGConnectingPoint num="0" id="25" />
<extraparam>
-<Prop commName="sendEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="DSRCEmergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -238,14 +238,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="28" >
<father id="41" num="3" />
-<cdparam x="342" y="125" />
+<cdparam x="512" y="154" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
+<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
<TGConnectingPoint num="0" id="27" />
<extraparam>
-<Prop commName="DSRCEmergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="sendEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -255,14 +255,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="30" >
<father id="41" num="4" />
-<cdparam x="362" y="208" />
+<cdparam x="447" y="109" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
+<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
<TGConnectingPoint num="0" id="29" />
<extraparam>
-<Prop commName="neighbourhoodInfo" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -272,14 +272,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="32" >
<father id="41" num="5" />
-<cdparam x="467" y="208" />
+<cdparam x="342" y="174" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event emergencyBrake" />
+<infoparam name="Primitive port" value="Channel neighbourhoodData" />
<TGConnectingPoint num="0" id="31" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="neighbourhoodData" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -292,7 +292,7 @@
<cdparam x="1353" y="752" />
<sizeparam width="233" height="60" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Primitive component" value="doReduceDrivingPower" />
<TGConnectingPoint num="0" id="44" />
<TGConnectingPoint num="1" id="45" />
@@ -327,7 +327,7 @@
<cdparam x="1241" y="613" />
<sizeparam width="245" height="64" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Primitive component" value="DrivingPowerReductionstrategy" />
<TGConnectingPoint num="0" id="57" />
<TGConnectingPoint num="1" id="58" />
@@ -342,14 +342,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="54" >
<father id="65" num="0" />
-<cdparam x="1228" y="625" />
+<cdparam x="1347" y="664" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="232" minY="-13" maxY="51" />
-<infoparam name="Primitive port" value="Event drivingPowerReduction" />
+<infoparam name="Primitive port" value="Event commandDP" />
<TGConnectingPoint num="0" id="53" />
<extraparam>
-<Prop commName="drivingPowerReduction" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="commandDP" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -359,14 +359,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="56" >
<father id="65" num="1" />
-<cdparam x="1347" y="664" />
+<cdparam x="1228" y="625" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="232" minY="-13" maxY="51" />
-<infoparam name="Primitive port" value="Event commandDP" />
+<infoparam name="Primitive port" value="Event drivingPowerReduction" />
<TGConnectingPoint num="0" id="55" />
<extraparam>
-<Prop commName="commandDP" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="drivingPowerReduction" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -379,7 +379,7 @@
<cdparam x="1449" y="354" />
<sizeparam width="141" height="67" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Primitive component" value="DoBrake" />
<TGConnectingPoint num="0" id="68" />
<TGConnectingPoint num="1" id="69" />
@@ -414,7 +414,7 @@
<cdparam x="188" y="618" />
<sizeparam width="146" height="50" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Primitive component" value="GPSReception" />
<TGConnectingPoint num="0" id="79" />
<TGConnectingPoint num="1" id="80" />
@@ -449,7 +449,7 @@
<cdparam x="273" y="467" />
<sizeparam width="275" height="62" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Primitive component" value="NeighbourhoodTableManagement" />
<TGConnectingPoint num="0" id="94" />
<TGConnectingPoint num="1" id="95" />
@@ -464,14 +464,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="89" >
<father id="102" num="0" />
-<cdparam x="535" y="495" />
+<cdparam x="288" y="454" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="262" minY="-13" maxY="49" />
-<infoparam name="Primitive port" value="Channel neigbourhoodTable" />
+<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
<TGConnectingPoint num="0" id="88" />
<extraparam>
-<Prop commName="neigbourhoodTable" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="neighbourhoodInfo" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -498,14 +498,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="93" >
<father id="102" num="2" />
-<cdparam x="288" y="454" />
+<cdparam x="535" y="495" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="262" minY="-13" maxY="49" />
-<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
+<infoparam name="Primitive port" value="Channel neigbourhoodTable" />
<TGConnectingPoint num="0" id="92" />
<extraparam>
-<Prop commName="neighbourhoodInfo" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="neigbourhoodTable" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -518,7 +518,7 @@
<cdparam x="402" y="304" />
<sizeparam width="176" height="60" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Primitive component" value="CorrectnessChecking" />
<TGConnectingPoint num="0" id="107" />
<TGConnectingPoint num="1" id="108" />
@@ -533,14 +533,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="104" >
<father id="115" num="0" />
-<cdparam x="556" y="351" />
+<cdparam x="508" y="291" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="163" minY="-13" maxY="47" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="103" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -550,14 +550,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="106" >
<father id="115" num="1" />
-<cdparam x="508" y="291" />
+<cdparam x="556" y="351" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="163" minY="-13" maxY="47" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="105" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -570,7 +570,7 @@
<cdparam x="600" y="68" />
<sizeparam width="239" height="61" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Primitive component" value="GetEnvironmentInformation" />
<TGConnectingPoint num="0" id="118" />
<TGConnectingPoint num="1" id="119" />
@@ -605,7 +605,7 @@
<cdparam x="605" y="434" />
<sizeparam width="223" height="66" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Primitive component" value="PlausibilityCheck" />
<TGConnectingPoint num="0" id="137" />
<TGConnectingPoint num="1" id="138" />
@@ -620,14 +620,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="128" >
<father id="145" num="0" />
-<cdparam x="695" y="421" />
+<cdparam x="679" y="487" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
-<infoparam name="Primitive port" value="Channel objList01" />
+<infoparam name="Primitive port" value="Channel vehicleDynamics" />
<TGConnectingPoint num="0" id="127" />
<extraparam>
-<Prop commName="objList01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="vehicleDynamics" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -637,14 +637,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="130" >
<father id="145" num="1" />
-<cdparam x="592" y="444" />
+<cdparam x="815" y="457" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="129" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -671,14 +671,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="134" >
<father id="145" num="3" />
-<cdparam x="815" y="457" />
+<cdparam x="592" y="444" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="133" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -688,14 +688,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="136" >
<father id="145" num="4" />
-<cdparam x="679" y="487" />
+<cdparam x="695" y="421" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
-<infoparam name="Primitive port" value="Channel vehicleDynamics" />
+<infoparam name="Primitive port" value="Channel objList01" />
<TGConnectingPoint num="0" id="135" />
<extraparam>
-<Prop commName="vehicleDynamics" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="objList01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -708,7 +708,7 @@
<cdparam x="605" y="315" />
<sizeparam width="227" height="57" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Primitive component" value="ObjectListManagement" />
<TGConnectingPoint num="0" id="150" />
<TGConnectingPoint num="1" id="151" />
@@ -723,14 +723,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="147" >
<father id="158" num="0" />
-<cdparam x="693" y="302" />
+<cdparam x="695" y="359" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="214" minY="-13" maxY="44" />
-<infoparam name="Primitive port" value="Channel rawData01" />
+<infoparam name="Primitive port" value="Channel objList01" />
<TGConnectingPoint num="0" id="146" />
<extraparam>
-<Prop commName="rawData01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="objList01" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -740,14 +740,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="149" >
<father id="158" num="1" />
-<cdparam x="695" y="359" />
+<cdparam x="693" y="302" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="214" minY="-13" maxY="44" />
-<infoparam name="Primitive port" value="Channel objList01" />
+<infoparam name="Primitive port" value="Channel rawData01" />
<TGConnectingPoint num="0" id="148" />
<extraparam>
-<Prop commName="objList01" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="rawData01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -760,7 +760,7 @@
<cdparam x="615" y="597" />
<sizeparam width="242" height="62" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Primitive component" value="VehicleDynamicsManagement" />
<TGConnectingPoint num="0" id="163" />
<TGConnectingPoint num="1" id="164" />
@@ -775,14 +775,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="160" >
<father id="171" num="0" />
-<cdparam x="682" y="646" />
+<cdparam x="679" y="584" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="229" minY="-13" maxY="49" />
-<infoparam name="Primitive port" value="Channel rawData02" />
+<infoparam name="Primitive port" value="Channel vehicleDynamics" />
<TGConnectingPoint num="0" id="159" />
<extraparam>
-<Prop commName="rawData02" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="vehicleDynamics" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -792,14 +792,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="162" >
<father id="171" num="1" />
-<cdparam x="679" y="584" />
+<cdparam x="682" y="646" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="229" minY="-13" maxY="49" />
-<infoparam name="Primitive port" value="Channel vehicleDynamics" />
+<infoparam name="Primitive port" value="Channel rawData02" />
<TGConnectingPoint num="0" id="161" />
<extraparam>
-<Prop commName="vehicleDynamics" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="rawData02" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -812,7 +812,7 @@
<cdparam x="613" y="720" />
<sizeparam width="215" height="61" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Primitive component" value="GetVehicleDynamics" />
<TGConnectingPoint num="0" id="174" />
<TGConnectingPoint num="1" id="175" />
@@ -847,7 +847,7 @@
<cdparam x="1160" y="366" />
<sizeparam width="193" height="60" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Primitive component" value="BrakeManagement" />
<TGConnectingPoint num="0" id="187" />
<TGConnectingPoint num="1" id="188" />
@@ -862,14 +862,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="184" >
<father id="195" num="0" />
-<cdparam x="1147" y="382" />
+<cdparam x="1340" y="380" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="180" minY="-13" maxY="47" />
-<infoparam name="Primitive port" value="Event brakeCommand" />
+<infoparam name="Primitive port" value="Event brake" />
<TGConnectingPoint num="0" id="183" />
<extraparam>
-<Prop commName="brakeCommand" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="brake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -879,14 +879,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="186" >
<father id="195" num="1" />
-<cdparam x="1340" y="380" />
+<cdparam x="1147" y="382" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="180" minY="-13" maxY="47" />
-<infoparam name="Primitive port" value="Event brake" />
+<infoparam name="Primitive port" value="Event brakeCommand" />
<TGConnectingPoint num="0" id="185" />
<extraparam>
-<Prop commName="brake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="brakeCommand" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -899,7 +899,7 @@
<cdparam x="977" y="492" />
<sizeparam width="200" height="76" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Primitive component" value="DangerAvoidanceStrategy" />
<TGConnectingPoint num="0" id="206" />
<TGConnectingPoint num="1" id="207" />
@@ -914,14 +914,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="197" >
<father id="214" num="0" />
-<cdparam x="1005" y="479" />
+<cdparam x="1125" y="555" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="63" />
-<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
+<infoparam name="Primitive port" value="Event drivingPowerReduction" />
<TGConnectingPoint num="0" id="196" />
<extraparam>
-<Prop commName="sendEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="drivingPowerReduction" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -931,14 +931,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="199" >
<father id="214" num="1" />
-<cdparam x="964" y="518" />
+<cdparam x="1164" y="519" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="63" />
-<infoparam name="Primitive port" value="Event emergencyBrake" />
+<infoparam name="Primitive port" value="Event infoEmergencyBraking" />
<TGConnectingPoint num="0" id="198" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="infoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -965,14 +965,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="203" >
<father id="214" num="3" />
-<cdparam x="1164" y="519" />
+<cdparam x="964" y="518" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="63" />
-<infoparam name="Primitive port" value="Event infoEmergencyBraking" />
+<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="202" />
<extraparam>
-<Prop commName="infoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -982,14 +982,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="205" >
<father id="214" num="4" />
-<cdparam x="1125" y="555" />
+<cdparam x="1005" y="479" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="63" />
-<infoparam name="Primitive port" value="Event drivingPowerReduction" />
+<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
<TGConnectingPoint num="0" id="204" />
<extraparam>
-<Prop commName="drivingPowerReduction" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="sendEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -1002,7 +1002,7 @@
<cdparam x="37" y="72" />
<sizeparam width="158" height="149" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Primitive component" value="DSRCRxTx" />
<TGConnectingPoint num="0" id="221" />
<TGConnectingPoint num="1" id="222" />
@@ -1017,14 +1017,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="216" >
<father id="229" num="0" />
-<cdparam x="182" y="81" />
+<cdparam x="182" y="125" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="145" minY="-13" maxY="136" />
-<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
+<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
<TGConnectingPoint num="0" id="215" />
<extraparam>
-<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="DSRCEmergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -1051,14 +1051,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="220" >
<father id="229" num="2" />
-<cdparam x="182" y="125" />
+<cdparam x="182" y="81" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="145" minY="-13" maxY="136" />
-<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
+<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
<TGConnectingPoint num="0" id="219" />
<extraparam>
-<Prop commName="DSRCEmergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
+<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkAuth="false" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -1071,7 +1071,7 @@
<cdparam x="30" y="44" />
<sizeparam width="498" height="184" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="1433" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="1434" />
<infoparam name="Composite component" value="DSRCTask" />
<TGConnectingPoint num="0" id="230" />
<TGConnectingPoint num="1" id="231" />
@@ -1419,11 +1419,11 @@
</COMPONENT>
<SUBCOMPONENT type="1101" id="336" >
<father id="370" num="0" />
-<cdparam x="1416" y="1017" />
-<sizeparam width="278" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1463" y="1073" />
+<sizeparam width="231" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-16" minY="0" maxY="122" />
-<infoparam name="TGComponent" value="Braking - FV::DangerAvoidanceStrategy" />
+<cdrectangleparam minX="0" maxX="31" minY="0" maxY="122" />
+<infoparam name="TGComponent" value="Braking - FV::BrakeManagement" />
<TGConnectingPoint num="0" id="328" />
<TGConnectingPoint num="1" id="329" />
<TGConnectingPoint num="2" id="330" />
@@ -1433,16 +1433,16 @@
<TGConnectingPoint num="6" id="334" />
<TGConnectingPoint num="7" id="335" />
<extraparam>
-<info value="Braking - FV::DangerAvoidanceStrategy" taskName="DangerAvoidanceStrategy" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::BrakeManagement" taskName="BrakeManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="345" >
<father id="370" num="1" />
-<cdparam x="1463" y="1073" />
-<sizeparam width="231" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1416" y="1017" />
+<sizeparam width="278" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="31" minY="0" maxY="122" />
-<infoparam name="TGComponent" value="Braking - FV::BrakeManagement" />
+<cdrectangleparam minX="0" maxX="-16" minY="0" maxY="122" />
+<infoparam name="TGComponent" value="Braking - FV::DangerAvoidanceStrategy" />
<TGConnectingPoint num="0" id="337" />
<TGConnectingPoint num="1" id="338" />
<TGConnectingPoint num="2" id="339" />
@@ -1452,7 +1452,7 @@
<TGConnectingPoint num="6" id="343" />
<TGConnectingPoint num="7" id="344" />
<extraparam>
-<info value="Braking - FV::BrakeManagement" taskName="BrakeManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::DangerAvoidanceStrategy" taskName="DangerAvoidanceStrategy" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
@@ -1711,11 +1711,11 @@
</COMPONENT>
<SUBCOMPONENT type="1101" id="522" >
<father id="565" num="0" />
-<cdparam x="711" y="927" />
-<sizeparam width="257" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="670" y="1047" />
+<sizeparam width="298" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="20" minY="0" maxY="171" />
-<infoparam name="TGComponent" value="Braking - FV::ObjectListManagement" />
+<cdrectangleparam minX="0" maxX="-21" minY="0" maxY="171" />
+<infoparam name="TGComponent" value="Braking - FV::VehicleDynamicsManagement" />
<TGConnectingPoint num="0" id="514" />
<TGConnectingPoint num="1" id="515" />
<TGConnectingPoint num="2" id="516" />
@@ -1725,7 +1725,7 @@
<TGConnectingPoint num="6" id="520" />
<TGConnectingPoint num="7" id="521" />
<extraparam>
-<info value="Braking - FV::ObjectListManagement" taskName="ObjectListManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::VehicleDynamicsManagement" taskName="VehicleDynamicsManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="531" >
@@ -1749,11 +1749,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="540" >
<father id="565" num="2" />
-<cdparam x="670" y="1047" />
-<sizeparam width="298" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="711" y="927" />
+<sizeparam width="257" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-21" minY="0" maxY="171" />
-<infoparam name="TGComponent" value="Braking - FV::VehicleDynamicsManagement" />
+<cdrectangleparam minX="0" maxX="20" minY="0" maxY="171" />
+<infoparam name="TGComponent" value="Braking - FV::ObjectListManagement" />
<TGConnectingPoint num="0" id="532" />
<TGConnectingPoint num="1" id="533" />
<TGConnectingPoint num="2" id="534" />
@@ -1763,7 +1763,7 @@
<TGConnectingPoint num="6" id="538" />
<TGConnectingPoint num="7" id="539" />
<extraparam>
-<info value="Braking - FV::VehicleDynamicsManagement" taskName="VehicleDynamicsManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::ObjectListManagement" taskName="ObjectListManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
@@ -2528,11 +2528,11 @@
</COMPONENT>
<SUBCOMPONENT type="1101" id="1060" >
<father id="1103" num="0" />
-<cdparam x="204" y="285" />
-<sizeparam width="230" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="179" y="230" />
+<sizeparam width="323" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="76" minY="0" maxY="165" />
-<infoparam name="TGComponent" value="Braking - FV::DSRCManagement" />
+<cdrectangleparam minX="0" maxX="-17" minY="0" maxY="165" />
+<infoparam name="TGComponent" value="Braking - FV::NeighbourhoodTableManagement" />
<TGConnectingPoint num="0" id="1052" />
<TGConnectingPoint num="1" id="1053" />
<TGConnectingPoint num="2" id="1054" />
@@ -2542,7 +2542,7 @@
<TGConnectingPoint num="6" id="1058" />
<TGConnectingPoint num="7" id="1059" />
<extraparam>
-<info value="Braking - FV::DSRCManagement" taskName="DSRCManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::NeighbourhoodTableManagement" taskName="NeighbourhoodTableManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="1069" >
@@ -2566,11 +2566,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="1078" >
<father id="1103" num="2" />
-<cdparam x="179" y="230" />
-<sizeparam width="323" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="204" y="285" />
+<sizeparam width="230" height="50" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-17" minY="0" maxY="165" />
-<infoparam name="TGComponent" value="Braking - FV::NeighbourhoodTableManagement" />
+<cdrectangleparam minX="0" maxX="76" minY="0" maxY="165" />
+<infoparam name="TGComponent" value="Braking - FV::DSRCManagement" />
<TGConnectingPoint num="0" id="1070" />
<TGConnectingPoint num="1" id="1071" />
<TGConnectingPoint num="2" id="1072" />
@@ -2580,7 +2580,7 @@
<TGConnectingPoint num="6" id="1076" />
<TGConnectingPoint num="7" id="1077" />
<extraparam>
-<info value="Braking - FV::NeighbourhoodTableManagement" taskName="NeighbourhoodTableManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
+<info value="Braking - FV::DSRCManagement" taskName="DSRCManagement" referenceTaskName="Braking - FV" priority="0" operation="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
@@ -2593,6 +2593,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1105" >
@@ -2604,6 +2605,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1106" >
@@ -2615,6 +2617,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1107" >
@@ -2626,6 +2629,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1108" >
@@ -2637,6 +2641,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1109" >
@@ -2648,6 +2653,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1110" >
@@ -2659,6 +2665,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1111" >
@@ -2670,6 +2677,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1112" >
@@ -2681,6 +2689,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1113" >
@@ -2692,6 +2701,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1114" >
@@ -2703,6 +2713,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1115" >
@@ -2714,6 +2725,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1116" >
@@ -2725,6 +2737,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1117" >
@@ -2736,6 +2749,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1118" >
@@ -2747,6 +2761,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1119" >
@@ -2758,6 +2773,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1120" >
@@ -2769,6 +2785,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1121" >
@@ -2780,6 +2797,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1122" >
@@ -2791,6 +2809,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1123" >
@@ -2802,6 +2821,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1124" >
@@ -2813,6 +2833,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1125" >
@@ -2824,6 +2845,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1126" >
@@ -2835,6 +2857,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1127" >
@@ -2846,6 +2869,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1128" >
@@ -2857,6 +2881,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1129" >
@@ -2868,6 +2893,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="125" id="1130" >
@@ -2879,6 +2905,7 @@
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
@@ -2890,12 +2917,12 @@
<Modeling type="Requirement" nameTab="General Requirements" >
-<TRequirementDiagramPanel name="AvailabilityRequirements" minX="10" maxX="1933" minY="10" maxY="933" zoom="1.0000000000000002" >
+<TRequirementDiagramPanel name="AvailabilityRequirements" minX="10" maxX="1934" minY="10" maxY="934" zoom="1.0000000000000002" >
<COMPONENT type="900" id="1162" >
<cdparam x="470" y="532" />
<sizeparam width="333" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="317" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="933" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="934" />
<infoparam name="Requirement" value="EnsureHighestAvalabilityForHighestPriorityFunctions" />
<TGConnectingPoint num="0" id="1131" />
<TGConnectingPoint num="1" id="1132" />
@@ -2946,7 +2973,7 @@
<cdparam x="196" y="535" />
<sizeparam width="213" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="196" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="933" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="934" />
<infoparam name="Requirement" value="EnsureAvailabilityRadioMedium" />
<TGConnectingPoint num="0" id="1163" />
<TGConnectingPoint num="1" id="1164" />
@@ -2997,7 +3024,7 @@
<cdparam x="764" y="331" />
<sizeparam width="310" height="102" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="288" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="933" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="934" />
<infoparam name="Requirement" value="EnsureExternalCommunicationDeviceAvailability" />
<TGConnectingPoint num="0" id="1195" />
<TGConnectingPoint num="1" id="1196" />
@@ -3047,7 +3074,7 @@
<cdparam x="527" y="329" />
<sizeparam width="181" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="144" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="933" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="934" />
<infoparam name="Requirement" value="EnsureRAMAvailability" />
<TGConnectingPoint num="0" id="1227" />
<TGConnectingPoint num="1" id="1228" />
@@ -3098,7 +3125,7 @@
<cdparam x="303" y="331" />
<sizeparam width="181" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="145" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="933" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="934" />
<infoparam name="Requirement" value="EnsureCPUAvailability" />
<TGConnectingPoint num="0" id="1259" />
<TGConnectingPoint num="1" id="1260" />
@@ -3149,7 +3176,7 @@
<cdparam x="72" y="334" />
<sizeparam width="181" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="141" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="933" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="934" />
<infoparam name="Requirement" value="EnsureBusAvailability" />
<TGConnectingPoint num="0" id="1291" />
<TGConnectingPoint num="1" id="1292" />
@@ -3200,7 +3227,7 @@
<cdparam x="467" y="123" />
<sizeparam width="181" height="114" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="164" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1933" minY="10" maxY="933" />
+<cdrectangleparam minX="10" maxX="1934" minY="10" maxY="934" />
<infoparam name="Requirement" value="EnsureAvailabilityOfECUs" />
<TGConnectingPoint num="0" id="1323" />
<TGConnectingPoint num="1" id="1324" />
@@ -5769,8 +5796,8 @@
<TGConnectingPoint num="0" id="2673" />
<TGConnectingPoint num="1" id="2674" />
<TGConnectingPoint num="2" id="2675" />
-<P1 x="168" y="553" id="2933" />
-<P2 x="465" y="1085" id="3062" />
+<P1 x="168" y="553" id="2883" />
+<P2 x="465" y="1085" id="3037" />
<Point x="367" y="632" />
<Point x="367" y="915" />
<AutomaticDrawing data="true" />
@@ -5815,7 +5842,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2679" />
-<P1 x="465" y="1210" id="3064" />
+<P1 x="465" y="1210" id="3039" />
<P2 x="362" y="1208" id="2990" />
<AutomaticDrawing data="true" />
<extraparam>
@@ -5829,8 +5856,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2681" />
-<P1 x="777" y="1148" id="3056" />
-<P2 x="825" y="1148" id="3030" />
+<P1 x="777" y="1148" id="3031" />
+<P2 x="825" y="1148" id="3055" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in brake(int value)" />
@@ -5843,7 +5870,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2683" />
-<P1 x="621" y="1023" id="3053" />
+<P1 x="621" y="1023" id="3028" />
<P2 x="527" y="862" id="3133" />
<AutomaticDrawing data="true" />
<extraparam>
@@ -5860,7 +5887,7 @@
<TGConnectingPoint num="1" id="2688" />
<TGConnectingPoint num="2" id="2689" />
<P1 x="587" y="862" id="3142" />
-<P2 x="973" y="855" id="3116" />
+<P2 x="973" y="855" id="3166" />
<Point x="587" y="895" />
<Point x="971" y="895" />
<AutomaticDrawing data="true" />
@@ -5891,8 +5918,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2691" />
-<P1 x="1057" y="276" id="2833" />
-<P2 x="973" y="707" id="3110" />
+<P1 x="1057" y="276" id="2733" />
+<P2 x="973" y="707" id="3160" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in updateOnSpeed(int speed)" />
@@ -5906,7 +5933,7 @@
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2693" />
<P1 x="648" y="820" id="3140" />
-<P2 x="670" y="821" id="3164" />
+<P2 x="670" y="821" id="3114" />
<AutomaticDrawing data="true" />
<extraparam>
<iso value="in getInfoOnObstacle(int obstacle)" />
@@ -5919,8 +5946,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2695" />
-<P1 x="883" y="276" id="2817" />
-<P2 x="835" y="704" id="3161" />
+<P1 x="883" y="276" id="2767" />
+<P2 x="835" y="704" id="3111" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in isObstacleAhead(int info)" />
@@ -5933,7 +5960,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2697" />
-<P1 x="749" y="555" id="2892" />
+<P1 x="749" y="555" id="2942" />
<P2 x="527" y="695" id="3128" />
<AutomaticDrawing data="true" />
<extraparam>
@@ -5947,8 +5974,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2699" />
-<P1 x="297" y="553" id="2934" />
-<P2 x="596" y="555" id="2882" />
+<P1 x="297" y="553" id="2884" />
+<P2 x="596" y="555" id="2932" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in getEmergencyBrakingMessage(int id, int position)" />
@@ -5961,7 +5988,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2701" />
-<P1 x="297" y="460" id="2931" />
+<P1 x="297" y="460" id="2881" />
<P2 x="329" y="464" id="2905" />
<AutomaticDrawing data="true" />
<extraparam>
@@ -5975,8 +6002,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2703" />
-<P1 x="128" y="282" id="2758" />
-<P2 x="168" y="368" id="2928" />
+<P1 x="128" y="282" id="2808" />
+<P2 x="168" y="368" id="2878" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in carPosition(int id, int position)" />
@@ -5989,8 +6016,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2705" />
-<P1 x="284" y="282" id="2741" />
-<P2 x="232" y="368" id="2936" />
+<P1 x="284" y="282" id="2841" />
+<P2 x="232" y="368" id="2886" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in obstacleDetected(int id, int position)" />
@@ -6097,11 +6124,11 @@
</COMPONENT>
<SUBCOMPONENT type="5000" id="2751" >
<father id="2876" num="0" />
-<cdparam x="237" y="98" />
-<sizeparam width="190" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="959" y="98" />
+<sizeparam width="196" height="178" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="956" minY="0" maxY="66" />
-<infoparam name="Block0" value="EmergencySimulator" />
+<cdrectangleparam minX="0" maxX="950" minY="0" maxY="72" />
+<infoparam name="Block0" value="SpeedSensor" />
<TGConnectingPoint num="0" id="2727" />
<TGConnectingPoint num="1" id="2728" />
<TGConnectingPoint num="2" id="2729" />
@@ -6128,21 +6155,20 @@
<TGConnectingPoint num="23" id="2750" />
<extraparam>
<CryptoBlock value="false" />
-<Attribute access="0" id="minEmergencyInterval" value="1000" type="8" typeOther="" />
-<Attribute access="0" id="maxEmergencyInterval" value="1000" type="8" typeOther="" />
-<Attribute access="0" id="carid" value="" type="5" typeOther="CarInfo" />
-<Attribute access="0" id="id" value="" type="8" typeOther="" />
-<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Signal value="out obstacleDetected(int id, int position)" />
+<Attribute access="0" id="minSpeedUpdate" value="150" type="8" typeOther="" />
+<Attribute access="0" id="maxSpeedUpdate" value="150" type="8" typeOther="" />
+<Attribute access="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
+<Signal value="out updateOnSpeed(int speed)" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="2776" >
<father id="2876" num="1" />
-<cdparam x="32" y="98" />
-<sizeparam width="193" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="701" y="100" />
+<sizeparam width="243" height="176" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="953" minY="0" maxY="66" />
-<infoparam name="Block0" value="CarPositionSimulator" />
+<cdrectangleparam minX="0" maxX="903" minY="0" maxY="74" />
+<infoparam name="Block0" value="RadarSensor" />
<TGConnectingPoint num="0" id="2752" />
<TGConnectingPoint num="1" id="2753" />
<TGConnectingPoint num="2" id="2754" />
@@ -6169,12 +6195,10 @@
<TGConnectingPoint num="23" id="2775" />
<extraparam>
<CryptoBlock value="false" />
-<Attribute access="0" id="carid" value="" type="5" typeOther="CarInfo" />
-<Attribute access="0" id="minCarPositionInterval" value="200" type="8" typeOther="" />
-<Attribute access="0" id="maxCarPositionInterval" value="250" type="8" typeOther="" />
-<Attribute access="0" id="id" value="" type="8" typeOther="" />
-<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Signal value="out carPosition(int id, int position)" />
+<Attribute access="0" id="minRadarUpdate" value="100" type="8" typeOther="" />
+<Attribute access="0" id="maxRadarUpdate" value="150" type="8" typeOther="" />
+<Attribute access="0" id="obstacleAhead" value="" type="8" typeOther="" />
+<Signal value="out obstacleAhead(int info)" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="2801" >
@@ -6219,11 +6243,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="2826" >
<father id="2876" num="3" />
-<cdparam x="701" y="100" />
-<sizeparam width="243" height="176" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="32" y="98" />
+<sizeparam width="193" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="903" minY="0" maxY="74" />
-<infoparam name="Block0" value="RadarSensor" />
+<cdrectangleparam minX="0" maxX="953" minY="0" maxY="66" />
+<infoparam name="Block0" value="CarPositionSimulator" />
<TGConnectingPoint num="0" id="2802" />
<TGConnectingPoint num="1" id="2803" />
<TGConnectingPoint num="2" id="2804" />
@@ -6250,19 +6274,21 @@
<TGConnectingPoint num="23" id="2825" />
<extraparam>
<CryptoBlock value="false" />
-<Attribute access="0" id="minRadarUpdate" value="100" type="8" typeOther="" />
-<Attribute access="0" id="maxRadarUpdate" value="150" type="8" typeOther="" />
-<Attribute access="0" id="obstacleAhead" value="" type="8" typeOther="" />
-<Signal value="out obstacleAhead(int info)" />
+<Attribute access="0" id="carid" value="" type="5" typeOther="CarInfo" />
+<Attribute access="0" id="minCarPositionInterval" value="200" type="8" typeOther="" />
+<Attribute access="0" id="maxCarPositionInterval" value="250" type="8" typeOther="" />
+<Attribute access="0" id="id" value="" type="8" typeOther="" />
+<Attribute access="0" id="position" value="" type="8" typeOther="" />
+<Signal value="out carPosition(int id, int position)" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="2851" >
<father id="2876" num="4" />
-<cdparam x="959" y="98" />
-<sizeparam width="196" height="178" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="237" y="98" />
+<sizeparam width="190" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="950" minY="0" maxY="72" />
-<infoparam name="Block0" value="SpeedSensor" />
+<cdrectangleparam minX="0" maxX="956" minY="0" maxY="66" />
+<infoparam name="Block0" value="EmergencySimulator" />
<TGConnectingPoint num="0" id="2827" />
<TGConnectingPoint num="1" id="2828" />
<TGConnectingPoint num="2" id="2829" />
@@ -6289,11 +6315,12 @@
<TGConnectingPoint num="23" id="2850" />
<extraparam>
<CryptoBlock value="false" />
-<Attribute access="0" id="minSpeedUpdate" value="150" type="8" typeOther="" />
-<Attribute access="0" id="maxSpeedUpdate" value="150" type="8" typeOther="" />
-<Attribute access="0" id="speed" value="" type="8" typeOther="" />
-<Attribute access="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
-<Signal value="out updateOnSpeed(int speed)" />
+<Attribute access="0" id="minEmergencyInterval" value="1000" type="8" typeOther="" />
+<Attribute access="0" id="maxEmergencyInterval" value="1000" type="8" typeOther="" />
+<Attribute access="0" id="carid" value="" type="5" typeOther="CarInfo" />
+<Attribute access="0" id="id" value="" type="8" typeOther="" />
+<Attribute access="0" id="position" value="" type="8" typeOther="" />
+<Signal value="out obstacleDetected(int id, int position)" />
</extraparam>
</SUBCOMPONENT>
@@ -6333,11 +6360,11 @@
</COMPONENT>
<SUBCOMPONENT type="5000" id="2901" >
<father id="2976" num="0" />
-<cdparam x="596" y="371" />
-<sizeparam width="204" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="40" y="368" />
+<sizeparam width="257" height="185" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="586" minY="0" maxY="84" />
-<infoparam name="Block0" value="CorrectnessChecking" />
+<cdrectangleparam minX="0" maxX="533" minY="0" maxY="83" />
+<infoparam name="Block0" value="DSRSC_Management" />
<TGConnectingPoint num="0" id="2877" />
<TGConnectingPoint num="1" id="2878" />
<TGConnectingPoint num="2" id="2879" />
@@ -6366,12 +6393,12 @@
<CryptoBlock value="false" />
<Attribute access="0" id="id" value="" type="8" typeOther="" />
<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Attribute access="0" id="canHaveInvalid" value="false" type="4" typeOther="" />
-<Method value="checkingMessage()" />
-<Method value="invalidMessage()" />
-<Method value="validMessage()" />
-<Signal value="in getEmergencyBrakingMessage(int id, int position)" />
-<Signal value="out toPlausibityCheckMessage(int id, int position)" />
+<Method value="sendMessage(int id, int position)" />
+<Signal value="in obstacleDetected(int id, int position)" />
+<Signal value="in carPosition(int id, int position)" />
+<Signal value="out setCarPosition(int id, int position)" />
+<Signal value="out forwardEmergencyBrakingMessage(int id, int position)" />
+<Signal value="in broadcastEmergencyBrakingMessage(int id, int position)" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="2926" >
@@ -6419,11 +6446,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="2951" >
<father id="2976" num="2" />
-<cdparam x="40" y="368" />
-<sizeparam width="257" height="185" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="596" y="371" />
+<sizeparam width="204" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="533" minY="0" maxY="83" />
-<infoparam name="Block0" value="DSRSC_Management" />
+<cdrectangleparam minX="0" maxX="586" minY="0" maxY="84" />
+<infoparam name="Block0" value="CorrectnessChecking" />
<TGConnectingPoint num="0" id="2927" />
<TGConnectingPoint num="1" id="2928" />
<TGConnectingPoint num="2" id="2929" />
@@ -6452,12 +6479,12 @@
<CryptoBlock value="false" />
<Attribute access="0" id="id" value="" type="8" typeOther="" />
<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Method value="sendMessage(int id, int position)" />
-<Signal value="in obstacleDetected(int id, int position)" />
-<Signal value="in carPosition(int id, int position)" />
-<Signal value="out setCarPosition(int id, int position)" />
-<Signal value="out forwardEmergencyBrakingMessage(int id, int position)" />
-<Signal value="in broadcastEmergencyBrakingMessage(int id, int position)" />
+<Attribute access="0" id="canHaveInvalid" value="false" type="4" typeOther="" />
+<Method value="checkingMessage()" />
+<Method value="invalidMessage()" />
+<Method value="validMessage()" />
+<Signal value="in getEmergencyBrakingMessage(int id, int position)" />
+<Signal value="out toPlausibityCheckMessage(int id, int position)" />
</extraparam>
</SUBCOMPONENT>
@@ -6573,11 +6600,11 @@
</COMPONENT>
<SUBCOMPONENT type="5000" id="3051" >
<father id="3101" num="0" />
-<cdparam x="825" y="1023" />
+<cdparam x="465" y="1023" />
<sizeparam width="312" height="250" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="392" minY="0" maxY="60" />
-<infoparam name="Block0" value="BrakeManagement" />
+<infoparam name="Block0" value="DangerAvoidanceStrategy" />
<TGConnectingPoint num="0" id="3027" />
<TGConnectingPoint num="1" id="3028" />
<TGConnectingPoint num="2" id="3029" />
@@ -6604,21 +6631,24 @@
<TGConnectingPoint num="23" id="3050" />
<extraparam>
<CryptoBlock value="false" />
+<Attribute access="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" id="position" value="" type="8" typeOther="" />
+<Attribute access="0" id="currentPosition" value="" type="8" typeOther="" />
+<Attribute access="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
<Attribute access="0" id="value" value="" type="8" typeOther="" />
-<Attribute access="0" id="deltaBrake" value="0" type="8" typeOther="" />
-<Attribute access="0" id="brakeMaxDuration" value="" type="8" typeOther="" />
-<Method value="applyBraking(int value)" />
-<Method value="brakingDone()" />
-<Signal value="in brake(int value)" />
+<Signal value="in brake(int speed, int currentPosition, int position)" />
+<Signal value="out reducePower(int value)" />
+<Signal value="out brakePower(int value)" />
+<Signal value="out forwardEmergency(int myID, int currentPosition)" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="3076" >
<father id="3101" num="1" />
-<cdparam x="465" y="1023" />
+<cdparam x="825" y="1023" />
<sizeparam width="312" height="250" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="392" minY="0" maxY="60" />
-<infoparam name="Block0" value="DangerAvoidanceStrategy" />
+<infoparam name="Block0" value="BrakeManagement" />
<TGConnectingPoint num="0" id="3052" />
<TGConnectingPoint num="1" id="3053" />
<TGConnectingPoint num="2" id="3054" />
@@ -6645,15 +6675,12 @@
<TGConnectingPoint num="23" id="3075" />
<extraparam>
<CryptoBlock value="false" />
-<Attribute access="0" id="speed" value="" type="8" typeOther="" />
-<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Attribute access="0" id="currentPosition" value="" type="8" typeOther="" />
-<Attribute access="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
<Attribute access="0" id="value" value="" type="8" typeOther="" />
-<Signal value="in brake(int speed, int currentPosition, int position)" />
-<Signal value="out reducePower(int value)" />
-<Signal value="out brakePower(int value)" />
-<Signal value="out forwardEmergency(int myID, int currentPosition)" />
+<Attribute access="0" id="deltaBrake" value="0" type="8" typeOther="" />
+<Attribute access="0" id="brakeMaxDuration" value="" type="8" typeOther="" />
+<Method value="applyBraking(int value)" />
+<Method value="brakingDone()" />
+<Signal value="in brake(int value)" />
</extraparam>
</SUBCOMPONENT>
@@ -6693,11 +6720,11 @@
</COMPONENT>
<SUBCOMPONENT type="5000" id="3126" >
<father id="3201" num="0" />
-<cdparam x="903" y="707" />
-<sizeparam width="281" height="148" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="670" y="704" />
+<sizeparam width="220" height="156" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="517" minY="0" maxY="141" />
-<infoparam name="Block0" value="VehiculeDynamicsManagement" />
+<cdrectangleparam minX="0" maxX="578" minY="0" maxY="133" />
+<infoparam name="Block0" value="ObjectListManagement" />
<TGConnectingPoint num="0" id="3102" />
<TGConnectingPoint num="1" id="3103" />
<TGConnectingPoint num="2" id="3104" />
@@ -6724,9 +6751,9 @@
<TGConnectingPoint num="23" id="3125" />
<extraparam>
<CryptoBlock value="false" />
-<Attribute access="0" id="speed" value="" type="8" typeOther="" />
-<Signal value="in updateOnSpeed(int speed)" />
-<Signal value="out getInfoOnSpeed(int speed)" />
+<Attribute access="0" id="obstacle" value="0" type="8" typeOther="" />
+<Signal value="in isObstacleAhead(int info)" />
+<Signal value="out getInfoOnObstacle(int info)" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="3151" >
@@ -6780,11 +6807,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="3176" >
<father id="3201" num="2" />
-<cdparam x="670" y="704" />
-<sizeparam width="220" height="156" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="903" y="707" />
+<sizeparam width="281" height="148" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="578" minY="0" maxY="133" />
-<infoparam name="Block0" value="ObjectListManagement" />
+<cdrectangleparam minX="0" maxX="517" minY="0" maxY="141" />
+<infoparam name="Block0" value="VehiculeDynamicsManagement" />
<TGConnectingPoint num="0" id="3152" />
<TGConnectingPoint num="1" id="3153" />
<TGConnectingPoint num="2" id="3154" />
@@ -6811,9 +6838,9 @@
<TGConnectingPoint num="23" id="3175" />
<extraparam>
<CryptoBlock value="false" />
-<Attribute access="0" id="obstacle" value="0" type="8" typeOther="" />
-<Signal value="in isObstacleAhead(int info)" />
-<Signal value="out getInfoOnObstacle(int info)" />
+<Attribute access="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="in updateOnSpeed(int speed)" />
+<Signal value="out getInfoOnSpeed(int speed)" />
</extraparam>
</SUBCOMPONENT>
@@ -6885,56 +6912,84 @@
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="SpeedSensor" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3224" >
-<cdparam x="390" y="331" />
+<AVATARStateMachineDiagramPanel name="EmergencySimulator" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="3218" >
+<cdparam x="524" y="259" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from TGComponent to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3217" />
+<P1 x="399" y="256" id="3308" />
+<P2 x="399" y="265" id="3253" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3216" >
+<father id="3218" num="0" />
+<cdparam x="524" y="299" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="3212" />
+<TGConnectingPoint num="1" id="3213" />
+<TGConnectingPoint num="2" id="3214" />
+<TGConnectingPoint num="3" id="3215" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="3231" >
+<cdparam x="400" y="271" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3220" />
-<TGConnectingPoint num="1" id="3221" />
-<TGConnectingPoint num="2" id="3222" />
-<TGConnectingPoint num="3" id="3223" />
-<P1 x="390" y="355" id="3250" />
-<P2 x="306" y="133" id="3281" />
-<Point x="390" y="376" />
-<Point x="209" y="376" />
-<Point x="209" y="133" />
+<TGConnectingPoint num="0" id="3227" />
+<TGConnectingPoint num="1" id="3228" />
+<TGConnectingPoint num="2" id="3229" />
+<TGConnectingPoint num="3" id="3230" />
+<P1 x="399" y="295" id="3254" />
+<P2 x="307" y="112" id="3267" />
+<Point x="399" y="314" />
+<Point x="169" y="313" />
+<Point x="156" y="111" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3212" >
-<father id="3224" num="0" />
-<cdparam x="390" y="376" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3219" >
+<father id="3231" num="0" />
+<cdparam x="399" y="314" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3213" >
-<father id="3224" num="1" />
-<cdparam x="209" y="376" />
+<SUBCOMPONENT type="-1" id="3220" >
+<father id="3231" num="1" />
+<cdparam x="169" y="313" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3214" >
-<father id="3224" num="2" />
-<cdparam x="209" y="133" />
+<SUBCOMPONENT type="-1" id="3221" >
+<father id="3231" num="2" />
+<cdparam x="156" y="111" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3219" >
-<father id="3224" num="3" />
-<cdparam x="390" y="371" />
+<SUBCOMPONENT type="-1" id="3226" >
+<father id="3231" num="3" />
+<cdparam x="400" y="311" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3215" />
-<TGConnectingPoint num="1" id="3216" />
-<TGConnectingPoint num="2" id="3217" />
-<TGConnectingPoint num="3" id="3218" />
+<TGConnectingPoint num="0" id="3222" />
+<TGConnectingPoint num="1" id="3223" />
+<TGConnectingPoint num="2" id="3224" />
+<TGConnectingPoint num="3" id="3225" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -6944,45 +6999,17 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3231" >
-<cdparam x="410" y="165" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3230" />
-<P1 x="390" y="165" id="3266" />
-<P2 x="390" y="242" id="3246" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3229" >
-<father id="3231" num="0" />
-<cdparam x="404" y="195" />
-<sizeparam width="245" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3225" />
-<TGConnectingPoint num="1" id="3226" />
-<TGConnectingPoint num="2" id="3227" />
-<TGConnectingPoint num="3" id="3228" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="minSpeedUpdate" />
-<afterMax value="maxSpeedUpdate" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
<CONNECTOR type="5102" id="3238" >
-<cdparam x="390" y="81" />
+<cdparam x="400" y="211" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from start state to state0" value="null" />
+<infoparam name="connector from TGComponent to Send signal" value="null" />
<TGConnectingPoint num="0" id="3237" />
-<P1 x="390" y="81" id="3301" />
-<P2 x="390" y="115" id="3261" />
+<P1 x="400" y="211" id="3311" />
+<P2 x="399" y="226" id="3307" />
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="3236" >
<father id="3238" num="0" />
-<cdparam x="390" y="121" />
+<cdparam x="400" y="251" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -7001,17 +7028,17 @@
</SUBCOMPONENT>
<CONNECTOR type="5102" id="3245" >
-<cdparam x="390" y="272" />
+<cdparam x="407" y="70" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from TGComponent to Send signal" value="null" />
+<infoparam name="connector from start state to state0" value="null" />
<TGConnectingPoint num="0" id="3244" />
-<P1 x="390" y="272" id="3247" />
-<P2 x="390" y="325" id="3249" />
+<P1 x="407" y="70" id="3305" />
+<P2 x="400" y="87" id="3265" />
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="3243" >
<father id="3245" num="0" />
-<cdparam x="404" y="300" />
-<sizeparam width="158" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="407" y="110" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
@@ -7025,190 +7052,219 @@
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
-<actions value="speed = carinfo.maxSpeed" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5108" id="3248" >
-<cdparam x="218" y="247" />
-<sizeparam width="345" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<CONNECTOR type="5102" id="3252" >
+<cdparam x="493" y="137" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to TGComponent" value="null" />
+<TGConnectingPoint num="0" id="3251" />
+<P1 x="400" y="137" id="3270" />
+<P2 x="400" y="181" id="3310" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3250" >
+<father id="3252" num="0" />
+<cdparam x="493" y="177" />
+<sizeparam width="299" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="TGComponent" value="null" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
<TGConnectingPoint num="0" id="3246" />
<TGConnectingPoint num="1" id="3247" />
+<TGConnectingPoint num="2" id="3248" />
+<TGConnectingPoint num="3" id="3249" />
<extraparam>
-<Data variable="speed" minValue="carinfo.minSpeed" maxValue="carinfo.maxSpeed" functionId="0" />
+<guard value="[ ]" />
+<afterMin value="minEmergencyInterval" />
+<afterMax value="maxEmergencyInterval" />
+<computeMin value="" />
+<computeMax value="" />
</extraparam>
-</COMPONENT>
+</SUBCOMPONENT>
-<COMPONENT type="5103" id="3259" >
-<cdparam x="317" y="330" />
-<sizeparam width="147" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="3263" >
+<cdparam x="308" y="270" />
+<sizeparam width="182" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="updateOnSpeed(speed)" />
-<TGConnectingPoint num="0" id="3249" />
-<TGConnectingPoint num="1" id="3250" />
-<TGConnectingPoint num="2" id="3251" />
-<TGConnectingPoint num="3" id="3252" />
-<TGConnectingPoint num="4" id="3253" />
-<TGConnectingPoint num="5" id="3254" />
-<TGConnectingPoint num="6" id="3255" />
-<TGConnectingPoint num="7" id="3256" />
-<TGConnectingPoint num="8" id="3257" />
-<TGConnectingPoint num="9" id="3258" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3300" >
-<cdparam x="306" y="115" />
-<sizeparam width="169" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Send signal" value="obstacleDetected(id, position)" />
+<TGConnectingPoint num="0" id="3253" />
+<TGConnectingPoint num="1" id="3254" />
+<TGConnectingPoint num="2" id="3255" />
+<TGConnectingPoint num="3" id="3256" />
+<TGConnectingPoint num="4" id="3257" />
+<TGConnectingPoint num="5" id="3258" />
+<TGConnectingPoint num="6" id="3259" />
+<TGConnectingPoint num="7" id="3260" />
+<TGConnectingPoint num="8" id="3261" />
+<TGConnectingPoint num="9" id="3262" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="3304" >
+<cdparam x="307" y="87" />
+<sizeparam width="186" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingForSpeedUpdate" />
-<TGConnectingPoint num="0" id="3260" />
-<TGConnectingPoint num="1" id="3261" />
-<TGConnectingPoint num="2" id="3262" />
-<TGConnectingPoint num="3" id="3263" />
-<TGConnectingPoint num="4" id="3264" />
-<TGConnectingPoint num="5" id="3265" />
-<TGConnectingPoint num="6" id="3266" />
-<TGConnectingPoint num="7" id="3267" />
-<TGConnectingPoint num="8" id="3268" />
-<TGConnectingPoint num="9" id="3269" />
-<TGConnectingPoint num="10" id="3270" />
-<TGConnectingPoint num="11" id="3271" />
-<TGConnectingPoint num="12" id="3272" />
-<TGConnectingPoint num="13" id="3273" />
-<TGConnectingPoint num="14" id="3274" />
-<TGConnectingPoint num="15" id="3275" />
-<TGConnectingPoint num="16" id="3276" />
-<TGConnectingPoint num="17" id="3277" />
-<TGConnectingPoint num="18" id="3278" />
-<TGConnectingPoint num="19" id="3279" />
-<TGConnectingPoint num="20" id="3280" />
-<TGConnectingPoint num="21" id="3281" />
-<TGConnectingPoint num="22" id="3282" />
-<TGConnectingPoint num="23" id="3283" />
-<TGConnectingPoint num="24" id="3284" />
-<TGConnectingPoint num="25" id="3285" />
-<TGConnectingPoint num="26" id="3286" />
-<TGConnectingPoint num="27" id="3287" />
-<TGConnectingPoint num="28" id="3288" />
-<TGConnectingPoint num="29" id="3289" />
-<TGConnectingPoint num="30" id="3290" />
-<TGConnectingPoint num="31" id="3291" />
-<TGConnectingPoint num="32" id="3292" />
-<TGConnectingPoint num="33" id="3293" />
-<TGConnectingPoint num="34" id="3294" />
-<TGConnectingPoint num="35" id="3295" />
-<TGConnectingPoint num="36" id="3296" />
-<TGConnectingPoint num="37" id="3297" />
-<TGConnectingPoint num="38" id="3298" />
-<TGConnectingPoint num="39" id="3299" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3302" >
-<cdparam x="383" y="61" />
+<infoparam name="state0" value="WaitingforEmergency" />
+<TGConnectingPoint num="0" id="3264" />
+<TGConnectingPoint num="1" id="3265" />
+<TGConnectingPoint num="2" id="3266" />
+<TGConnectingPoint num="3" id="3267" />
+<TGConnectingPoint num="4" id="3268" />
+<TGConnectingPoint num="5" id="3269" />
+<TGConnectingPoint num="6" id="3270" />
+<TGConnectingPoint num="7" id="3271" />
+<TGConnectingPoint num="8" id="3272" />
+<TGConnectingPoint num="9" id="3273" />
+<TGConnectingPoint num="10" id="3274" />
+<TGConnectingPoint num="11" id="3275" />
+<TGConnectingPoint num="12" id="3276" />
+<TGConnectingPoint num="13" id="3277" />
+<TGConnectingPoint num="14" id="3278" />
+<TGConnectingPoint num="15" id="3279" />
+<TGConnectingPoint num="16" id="3280" />
+<TGConnectingPoint num="17" id="3281" />
+<TGConnectingPoint num="18" id="3282" />
+<TGConnectingPoint num="19" id="3283" />
+<TGConnectingPoint num="20" id="3284" />
+<TGConnectingPoint num="21" id="3285" />
+<TGConnectingPoint num="22" id="3286" />
+<TGConnectingPoint num="23" id="3287" />
+<TGConnectingPoint num="24" id="3288" />
+<TGConnectingPoint num="25" id="3289" />
+<TGConnectingPoint num="26" id="3290" />
+<TGConnectingPoint num="27" id="3291" />
+<TGConnectingPoint num="28" id="3292" />
+<TGConnectingPoint num="29" id="3293" />
+<TGConnectingPoint num="30" id="3294" />
+<TGConnectingPoint num="31" id="3295" />
+<TGConnectingPoint num="32" id="3296" />
+<TGConnectingPoint num="33" id="3297" />
+<TGConnectingPoint num="34" id="3298" />
+<TGConnectingPoint num="35" id="3299" />
+<TGConnectingPoint num="36" id="3300" />
+<TGConnectingPoint num="37" id="3301" />
+<TGConnectingPoint num="38" id="3302" />
+<TGConnectingPoint num="39" id="3303" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="3306" >
+<cdparam x="400" y="50" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3301" />
+<TGConnectingPoint num="0" id="3305" />
+</COMPONENT>
+
+<COMPONENT type="5108" id="3309" >
+<cdparam x="224" y="231" />
+<sizeparam width="350" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="TGComponent" value="null" />
+<TGConnectingPoint num="0" id="3307" />
+<TGConnectingPoint num="1" id="3308" />
+<extraparam>
+<Data variable="position" minValue="carid.minPosition" maxValue="carid.maxPosition" functionId="0" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5108" id="3312" >
+<cdparam x="274" y="186" />
+<sizeparam width="252" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="TGComponent" value="null" />
+<TGConnectingPoint num="0" id="3310" />
+<TGConnectingPoint num="1" id="3311" />
+<extraparam>
+<Data variable="id" minValue="carid.minID" maxValue="carid.maxID" functionId="0" />
+</extraparam>
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="RadarSensor" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3311" >
-<cdparam x="492" y="329" />
+<AVATARStateMachineDiagramPanel name="CarPositionSimulator" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="3319" >
+<cdparam x="424" y="254" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3309" />
-<TGConnectingPoint num="1" id="3310" />
-<P1 x="492" y="329" id="3398" />
-<P2 x="513" y="410" id="3374" />
-<Point x="536" y="357" />
+<infoparam name="connector from TGComponent to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3318" />
+<P1 x="424" y="254" id="3355" />
+<P2 x="422" y="274" id="3360" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3303" >
-<father id="3311" num="0" />
-<cdparam x="536" y="357" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3308" >
-<father id="3311" num="1" />
-<cdparam x="492" y="369" />
-<sizeparam width="111" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3317" >
+<father id="3319" num="0" />
+<cdparam x="424" y="294" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3304" />
-<TGConnectingPoint num="1" id="3305" />
-<TGConnectingPoint num="2" id="3306" />
-<TGConnectingPoint num="3" id="3307" />
+<TGConnectingPoint num="0" id="3313" />
+<TGConnectingPoint num="1" id="3314" />
+<TGConnectingPoint num="2" id="3315" />
+<TGConnectingPoint num="3" id="3316" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
-<actions value="obstacleAhead = 1" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3318" >
-<cdparam x="459" y="192" />
+<CONNECTOR type="5102" id="3326" >
+<cdparam x="517" y="144" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3317" />
-<P1 x="439" y="192" id="3429" />
-<P2 x="467" y="304" id="3396" />
+<infoparam name="connector from state0 to TGComponent" value="null" />
+<TGConnectingPoint num="0" id="3325" />
+<P1 x="424" y="144" id="3377" />
+<P2 x="424" y="188" id="3357" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3316" >
-<father id="3318" num="0" />
-<cdparam x="453" y="222" />
-<sizeparam width="243" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3324" >
+<father id="3326" num="0" />
+<cdparam x="517" y="184" />
+<sizeparam width="301" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3312" />
-<TGConnectingPoint num="1" id="3313" />
-<TGConnectingPoint num="2" id="3314" />
-<TGConnectingPoint num="3" id="3315" />
+<TGConnectingPoint num="0" id="3320" />
+<TGConnectingPoint num="1" id="3321" />
+<TGConnectingPoint num="2" id="3322" />
+<TGConnectingPoint num="3" id="3323" />
<extraparam>
<guard value="[ ]" />
-<afterMin value="minRadarUpdate" />
-<afterMax value="maxRadarUpdate" />
+<afterMin value="minCarPositionInterval" />
+<afterMax value="maxCarPositionInterval" />
<computeMin value="" />
<computeMax value="" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3325" >
-<cdparam x="439" y="108" />
+<CONNECTOR type="5102" id="3333" >
+<cdparam x="431" y="77" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3324" />
-<P1 x="439" y="108" id="3464" />
-<P2 x="439" y="142" id="3424" />
+<TGConnectingPoint num="0" id="3332" />
+<P1 x="431" y="77" id="3412" />
+<P2 x="424" y="94" id="3372" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3323" >
-<father id="3325" num="0" />
-<cdparam x="439" y="148" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3331" >
+<father id="3333" num="0" />
+<cdparam x="431" y="117" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3319" />
-<TGConnectingPoint num="1" id="3320" />
-<TGConnectingPoint num="2" id="3321" />
-<TGConnectingPoint num="3" id="3322" />
+<TGConnectingPoint num="0" id="3327" />
+<TGConnectingPoint num="1" id="3328" />
+<TGConnectingPoint num="2" id="3329" />
+<TGConnectingPoint num="3" id="3330" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -7218,55 +7274,83 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3338" >
-<cdparam x="439" y="358" />
+<CONNECTOR type="5102" id="3340" >
+<cdparam x="424" y="218" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Send signal to state0" value="null" />
+<infoparam name="connector from TGComponent to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3339" />
+<P1 x="424" y="218" id="3358" />
+<P2 x="424" y="224" id="3354" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3338" >
+<father id="3340" num="0" />
+<cdparam x="424" y="258" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
<TGConnectingPoint num="0" id="3334" />
<TGConnectingPoint num="1" id="3335" />
<TGConnectingPoint num="2" id="3336" />
<TGConnectingPoint num="3" id="3337" />
-<P1 x="440" y="531" id="3413" />
-<P2 x="355" y="167" id="3426" />
-<Point x="436" y="572" />
-<Point x="308" y="582" />
-<Point x="318" y="171" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="3353" >
+<cdparam x="424" y="278" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Send signal to state0" value="null" />
+<TGConnectingPoint num="0" id="3349" />
+<TGConnectingPoint num="1" id="3350" />
+<TGConnectingPoint num="2" id="3351" />
+<TGConnectingPoint num="3" id="3352" />
+<P1 x="422" y="304" id="3361" />
+<P2 x="331" y="119" id="3374" />
+<Point x="423" y="321" />
+<Point x="293" y="320" />
+<Point x="280" y="118" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3326" >
-<father id="3338" num="0" />
-<cdparam x="436" y="572" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3341" >
+<father id="3353" num="0" />
+<cdparam x="423" y="321" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3327" >
-<father id="3338" num="1" />
-<cdparam x="308" y="582" />
+<SUBCOMPONENT type="-1" id="3342" >
+<father id="3353" num="1" />
+<cdparam x="293" y="320" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3328" >
-<father id="3338" num="2" />
-<cdparam x="318" y="171" />
+<SUBCOMPONENT type="-1" id="3343" >
+<father id="3353" num="2" />
+<cdparam x="280" y="118" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3333" >
-<father id="3338" num="3" />
-<cdparam x="439" y="398" />
+<SUBCOMPONENT type="-1" id="3348" >
+<father id="3353" num="3" />
+<cdparam x="424" y="318" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3329" />
-<TGConnectingPoint num="1" id="3330" />
-<TGConnectingPoint num="2" id="3331" />
-<TGConnectingPoint num="3" id="3332" />
+<TGConnectingPoint num="0" id="3344" />
+<TGConnectingPoint num="1" id="3345" />
+<TGConnectingPoint num="2" id="3346" />
+<TGConnectingPoint num="3" id="3347" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -7276,276 +7360,162 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3347" >
-<cdparam x="467" y="354" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3345" />
-<TGConnectingPoint num="1" id="3346" />
-<P1 x="442" y="329" id="3397" />
-<P2 x="463" y="410" id="3372" />
-<Point x="413" y="359" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3339" >
-<father id="3347" num="0" />
-<cdparam x="413" y="359" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3344" >
-<father id="3347" num="1" />
-<cdparam x="350" y="390" />
-<sizeparam width="111" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5108" id="3356" >
+<cdparam x="249" y="229" />
+<sizeparam width="350" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3340" />
-<TGConnectingPoint num="1" id="3341" />
-<TGConnectingPoint num="2" id="3342" />
-<TGConnectingPoint num="3" id="3343" />
+<infoparam name="TGComponent" value="null" />
+<TGConnectingPoint num="0" id="3354" />
+<TGConnectingPoint num="1" id="3355" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="obstacleAhead = 1" />
+<Data variable="position" minValue="carid.minPosition" maxValue="carid.maxPosition" functionId="0" />
</extraparam>
-</SUBCOMPONENT>
+</COMPONENT>
-<CONNECTOR type="5102" id="3354" >
-<cdparam x="445" y="483" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3353" />
-<P1 x="438" y="460" id="3383" />
-<P2 x="440" y="501" id="3412" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3352" >
-<father id="3354" num="0" />
-<cdparam x="445" y="523" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5108" id="3359" >
+<cdparam x="298" y="193" />
+<sizeparam width="252" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3348" />
-<TGConnectingPoint num="1" id="3349" />
-<TGConnectingPoint num="2" id="3350" />
-<TGConnectingPoint num="3" id="3351" />
+<infoparam name="TGComponent" value="null" />
+<TGConnectingPoint num="0" id="3357" />
+<TGConnectingPoint num="1" id="3358" />
<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<Data variable="id" minValue="carid.minID" maxValue="carid.maxID" functionId="0" />
</extraparam>
-</SUBCOMPONENT>
+</COMPONENT>
-<COMPONENT type="5106" id="3395" >
-<cdparam x="426" y="410" />
-<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="sendingUpdate" />
-<TGConnectingPoint num="0" id="3355" />
-<TGConnectingPoint num="1" id="3356" />
-<TGConnectingPoint num="2" id="3357" />
-<TGConnectingPoint num="3" id="3358" />
-<TGConnectingPoint num="4" id="3359" />
-<TGConnectingPoint num="5" id="3360" />
-<TGConnectingPoint num="6" id="3361" />
-<TGConnectingPoint num="7" id="3362" />
-<TGConnectingPoint num="8" id="3363" />
-<TGConnectingPoint num="9" id="3364" />
-<TGConnectingPoint num="10" id="3365" />
-<TGConnectingPoint num="11" id="3366" />
-<TGConnectingPoint num="12" id="3367" />
-<TGConnectingPoint num="13" id="3368" />
-<TGConnectingPoint num="14" id="3369" />
-<TGConnectingPoint num="15" id="3370" />
-<TGConnectingPoint num="16" id="3371" />
-<TGConnectingPoint num="17" id="3372" />
-<TGConnectingPoint num="18" id="3373" />
-<TGConnectingPoint num="19" id="3374" />
-<TGConnectingPoint num="20" id="3375" />
-<TGConnectingPoint num="21" id="3376" />
-<TGConnectingPoint num="22" id="3377" />
-<TGConnectingPoint num="23" id="3378" />
-<TGConnectingPoint num="24" id="3379" />
-<TGConnectingPoint num="25" id="3380" />
-<TGConnectingPoint num="26" id="3381" />
-<TGConnectingPoint num="27" id="3382" />
-<TGConnectingPoint num="28" id="3383" />
-<TGConnectingPoint num="29" id="3384" />
-<TGConnectingPoint num="30" id="3385" />
-<TGConnectingPoint num="31" id="3386" />
-<TGConnectingPoint num="32" id="3387" />
-<TGConnectingPoint num="33" id="3388" />
-<TGConnectingPoint num="34" id="3389" />
-<TGConnectingPoint num="35" id="3390" />
-<TGConnectingPoint num="36" id="3391" />
-<TGConnectingPoint num="37" id="3392" />
-<TGConnectingPoint num="38" id="3393" />
-<TGConnectingPoint num="39" id="3394" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5107" id="3411" >
-<cdparam x="452" y="314" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="3396" />
-<TGConnectingPoint num="1" id="3397" />
-<TGConnectingPoint num="2" id="3398" />
-<TGConnectingPoint num="3" id="3399" />
-<TGConnectingPoint num="4" id="3400" />
-<TGConnectingPoint num="5" id="3401" />
-<TGConnectingPoint num="6" id="3402" />
-<TGConnectingPoint num="7" id="3403" />
-<TGConnectingPoint num="8" id="3404" />
-<TGConnectingPoint num="9" id="3405" />
-<TGConnectingPoint num="10" id="3406" />
-<TGConnectingPoint num="11" id="3407" />
-<TGConnectingPoint num="12" id="3408" />
-<TGConnectingPoint num="13" id="3409" />
-<TGConnectingPoint num="14" id="3410" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="3422" >
-<cdparam x="346" y="506" />
-<sizeparam width="188" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="3370" >
+<cdparam x="350" y="279" />
+<sizeparam width="144" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="obstacleAhead(obstacleAhead)" />
-<TGConnectingPoint num="0" id="3412" />
-<TGConnectingPoint num="1" id="3413" />
-<TGConnectingPoint num="2" id="3414" />
-<TGConnectingPoint num="3" id="3415" />
-<TGConnectingPoint num="4" id="3416" />
-<TGConnectingPoint num="5" id="3417" />
-<TGConnectingPoint num="6" id="3418" />
-<TGConnectingPoint num="7" id="3419" />
-<TGConnectingPoint num="8" id="3420" />
-<TGConnectingPoint num="9" id="3421" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3463" >
-<cdparam x="355" y="142" />
-<sizeparam width="169" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Send signal" value="carPosition(id, position)" />
+<TGConnectingPoint num="0" id="3360" />
+<TGConnectingPoint num="1" id="3361" />
+<TGConnectingPoint num="2" id="3362" />
+<TGConnectingPoint num="3" id="3363" />
+<TGConnectingPoint num="4" id="3364" />
+<TGConnectingPoint num="5" id="3365" />
+<TGConnectingPoint num="6" id="3366" />
+<TGConnectingPoint num="7" id="3367" />
+<TGConnectingPoint num="8" id="3368" />
+<TGConnectingPoint num="9" id="3369" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="3411" >
+<cdparam x="331" y="94" />
+<sizeparam width="186" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingForRadarInfo" />
-<TGConnectingPoint num="0" id="3423" />
-<TGConnectingPoint num="1" id="3424" />
-<TGConnectingPoint num="2" id="3425" />
-<TGConnectingPoint num="3" id="3426" />
-<TGConnectingPoint num="4" id="3427" />
-<TGConnectingPoint num="5" id="3428" />
-<TGConnectingPoint num="6" id="3429" />
-<TGConnectingPoint num="7" id="3430" />
-<TGConnectingPoint num="8" id="3431" />
-<TGConnectingPoint num="9" id="3432" />
-<TGConnectingPoint num="10" id="3433" />
-<TGConnectingPoint num="11" id="3434" />
-<TGConnectingPoint num="12" id="3435" />
-<TGConnectingPoint num="13" id="3436" />
-<TGConnectingPoint num="14" id="3437" />
-<TGConnectingPoint num="15" id="3438" />
-<TGConnectingPoint num="16" id="3439" />
-<TGConnectingPoint num="17" id="3440" />
-<TGConnectingPoint num="18" id="3441" />
-<TGConnectingPoint num="19" id="3442" />
-<TGConnectingPoint num="20" id="3443" />
-<TGConnectingPoint num="21" id="3444" />
-<TGConnectingPoint num="22" id="3445" />
-<TGConnectingPoint num="23" id="3446" />
-<TGConnectingPoint num="24" id="3447" />
-<TGConnectingPoint num="25" id="3448" />
-<TGConnectingPoint num="26" id="3449" />
-<TGConnectingPoint num="27" id="3450" />
-<TGConnectingPoint num="28" id="3451" />
-<TGConnectingPoint num="29" id="3452" />
-<TGConnectingPoint num="30" id="3453" />
-<TGConnectingPoint num="31" id="3454" />
-<TGConnectingPoint num="32" id="3455" />
-<TGConnectingPoint num="33" id="3456" />
-<TGConnectingPoint num="34" id="3457" />
-<TGConnectingPoint num="35" id="3458" />
-<TGConnectingPoint num="36" id="3459" />
-<TGConnectingPoint num="37" id="3460" />
-<TGConnectingPoint num="38" id="3461" />
-<TGConnectingPoint num="39" id="3462" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3465" >
-<cdparam x="432" y="88" />
+<infoparam name="state0" value="WaitingforNewCarPosition" />
+<TGConnectingPoint num="0" id="3371" />
+<TGConnectingPoint num="1" id="3372" />
+<TGConnectingPoint num="2" id="3373" />
+<TGConnectingPoint num="3" id="3374" />
+<TGConnectingPoint num="4" id="3375" />
+<TGConnectingPoint num="5" id="3376" />
+<TGConnectingPoint num="6" id="3377" />
+<TGConnectingPoint num="7" id="3378" />
+<TGConnectingPoint num="8" id="3379" />
+<TGConnectingPoint num="9" id="3380" />
+<TGConnectingPoint num="10" id="3381" />
+<TGConnectingPoint num="11" id="3382" />
+<TGConnectingPoint num="12" id="3383" />
+<TGConnectingPoint num="13" id="3384" />
+<TGConnectingPoint num="14" id="3385" />
+<TGConnectingPoint num="15" id="3386" />
+<TGConnectingPoint num="16" id="3387" />
+<TGConnectingPoint num="17" id="3388" />
+<TGConnectingPoint num="18" id="3389" />
+<TGConnectingPoint num="19" id="3390" />
+<TGConnectingPoint num="20" id="3391" />
+<TGConnectingPoint num="21" id="3392" />
+<TGConnectingPoint num="22" id="3393" />
+<TGConnectingPoint num="23" id="3394" />
+<TGConnectingPoint num="24" id="3395" />
+<TGConnectingPoint num="25" id="3396" />
+<TGConnectingPoint num="26" id="3397" />
+<TGConnectingPoint num="27" id="3398" />
+<TGConnectingPoint num="28" id="3399" />
+<TGConnectingPoint num="29" id="3400" />
+<TGConnectingPoint num="30" id="3401" />
+<TGConnectingPoint num="31" id="3402" />
+<TGConnectingPoint num="32" id="3403" />
+<TGConnectingPoint num="33" id="3404" />
+<TGConnectingPoint num="34" id="3405" />
+<TGConnectingPoint num="35" id="3406" />
+<TGConnectingPoint num="36" id="3407" />
+<TGConnectingPoint num="37" id="3408" />
+<TGConnectingPoint num="38" id="3409" />
+<TGConnectingPoint num="39" id="3410" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="3413" >
+<cdparam x="424" y="57" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3464" />
+<TGConnectingPoint num="0" id="3412" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
<AVATARStateMachineDiagramPanel name="GPSSensor" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3478" >
+<CONNECTOR type="5102" id="3426" >
<cdparam x="408" y="353" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3474" />
-<TGConnectingPoint num="1" id="3475" />
-<TGConnectingPoint num="2" id="3476" />
-<TGConnectingPoint num="3" id="3477" />
-<P1 x="408" y="353" id="3504" />
-<P2 x="324" y="162" id="3517" />
+<TGConnectingPoint num="0" id="3422" />
+<TGConnectingPoint num="1" id="3423" />
+<TGConnectingPoint num="2" id="3424" />
+<TGConnectingPoint num="3" id="3425" />
+<P1 x="408" y="353" id="3452" />
+<P2 x="324" y="162" id="3465" />
<Point x="408" y="382" />
<Point x="287" y="382" />
<Point x="287" y="162" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3466" >
-<father id="3478" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3414" >
+<father id="3426" num="0" />
<cdparam x="408" y="382" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3467" >
-<father id="3478" num="1" />
+<SUBCOMPONENT type="-1" id="3415" >
+<father id="3426" num="1" />
<cdparam x="287" y="382" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3468" >
-<father id="3478" num="2" />
+<SUBCOMPONENT type="-1" id="3416" >
+<father id="3426" num="2" />
<cdparam x="287" y="162" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3473" >
-<father id="3478" num="3" />
+<SUBCOMPONENT type="-1" id="3421" >
+<father id="3426" num="3" />
<cdparam x="408" y="393" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3469" />
-<TGConnectingPoint num="1" id="3470" />
-<TGConnectingPoint num="2" id="3471" />
-<TGConnectingPoint num="3" id="3472" />
+<TGConnectingPoint num="0" id="3417" />
+<TGConnectingPoint num="1" id="3418" />
+<TGConnectingPoint num="2" id="3419" />
+<TGConnectingPoint num="3" id="3420" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -7555,25 +7525,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3485" >
+<CONNECTOR type="5102" id="3433" >
<cdparam x="408" y="294" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3484" />
-<P1 x="408" y="294" id="3501" />
-<P2 x="408" y="323" id="3503" />
+<TGConnectingPoint num="0" id="3432" />
+<P1 x="408" y="294" id="3449" />
+<P2 x="408" y="323" id="3451" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3483" >
-<father id="3485" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3431" >
+<father id="3433" num="0" />
<cdparam x="428" y="312" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3479" />
-<TGConnectingPoint num="1" id="3480" />
-<TGConnectingPoint num="2" id="3481" />
-<TGConnectingPoint num="3" id="3482" />
+<TGConnectingPoint num="0" id="3427" />
+<TGConnectingPoint num="1" id="3428" />
+<TGConnectingPoint num="2" id="3429" />
+<TGConnectingPoint num="3" id="3430" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -7583,25 +7553,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3492" >
+<CONNECTOR type="5102" id="3440" >
<cdparam x="408" y="103" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3491" />
-<P1 x="408" y="103" id="3555" />
-<P2 x="408" y="137" id="3515" />
+<TGConnectingPoint num="0" id="3439" />
+<P1 x="408" y="103" id="3503" />
+<P2 x="408" y="137" id="3463" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3490" >
-<father id="3492" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3438" >
+<father id="3440" num="0" />
<cdparam x="408" y="143" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3486" />
-<TGConnectingPoint num="1" id="3487" />
-<TGConnectingPoint num="2" id="3488" />
-<TGConnectingPoint num="3" id="3489" />
+<TGConnectingPoint num="0" id="3434" />
+<TGConnectingPoint num="1" id="3435" />
+<TGConnectingPoint num="2" id="3436" />
+<TGConnectingPoint num="3" id="3437" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -7611,25 +7581,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3499" >
+<CONNECTOR type="5102" id="3447" >
<cdparam x="428" y="187" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3498" />
-<P1 x="408" y="187" id="3520" />
-<P2 x="408" y="264" id="3500" />
+<TGConnectingPoint num="0" id="3446" />
+<P1 x="408" y="187" id="3468" />
+<P2 x="408" y="264" id="3448" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3497" >
-<father id="3499" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3445" >
+<father id="3447" num="0" />
<cdparam x="422" y="217" />
<sizeparam width="217" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3493" />
-<TGConnectingPoint num="1" id="3494" />
-<TGConnectingPoint num="2" id="3495" />
-<TGConnectingPoint num="3" id="3496" />
+<TGConnectingPoint num="0" id="3441" />
+<TGConnectingPoint num="1" id="3442" />
+<TGConnectingPoint num="2" id="3443" />
+<TGConnectingPoint num="3" id="3444" />
<extraparam>
<guard value="[ ]" />
<afterMin value="minGPSUpdate" />
@@ -7639,175 +7609,186 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5108" id="3502" >
+<COMPONENT type="5108" id="3450" >
<cdparam x="223" y="269" />
<sizeparam width="370" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3500" />
-<TGConnectingPoint num="1" id="3501" />
+<TGConnectingPoint num="0" id="3448" />
+<TGConnectingPoint num="1" id="3449" />
<extraparam>
<Data variable="position" minValue="carinfo.minPosition" maxValue="carinfo.maxPosition" functionId="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5103" id="3513" >
+<COMPONENT type="5103" id="3461" >
<cdparam x="346" y="328" />
<sizeparam width="124" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Send signal" value="setPosition(position)" />
-<TGConnectingPoint num="0" id="3503" />
-<TGConnectingPoint num="1" id="3504" />
-<TGConnectingPoint num="2" id="3505" />
-<TGConnectingPoint num="3" id="3506" />
-<TGConnectingPoint num="4" id="3507" />
-<TGConnectingPoint num="5" id="3508" />
-<TGConnectingPoint num="6" id="3509" />
-<TGConnectingPoint num="7" id="3510" />
-<TGConnectingPoint num="8" id="3511" />
-<TGConnectingPoint num="9" id="3512" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3554" >
+<TGConnectingPoint num="0" id="3451" />
+<TGConnectingPoint num="1" id="3452" />
+<TGConnectingPoint num="2" id="3453" />
+<TGConnectingPoint num="3" id="3454" />
+<TGConnectingPoint num="4" id="3455" />
+<TGConnectingPoint num="5" id="3456" />
+<TGConnectingPoint num="6" id="3457" />
+<TGConnectingPoint num="7" id="3458" />
+<TGConnectingPoint num="8" id="3459" />
+<TGConnectingPoint num="9" id="3460" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="3502" >
<cdparam x="324" y="137" />
<sizeparam width="169" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="state0" value="WaitingForGPSInfo" />
-<TGConnectingPoint num="0" id="3514" />
-<TGConnectingPoint num="1" id="3515" />
-<TGConnectingPoint num="2" id="3516" />
-<TGConnectingPoint num="3" id="3517" />
-<TGConnectingPoint num="4" id="3518" />
-<TGConnectingPoint num="5" id="3519" />
-<TGConnectingPoint num="6" id="3520" />
-<TGConnectingPoint num="7" id="3521" />
-<TGConnectingPoint num="8" id="3522" />
-<TGConnectingPoint num="9" id="3523" />
-<TGConnectingPoint num="10" id="3524" />
-<TGConnectingPoint num="11" id="3525" />
-<TGConnectingPoint num="12" id="3526" />
-<TGConnectingPoint num="13" id="3527" />
-<TGConnectingPoint num="14" id="3528" />
-<TGConnectingPoint num="15" id="3529" />
-<TGConnectingPoint num="16" id="3530" />
-<TGConnectingPoint num="17" id="3531" />
-<TGConnectingPoint num="18" id="3532" />
-<TGConnectingPoint num="19" id="3533" />
-<TGConnectingPoint num="20" id="3534" />
-<TGConnectingPoint num="21" id="3535" />
-<TGConnectingPoint num="22" id="3536" />
-<TGConnectingPoint num="23" id="3537" />
-<TGConnectingPoint num="24" id="3538" />
-<TGConnectingPoint num="25" id="3539" />
-<TGConnectingPoint num="26" id="3540" />
-<TGConnectingPoint num="27" id="3541" />
-<TGConnectingPoint num="28" id="3542" />
-<TGConnectingPoint num="29" id="3543" />
-<TGConnectingPoint num="30" id="3544" />
-<TGConnectingPoint num="31" id="3545" />
-<TGConnectingPoint num="32" id="3546" />
-<TGConnectingPoint num="33" id="3547" />
-<TGConnectingPoint num="34" id="3548" />
-<TGConnectingPoint num="35" id="3549" />
-<TGConnectingPoint num="36" id="3550" />
-<TGConnectingPoint num="37" id="3551" />
-<TGConnectingPoint num="38" id="3552" />
-<TGConnectingPoint num="39" id="3553" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3556" >
+<TGConnectingPoint num="0" id="3462" />
+<TGConnectingPoint num="1" id="3463" />
+<TGConnectingPoint num="2" id="3464" />
+<TGConnectingPoint num="3" id="3465" />
+<TGConnectingPoint num="4" id="3466" />
+<TGConnectingPoint num="5" id="3467" />
+<TGConnectingPoint num="6" id="3468" />
+<TGConnectingPoint num="7" id="3469" />
+<TGConnectingPoint num="8" id="3470" />
+<TGConnectingPoint num="9" id="3471" />
+<TGConnectingPoint num="10" id="3472" />
+<TGConnectingPoint num="11" id="3473" />
+<TGConnectingPoint num="12" id="3474" />
+<TGConnectingPoint num="13" id="3475" />
+<TGConnectingPoint num="14" id="3476" />
+<TGConnectingPoint num="15" id="3477" />
+<TGConnectingPoint num="16" id="3478" />
+<TGConnectingPoint num="17" id="3479" />
+<TGConnectingPoint num="18" id="3480" />
+<TGConnectingPoint num="19" id="3481" />
+<TGConnectingPoint num="20" id="3482" />
+<TGConnectingPoint num="21" id="3483" />
+<TGConnectingPoint num="22" id="3484" />
+<TGConnectingPoint num="23" id="3485" />
+<TGConnectingPoint num="24" id="3486" />
+<TGConnectingPoint num="25" id="3487" />
+<TGConnectingPoint num="26" id="3488" />
+<TGConnectingPoint num="27" id="3489" />
+<TGConnectingPoint num="28" id="3490" />
+<TGConnectingPoint num="29" id="3491" />
+<TGConnectingPoint num="30" id="3492" />
+<TGConnectingPoint num="31" id="3493" />
+<TGConnectingPoint num="32" id="3494" />
+<TGConnectingPoint num="33" id="3495" />
+<TGConnectingPoint num="34" id="3496" />
+<TGConnectingPoint num="35" id="3497" />
+<TGConnectingPoint num="36" id="3498" />
+<TGConnectingPoint num="37" id="3499" />
+<TGConnectingPoint num="38" id="3500" />
+<TGConnectingPoint num="39" id="3501" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="3504" >
<cdparam x="401" y="83" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3555" />
+<TGConnectingPoint num="0" id="3503" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="CarPositionSimulator" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3563" >
-<cdparam x="424" y="254" />
+<AVATARStateMachineDiagramPanel name="RadarSensor" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="3513" >
+<cdparam x="492" y="329" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3562" />
-<P1 x="424" y="254" id="3599" />
-<P2 x="422" y="274" id="3604" />
+<infoparam name="connector from choice to state0" value="null" />
+<TGConnectingPoint num="0" id="3511" />
+<TGConnectingPoint num="1" id="3512" />
+<P1 x="492" y="329" id="3600" />
+<P2 x="513" y="410" id="3576" />
+<Point x="536" y="357" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3561" >
-<father id="3563" num="0" />
-<cdparam x="424" y="294" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3505" >
+<father id="3513" num="0" />
+<cdparam x="536" y="357" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="3510" >
+<father id="3513" num="1" />
+<cdparam x="492" y="369" />
+<sizeparam width="111" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3557" />
-<TGConnectingPoint num="1" id="3558" />
-<TGConnectingPoint num="2" id="3559" />
-<TGConnectingPoint num="3" id="3560" />
+<TGConnectingPoint num="0" id="3506" />
+<TGConnectingPoint num="1" id="3507" />
+<TGConnectingPoint num="2" id="3508" />
+<TGConnectingPoint num="3" id="3509" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
+<actions value="obstacleAhead = 1" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3570" >
-<cdparam x="517" y="144" />
+<CONNECTOR type="5102" id="3520" >
+<cdparam x="459" y="192" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3569" />
-<P1 x="424" y="144" id="3621" />
-<P2 x="424" y="188" id="3601" />
+<infoparam name="connector from state0 to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3519" />
+<P1 x="439" y="192" id="3631" />
+<P2 x="467" y="304" id="3598" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3568" >
-<father id="3570" num="0" />
-<cdparam x="517" y="184" />
-<sizeparam width="301" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3518" >
+<father id="3520" num="0" />
+<cdparam x="453" y="222" />
+<sizeparam width="243" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3564" />
-<TGConnectingPoint num="1" id="3565" />
-<TGConnectingPoint num="2" id="3566" />
-<TGConnectingPoint num="3" id="3567" />
+<TGConnectingPoint num="0" id="3514" />
+<TGConnectingPoint num="1" id="3515" />
+<TGConnectingPoint num="2" id="3516" />
+<TGConnectingPoint num="3" id="3517" />
<extraparam>
<guard value="[ ]" />
-<afterMin value="minCarPositionInterval" />
-<afterMax value="maxCarPositionInterval" />
+<afterMin value="minRadarUpdate" />
+<afterMax value="maxRadarUpdate" />
<computeMin value="" />
<computeMax value="" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3577" >
-<cdparam x="431" y="77" />
+<CONNECTOR type="5102" id="3527" >
+<cdparam x="439" y="108" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3576" />
-<P1 x="431" y="77" id="3656" />
-<P2 x="424" y="94" id="3616" />
+<TGConnectingPoint num="0" id="3526" />
+<P1 x="439" y="108" id="3666" />
+<P2 x="439" y="142" id="3626" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3575" >
-<father id="3577" num="0" />
-<cdparam x="431" y="117" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3525" >
+<father id="3527" num="0" />
+<cdparam x="439" y="148" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3571" />
-<TGConnectingPoint num="1" id="3572" />
-<TGConnectingPoint num="2" id="3573" />
-<TGConnectingPoint num="3" id="3574" />
+<TGConnectingPoint num="0" id="3521" />
+<TGConnectingPoint num="1" id="3522" />
+<TGConnectingPoint num="2" id="3523" />
+<TGConnectingPoint num="3" id="3524" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -7817,25 +7798,55 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3584" >
-<cdparam x="424" y="218" />
+<CONNECTOR type="5102" id="3540" >
+<cdparam x="439" y="358" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3583" />
-<P1 x="424" y="218" id="3602" />
-<P2 x="424" y="224" id="3598" />
+<infoparam name="connector from Send signal to state0" value="null" />
+<TGConnectingPoint num="0" id="3536" />
+<TGConnectingPoint num="1" id="3537" />
+<TGConnectingPoint num="2" id="3538" />
+<TGConnectingPoint num="3" id="3539" />
+<P1 x="440" y="531" id="3615" />
+<P2 x="355" y="167" id="3628" />
+<Point x="436" y="572" />
+<Point x="308" y="582" />
+<Point x="318" y="171" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3582" >
-<father id="3584" num="0" />
-<cdparam x="424" y="258" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3528" >
+<father id="3540" num="0" />
+<cdparam x="436" y="572" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="3529" >
+<father id="3540" num="1" />
+<cdparam x="308" y="582" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="3530" >
+<father id="3540" num="2" />
+<cdparam x="318" y="171" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="3535" >
+<father id="3540" num="3" />
+<cdparam x="439" y="398" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3578" />
-<TGConnectingPoint num="1" id="3579" />
-<TGConnectingPoint num="2" id="3580" />
-<TGConnectingPoint num="3" id="3581" />
+<TGConnectingPoint num="0" id="3531" />
+<TGConnectingPoint num="1" id="3532" />
+<TGConnectingPoint num="2" id="3533" />
+<TGConnectingPoint num="3" id="3534" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -7845,55 +7856,64 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3597" >
-<cdparam x="424" y="278" />
+<CONNECTOR type="5102" id="3549" >
+<cdparam x="467" y="354" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3593" />
-<TGConnectingPoint num="1" id="3594" />
-<TGConnectingPoint num="2" id="3595" />
-<TGConnectingPoint num="3" id="3596" />
-<P1 x="422" y="304" id="3605" />
-<P2 x="331" y="119" id="3618" />
-<Point x="423" y="321" />
-<Point x="293" y="320" />
-<Point x="280" y="118" />
+<infoparam name="connector from choice to state0" value="null" />
+<TGConnectingPoint num="0" id="3547" />
+<TGConnectingPoint num="1" id="3548" />
+<P1 x="442" y="329" id="3599" />
+<P2 x="463" y="410" id="3574" />
+<Point x="413" y="359" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3585" >
-<father id="3597" num="0" />
-<cdparam x="423" y="321" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3586" >
-<father id="3597" num="1" />
-<cdparam x="293" y="320" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3541" >
+<father id="3549" num="0" />
+<cdparam x="413" y="359" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3587" >
-<father id="3597" num="2" />
-<cdparam x="280" y="118" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="3546" >
+<father id="3549" num="1" />
+<cdparam x="350" y="390" />
+<sizeparam width="111" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="3542" />
+<TGConnectingPoint num="1" id="3543" />
+<TGConnectingPoint num="2" id="3544" />
+<TGConnectingPoint num="3" id="3545" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<actions value="obstacleAhead = 1" />
+</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3592" >
-<father id="3597" num="3" />
-<cdparam x="424" y="318" />
+
+<CONNECTOR type="5102" id="3556" >
+<cdparam x="445" y="483" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3555" />
+<P1 x="438" y="460" id="3585" />
+<P2 x="440" y="501" id="3614" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3554" >
+<father id="3556" num="0" />
+<cdparam x="445" y="523" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3588" />
-<TGConnectingPoint num="1" id="3589" />
-<TGConnectingPoint num="2" id="3590" />
-<TGConnectingPoint num="3" id="3591" />
+<TGConnectingPoint num="0" id="3550" />
+<TGConnectingPoint num="1" id="3551" />
+<TGConnectingPoint num="2" id="3552" />
+<TGConnectingPoint num="3" id="3553" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -7903,190 +7923,209 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5108" id="3600" >
-<cdparam x="249" y="229" />
-<sizeparam width="350" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5106" id="3597" >
+<cdparam x="426" y="410" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3598" />
-<TGConnectingPoint num="1" id="3599" />
-<extraparam>
-<Data variable="position" minValue="carid.minPosition" maxValue="carid.maxPosition" functionId="0" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5108" id="3603" >
-<cdparam x="298" y="193" />
-<sizeparam width="252" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="state0" value="sendingUpdate" />
+<TGConnectingPoint num="0" id="3557" />
+<TGConnectingPoint num="1" id="3558" />
+<TGConnectingPoint num="2" id="3559" />
+<TGConnectingPoint num="3" id="3560" />
+<TGConnectingPoint num="4" id="3561" />
+<TGConnectingPoint num="5" id="3562" />
+<TGConnectingPoint num="6" id="3563" />
+<TGConnectingPoint num="7" id="3564" />
+<TGConnectingPoint num="8" id="3565" />
+<TGConnectingPoint num="9" id="3566" />
+<TGConnectingPoint num="10" id="3567" />
+<TGConnectingPoint num="11" id="3568" />
+<TGConnectingPoint num="12" id="3569" />
+<TGConnectingPoint num="13" id="3570" />
+<TGConnectingPoint num="14" id="3571" />
+<TGConnectingPoint num="15" id="3572" />
+<TGConnectingPoint num="16" id="3573" />
+<TGConnectingPoint num="17" id="3574" />
+<TGConnectingPoint num="18" id="3575" />
+<TGConnectingPoint num="19" id="3576" />
+<TGConnectingPoint num="20" id="3577" />
+<TGConnectingPoint num="21" id="3578" />
+<TGConnectingPoint num="22" id="3579" />
+<TGConnectingPoint num="23" id="3580" />
+<TGConnectingPoint num="24" id="3581" />
+<TGConnectingPoint num="25" id="3582" />
+<TGConnectingPoint num="26" id="3583" />
+<TGConnectingPoint num="27" id="3584" />
+<TGConnectingPoint num="28" id="3585" />
+<TGConnectingPoint num="29" id="3586" />
+<TGConnectingPoint num="30" id="3587" />
+<TGConnectingPoint num="31" id="3588" />
+<TGConnectingPoint num="32" id="3589" />
+<TGConnectingPoint num="33" id="3590" />
+<TGConnectingPoint num="34" id="3591" />
+<TGConnectingPoint num="35" id="3592" />
+<TGConnectingPoint num="36" id="3593" />
+<TGConnectingPoint num="37" id="3594" />
+<TGConnectingPoint num="38" id="3595" />
+<TGConnectingPoint num="39" id="3596" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5107" id="3613" >
+<cdparam x="452" y="314" />
+<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3601" />
-<TGConnectingPoint num="1" id="3602" />
-<extraparam>
-<Data variable="id" minValue="carid.minID" maxValue="carid.maxID" functionId="0" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5103" id="3614" >
-<cdparam x="350" y="279" />
-<sizeparam width="144" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="choice" value="null" />
+<TGConnectingPoint num="0" id="3598" />
+<TGConnectingPoint num="1" id="3599" />
+<TGConnectingPoint num="2" id="3600" />
+<TGConnectingPoint num="3" id="3601" />
+<TGConnectingPoint num="4" id="3602" />
+<TGConnectingPoint num="5" id="3603" />
+<TGConnectingPoint num="6" id="3604" />
+<TGConnectingPoint num="7" id="3605" />
+<TGConnectingPoint num="8" id="3606" />
+<TGConnectingPoint num="9" id="3607" />
+<TGConnectingPoint num="10" id="3608" />
+<TGConnectingPoint num="11" id="3609" />
+<TGConnectingPoint num="12" id="3610" />
+<TGConnectingPoint num="13" id="3611" />
+<TGConnectingPoint num="14" id="3612" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="3624" >
+<cdparam x="346" y="506" />
+<sizeparam width="188" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="carPosition(id, position)" />
-<TGConnectingPoint num="0" id="3604" />
-<TGConnectingPoint num="1" id="3605" />
-<TGConnectingPoint num="2" id="3606" />
-<TGConnectingPoint num="3" id="3607" />
-<TGConnectingPoint num="4" id="3608" />
-<TGConnectingPoint num="5" id="3609" />
-<TGConnectingPoint num="6" id="3610" />
-<TGConnectingPoint num="7" id="3611" />
-<TGConnectingPoint num="8" id="3612" />
-<TGConnectingPoint num="9" id="3613" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3655" >
-<cdparam x="331" y="94" />
-<sizeparam width="186" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Send signal" value="obstacleAhead(obstacleAhead)" />
+<TGConnectingPoint num="0" id="3614" />
+<TGConnectingPoint num="1" id="3615" />
+<TGConnectingPoint num="2" id="3616" />
+<TGConnectingPoint num="3" id="3617" />
+<TGConnectingPoint num="4" id="3618" />
+<TGConnectingPoint num="5" id="3619" />
+<TGConnectingPoint num="6" id="3620" />
+<TGConnectingPoint num="7" id="3621" />
+<TGConnectingPoint num="8" id="3622" />
+<TGConnectingPoint num="9" id="3623" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="3665" >
+<cdparam x="355" y="142" />
+<sizeparam width="169" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingforNewCarPosition" />
-<TGConnectingPoint num="0" id="3615" />
-<TGConnectingPoint num="1" id="3616" />
-<TGConnectingPoint num="2" id="3617" />
-<TGConnectingPoint num="3" id="3618" />
-<TGConnectingPoint num="4" id="3619" />
-<TGConnectingPoint num="5" id="3620" />
-<TGConnectingPoint num="6" id="3621" />
-<TGConnectingPoint num="7" id="3622" />
-<TGConnectingPoint num="8" id="3623" />
-<TGConnectingPoint num="9" id="3624" />
-<TGConnectingPoint num="10" id="3625" />
-<TGConnectingPoint num="11" id="3626" />
-<TGConnectingPoint num="12" id="3627" />
-<TGConnectingPoint num="13" id="3628" />
-<TGConnectingPoint num="14" id="3629" />
-<TGConnectingPoint num="15" id="3630" />
-<TGConnectingPoint num="16" id="3631" />
-<TGConnectingPoint num="17" id="3632" />
-<TGConnectingPoint num="18" id="3633" />
-<TGConnectingPoint num="19" id="3634" />
-<TGConnectingPoint num="20" id="3635" />
-<TGConnectingPoint num="21" id="3636" />
-<TGConnectingPoint num="22" id="3637" />
-<TGConnectingPoint num="23" id="3638" />
-<TGConnectingPoint num="24" id="3639" />
-<TGConnectingPoint num="25" id="3640" />
-<TGConnectingPoint num="26" id="3641" />
-<TGConnectingPoint num="27" id="3642" />
-<TGConnectingPoint num="28" id="3643" />
-<TGConnectingPoint num="29" id="3644" />
-<TGConnectingPoint num="30" id="3645" />
-<TGConnectingPoint num="31" id="3646" />
-<TGConnectingPoint num="32" id="3647" />
-<TGConnectingPoint num="33" id="3648" />
-<TGConnectingPoint num="34" id="3649" />
-<TGConnectingPoint num="35" id="3650" />
-<TGConnectingPoint num="36" id="3651" />
-<TGConnectingPoint num="37" id="3652" />
-<TGConnectingPoint num="38" id="3653" />
-<TGConnectingPoint num="39" id="3654" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3657" >
-<cdparam x="424" y="57" />
+<infoparam name="state0" value="WaitingForRadarInfo" />
+<TGConnectingPoint num="0" id="3625" />
+<TGConnectingPoint num="1" id="3626" />
+<TGConnectingPoint num="2" id="3627" />
+<TGConnectingPoint num="3" id="3628" />
+<TGConnectingPoint num="4" id="3629" />
+<TGConnectingPoint num="5" id="3630" />
+<TGConnectingPoint num="6" id="3631" />
+<TGConnectingPoint num="7" id="3632" />
+<TGConnectingPoint num="8" id="3633" />
+<TGConnectingPoint num="9" id="3634" />
+<TGConnectingPoint num="10" id="3635" />
+<TGConnectingPoint num="11" id="3636" />
+<TGConnectingPoint num="12" id="3637" />
+<TGConnectingPoint num="13" id="3638" />
+<TGConnectingPoint num="14" id="3639" />
+<TGConnectingPoint num="15" id="3640" />
+<TGConnectingPoint num="16" id="3641" />
+<TGConnectingPoint num="17" id="3642" />
+<TGConnectingPoint num="18" id="3643" />
+<TGConnectingPoint num="19" id="3644" />
+<TGConnectingPoint num="20" id="3645" />
+<TGConnectingPoint num="21" id="3646" />
+<TGConnectingPoint num="22" id="3647" />
+<TGConnectingPoint num="23" id="3648" />
+<TGConnectingPoint num="24" id="3649" />
+<TGConnectingPoint num="25" id="3650" />
+<TGConnectingPoint num="26" id="3651" />
+<TGConnectingPoint num="27" id="3652" />
+<TGConnectingPoint num="28" id="3653" />
+<TGConnectingPoint num="29" id="3654" />
+<TGConnectingPoint num="30" id="3655" />
+<TGConnectingPoint num="31" id="3656" />
+<TGConnectingPoint num="32" id="3657" />
+<TGConnectingPoint num="33" id="3658" />
+<TGConnectingPoint num="34" id="3659" />
+<TGConnectingPoint num="35" id="3660" />
+<TGConnectingPoint num="36" id="3661" />
+<TGConnectingPoint num="37" id="3662" />
+<TGConnectingPoint num="38" id="3663" />
+<TGConnectingPoint num="39" id="3664" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="3667" >
+<cdparam x="432" y="88" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3656" />
+<TGConnectingPoint num="0" id="3666" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="EmergencySimulator" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3664" >
-<cdparam x="524" y="259" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3663" />
-<P1 x="399" y="256" id="3754" />
-<P2 x="399" y="265" id="3699" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3662" >
-<father id="3664" num="0" />
-<cdparam x="524" y="299" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3658" />
-<TGConnectingPoint num="1" id="3659" />
-<TGConnectingPoint num="2" id="3660" />
-<TGConnectingPoint num="3" id="3661" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3677" >
-<cdparam x="400" y="271" />
+<AVATARStateMachineDiagramPanel name="SpeedSensor" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="3680" >
+<cdparam x="390" y="331" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3673" />
-<TGConnectingPoint num="1" id="3674" />
-<TGConnectingPoint num="2" id="3675" />
-<TGConnectingPoint num="3" id="3676" />
-<P1 x="399" y="295" id="3700" />
-<P2 x="307" y="112" id="3713" />
-<Point x="399" y="314" />
-<Point x="169" y="313" />
-<Point x="156" y="111" />
+<TGConnectingPoint num="0" id="3676" />
+<TGConnectingPoint num="1" id="3677" />
+<TGConnectingPoint num="2" id="3678" />
+<TGConnectingPoint num="3" id="3679" />
+<P1 x="390" y="355" id="3706" />
+<P2 x="306" y="133" id="3737" />
+<Point x="390" y="376" />
+<Point x="209" y="376" />
+<Point x="209" y="133" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3665" >
-<father id="3677" num="0" />
-<cdparam x="399" y="314" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3668" >
+<father id="3680" num="0" />
+<cdparam x="390" y="376" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3666" >
-<father id="3677" num="1" />
-<cdparam x="169" y="313" />
+<SUBCOMPONENT type="-1" id="3669" >
+<father id="3680" num="1" />
+<cdparam x="209" y="376" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3667" >
-<father id="3677" num="2" />
-<cdparam x="156" y="111" />
+<SUBCOMPONENT type="-1" id="3670" >
+<father id="3680" num="2" />
+<cdparam x="209" y="133" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3672" >
-<father id="3677" num="3" />
-<cdparam x="400" y="311" />
+<SUBCOMPONENT type="-1" id="3675" >
+<father id="3680" num="3" />
+<cdparam x="390" y="371" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3668" />
-<TGConnectingPoint num="1" id="3669" />
-<TGConnectingPoint num="2" id="3670" />
-<TGConnectingPoint num="3" id="3671" />
+<TGConnectingPoint num="0" id="3671" />
+<TGConnectingPoint num="1" id="3672" />
+<TGConnectingPoint num="2" id="3673" />
+<TGConnectingPoint num="3" id="3674" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -8096,53 +8135,53 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3684" >
-<cdparam x="400" y="211" />
+<CONNECTOR type="5102" id="3687" >
+<cdparam x="410" y="165" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from TGComponent to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3683" />
-<P1 x="400" y="211" id="3757" />
-<P2 x="399" y="226" id="3753" />
+<infoparam name="connector from state0 to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3686" />
+<P1 x="390" y="165" id="3722" />
+<P2 x="390" y="242" id="3702" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3682" >
-<father id="3684" num="0" />
-<cdparam x="400" y="251" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3685" >
+<father id="3687" num="0" />
+<cdparam x="404" y="195" />
+<sizeparam width="245" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3678" />
-<TGConnectingPoint num="1" id="3679" />
-<TGConnectingPoint num="2" id="3680" />
-<TGConnectingPoint num="3" id="3681" />
+<TGConnectingPoint num="0" id="3681" />
+<TGConnectingPoint num="1" id="3682" />
+<TGConnectingPoint num="2" id="3683" />
+<TGConnectingPoint num="3" id="3684" />
<extraparam>
<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
+<afterMin value="minSpeedUpdate" />
+<afterMax value="maxSpeedUpdate" />
<computeMin value="" />
<computeMax value="" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3691" >
-<cdparam x="407" y="70" />
+<CONNECTOR type="5102" id="3694" >
+<cdparam x="390" y="81" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3690" />
-<P1 x="407" y="70" id="3751" />
-<P2 x="400" y="87" id="3711" />
+<TGConnectingPoint num="0" id="3693" />
+<P1 x="390" y="81" id="3757" />
+<P2 x="390" y="115" id="3717" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3689" >
-<father id="3691" num="0" />
-<cdparam x="407" y="110" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3692" >
+<father id="3694" num="0" />
+<cdparam x="390" y="121" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3685" />
-<TGConnectingPoint num="1" id="3686" />
-<TGConnectingPoint num="2" id="3687" />
-<TGConnectingPoint num="3" id="3688" />
+<TGConnectingPoint num="0" id="3688" />
+<TGConnectingPoint num="1" id="3689" />
+<TGConnectingPoint num="2" id="3690" />
+<TGConnectingPoint num="3" id="3691" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -8152,363 +8191,237 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3698" >
-<cdparam x="493" y="137" />
+<CONNECTOR type="5102" id="3701" >
+<cdparam x="390" y="272" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3697" />
-<P1 x="400" y="137" id="3716" />
-<P2 x="400" y="181" id="3756" />
+<infoparam name="connector from TGComponent to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3700" />
+<P1 x="390" y="272" id="3703" />
+<P2 x="390" y="325" id="3705" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3696" >
-<father id="3698" num="0" />
-<cdparam x="493" y="177" />
-<sizeparam width="299" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3699" >
+<father id="3701" num="0" />
+<cdparam x="404" y="300" />
+<sizeparam width="158" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3692" />
-<TGConnectingPoint num="1" id="3693" />
-<TGConnectingPoint num="2" id="3694" />
-<TGConnectingPoint num="3" id="3695" />
+<TGConnectingPoint num="0" id="3695" />
+<TGConnectingPoint num="1" id="3696" />
+<TGConnectingPoint num="2" id="3697" />
+<TGConnectingPoint num="3" id="3698" />
<extraparam>
<guard value="[ ]" />
-<afterMin value="minEmergencyInterval" />
-<afterMax value="maxEmergencyInterval" />
+<afterMin value="" />
+<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
+<actions value="speed = carinfo.maxSpeed" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5103" id="3709" >
-<cdparam x="308" y="270" />
-<sizeparam width="182" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="obstacleDetected(id, position)" />
-<TGConnectingPoint num="0" id="3699" />
-<TGConnectingPoint num="1" id="3700" />
-<TGConnectingPoint num="2" id="3701" />
-<TGConnectingPoint num="3" id="3702" />
-<TGConnectingPoint num="4" id="3703" />
-<TGConnectingPoint num="5" id="3704" />
-<TGConnectingPoint num="6" id="3705" />
-<TGConnectingPoint num="7" id="3706" />
-<TGConnectingPoint num="8" id="3707" />
-<TGConnectingPoint num="9" id="3708" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3750" >
-<cdparam x="307" y="87" />
-<sizeparam width="186" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingforEmergency" />
-<TGConnectingPoint num="0" id="3710" />
-<TGConnectingPoint num="1" id="3711" />
-<TGConnectingPoint num="2" id="3712" />
-<TGConnectingPoint num="3" id="3713" />
-<TGConnectingPoint num="4" id="3714" />
-<TGConnectingPoint num="5" id="3715" />
-<TGConnectingPoint num="6" id="3716" />
-<TGConnectingPoint num="7" id="3717" />
-<TGConnectingPoint num="8" id="3718" />
-<TGConnectingPoint num="9" id="3719" />
-<TGConnectingPoint num="10" id="3720" />
-<TGConnectingPoint num="11" id="3721" />
-<TGConnectingPoint num="12" id="3722" />
-<TGConnectingPoint num="13" id="3723" />
-<TGConnectingPoint num="14" id="3724" />
-<TGConnectingPoint num="15" id="3725" />
-<TGConnectingPoint num="16" id="3726" />
-<TGConnectingPoint num="17" id="3727" />
-<TGConnectingPoint num="18" id="3728" />
-<TGConnectingPoint num="19" id="3729" />
-<TGConnectingPoint num="20" id="3730" />
-<TGConnectingPoint num="21" id="3731" />
-<TGConnectingPoint num="22" id="3732" />
-<TGConnectingPoint num="23" id="3733" />
-<TGConnectingPoint num="24" id="3734" />
-<TGConnectingPoint num="25" id="3735" />
-<TGConnectingPoint num="26" id="3736" />
-<TGConnectingPoint num="27" id="3737" />
-<TGConnectingPoint num="28" id="3738" />
-<TGConnectingPoint num="29" id="3739" />
-<TGConnectingPoint num="30" id="3740" />
-<TGConnectingPoint num="31" id="3741" />
-<TGConnectingPoint num="32" id="3742" />
-<TGConnectingPoint num="33" id="3743" />
-<TGConnectingPoint num="34" id="3744" />
-<TGConnectingPoint num="35" id="3745" />
-<TGConnectingPoint num="36" id="3746" />
-<TGConnectingPoint num="37" id="3747" />
-<TGConnectingPoint num="38" id="3748" />
-<TGConnectingPoint num="39" id="3749" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3752" >
-<cdparam x="400" y="50" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3751" />
-</COMPONENT>
-
-<COMPONENT type="5108" id="3755" >
-<cdparam x="224" y="231" />
-<sizeparam width="350" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3753" />
-<TGConnectingPoint num="1" id="3754" />
-<extraparam>
-<Data variable="position" minValue="carid.minPosition" maxValue="carid.maxPosition" functionId="0" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5108" id="3758" >
-<cdparam x="274" y="186" />
-<sizeparam width="252" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5108" id="3704" >
+<cdparam x="218" y="247" />
+<sizeparam width="345" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="3756" />
-<TGConnectingPoint num="1" id="3757" />
+<TGConnectingPoint num="0" id="3702" />
+<TGConnectingPoint num="1" id="3703" />
<extraparam>
-<Data variable="id" minValue="carid.minID" maxValue="carid.maxID" functionId="0" />
+<Data variable="speed" minValue="carinfo.minSpeed" maxValue="carinfo.maxSpeed" functionId="0" />
</extraparam>
</COMPONENT>
-
-</AVATARStateMachineDiagramPanel>
-
-<AVATARStateMachineDiagramPanel name="DSRSC_Management" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="3765" >
-<cdparam x="507" y="267" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3764" />
-<P1 x="507" y="267" id="3863" />
-<P2 x="631" y="277" id="3840" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3763" >
-<father id="3765" num="0" />
-<cdparam x="507" y="307" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3759" />
-<TGConnectingPoint num="1" id="3760" />
-<TGConnectingPoint num="2" id="3761" />
-<TGConnectingPoint num="3" id="3762" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="3778" >
-<cdparam x="440" y="432" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3774" />
-<TGConnectingPoint num="1" id="3775" />
-<TGConnectingPoint num="2" id="3776" />
-<TGConnectingPoint num="3" id="3777" />
-<P1 x="440" y="432" id="3852" />
-<P2 x="530" y="110" id="3917" />
-<Point x="442" y="479" />
-<Point x="974" y="511" />
-<Point x="957" y="129" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3766" >
-<father id="3778" num="0" />
-<cdparam x="442" y="479" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3767" >
-<father id="3778" num="1" />
-<cdparam x="974" y="511" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="3715" >
+<cdparam x="317" y="330" />
+<sizeparam width="147" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3768" >
-<father id="3778" num="2" />
-<cdparam x="957" y="129" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Send signal" value="updateOnSpeed(speed)" />
+<TGConnectingPoint num="0" id="3705" />
+<TGConnectingPoint num="1" id="3706" />
+<TGConnectingPoint num="2" id="3707" />
+<TGConnectingPoint num="3" id="3708" />
+<TGConnectingPoint num="4" id="3709" />
+<TGConnectingPoint num="5" id="3710" />
+<TGConnectingPoint num="6" id="3711" />
+<TGConnectingPoint num="7" id="3712" />
+<TGConnectingPoint num="8" id="3713" />
+<TGConnectingPoint num="9" id="3714" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="3756" >
+<cdparam x="306" y="115" />
+<sizeparam width="169" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3773" >
-<father id="3778" num="3" />
-<cdparam x="457" y="473" />
-<sizeparam width="150" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="state0" value="WaitingForSpeedUpdate" />
+<TGConnectingPoint num="0" id="3716" />
+<TGConnectingPoint num="1" id="3717" />
+<TGConnectingPoint num="2" id="3718" />
+<TGConnectingPoint num="3" id="3719" />
+<TGConnectingPoint num="4" id="3720" />
+<TGConnectingPoint num="5" id="3721" />
+<TGConnectingPoint num="6" id="3722" />
+<TGConnectingPoint num="7" id="3723" />
+<TGConnectingPoint num="8" id="3724" />
+<TGConnectingPoint num="9" id="3725" />
+<TGConnectingPoint num="10" id="3726" />
+<TGConnectingPoint num="11" id="3727" />
+<TGConnectingPoint num="12" id="3728" />
+<TGConnectingPoint num="13" id="3729" />
+<TGConnectingPoint num="14" id="3730" />
+<TGConnectingPoint num="15" id="3731" />
+<TGConnectingPoint num="16" id="3732" />
+<TGConnectingPoint num="17" id="3733" />
+<TGConnectingPoint num="18" id="3734" />
+<TGConnectingPoint num="19" id="3735" />
+<TGConnectingPoint num="20" id="3736" />
+<TGConnectingPoint num="21" id="3737" />
+<TGConnectingPoint num="22" id="3738" />
+<TGConnectingPoint num="23" id="3739" />
+<TGConnectingPoint num="24" id="3740" />
+<TGConnectingPoint num="25" id="3741" />
+<TGConnectingPoint num="26" id="3742" />
+<TGConnectingPoint num="27" id="3743" />
+<TGConnectingPoint num="28" id="3744" />
+<TGConnectingPoint num="29" id="3745" />
+<TGConnectingPoint num="30" id="3746" />
+<TGConnectingPoint num="31" id="3747" />
+<TGConnectingPoint num="32" id="3748" />
+<TGConnectingPoint num="33" id="3749" />
+<TGConnectingPoint num="34" id="3750" />
+<TGConnectingPoint num="35" id="3751" />
+<TGConnectingPoint num="36" id="3752" />
+<TGConnectingPoint num="37" id="3753" />
+<TGConnectingPoint num="38" id="3754" />
+<TGConnectingPoint num="39" id="3755" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="3758" >
+<cdparam x="383" y="61" />
+<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3769" />
-<TGConnectingPoint num="1" id="3770" />
-<TGConnectingPoint num="2" id="3771" />
-<TGConnectingPoint num="3" id="3772" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="sendMessage(id, position)" />
-</extraparam>
-</SUBCOMPONENT>
+<infoparam name="start state" value="null" />
+<TGConnectingPoint num="0" id="3757" />
+</COMPONENT>
-<CONNECTOR type="5102" id="3785" >
-<cdparam x="407" y="182" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="3784" />
-<P1 x="407" y="182" id="3901" />
-<P2 x="440" y="402" id="3851" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3783" >
-<father id="3785" num="0" />
-<cdparam x="407" y="222" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3779" />
-<TGConnectingPoint num="1" id="3780" />
-<TGConnectingPoint num="2" id="3781" />
-<TGConnectingPoint num="3" id="3782" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3798" >
-<cdparam x="507" y="267" />
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="CorrectnessChecking" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="3771" >
+<cdparam x="432" y="279" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3794" />
-<TGConnectingPoint num="1" id="3795" />
-<TGConnectingPoint num="2" id="3796" />
-<TGConnectingPoint num="3" id="3797" />
-<P1 x="631" y="307" id="3841" />
-<P2 x="530" y="141" id="3899" />
-<Point x="644" y="343" />
-<Point x="829" y="341" />
-<Point x="848" y="153" />
+<infoparam name="connector from choice to state0" value="null" />
+<TGConnectingPoint num="0" id="3767" />
+<TGConnectingPoint num="1" id="3768" />
+<TGConnectingPoint num="2" id="3769" />
+<TGConnectingPoint num="3" id="3770" />
+<P1 x="432" y="279" id="3826" />
+<P2 x="517" y="124" id="3855" />
+<Point x="504" y="393" />
+<Point x="621" y="397" />
+<Point x="623" y="107" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3786" >
-<father id="3798" num="0" />
-<cdparam x="644" y="343" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3759" >
+<father id="3771" num="0" />
+<cdparam x="504" y="393" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3787" >
-<father id="3798" num="1" />
-<cdparam x="829" y="341" />
+<SUBCOMPONENT type="-1" id="3760" >
+<father id="3771" num="1" />
+<cdparam x="621" y="397" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3788" >
-<father id="3798" num="2" />
-<cdparam x="848" y="153" />
+<SUBCOMPONENT type="-1" id="3761" >
+<father id="3771" num="2" />
+<cdparam x="623" y="107" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3793" >
-<father id="3798" num="3" />
-<cdparam x="507" y="307" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="3766" >
+<father id="3771" num="3" />
+<cdparam x="479" y="319" />
+<sizeparam width="98" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3789" />
-<TGConnectingPoint num="1" id="3790" />
-<TGConnectingPoint num="2" id="3791" />
-<TGConnectingPoint num="3" id="3792" />
+<TGConnectingPoint num="0" id="3762" />
+<TGConnectingPoint num="1" id="3763" />
+<TGConnectingPoint num="2" id="3764" />
+<TGConnectingPoint num="3" id="3765" />
<extraparam>
-<guard value="[ ]" />
+<guard value="[ canHaveInvalid]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
+<actions value="invalidMessage()" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3811" >
-<cdparam x="289" y="344" />
+<CONNECTOR type="5102" id="3784" >
+<cdparam x="290" y="387" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3807" />
-<TGConnectingPoint num="1" id="3808" />
-<TGConnectingPoint num="2" id="3809" />
-<TGConnectingPoint num="3" id="3810" />
-<P1 x="289" y="344" id="3874" />
-<P2 x="285" y="141" id="3898" />
-<Point x="285" y="384" />
-<Point x="189" y="387" />
-<Point x="176" y="154" />
+<TGConnectingPoint num="0" id="3780" />
+<TGConnectingPoint num="1" id="3781" />
+<TGConnectingPoint num="2" id="3782" />
+<TGConnectingPoint num="3" id="3783" />
+<P1 x="290" y="387" id="3814" />
+<P2 x="298" y="117" id="3872" />
+<Point x="297" y="425" />
+<Point x="160" y="415" />
+<Point x="172" y="94" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3799" >
-<father id="3811" num="0" />
-<cdparam x="285" y="384" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3772" >
+<father id="3784" num="0" />
+<cdparam x="297" y="425" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3800" >
-<father id="3811" num="1" />
-<cdparam x="189" y="387" />
+<SUBCOMPONENT type="-1" id="3773" >
+<father id="3784" num="1" />
+<cdparam x="160" y="415" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3801" >
-<father id="3811" num="2" />
-<cdparam x="176" y="154" />
+<SUBCOMPONENT type="-1" id="3774" >
+<father id="3784" num="2" />
+<cdparam x="172" y="94" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3806" >
-<father id="3811" num="3" />
-<cdparam x="289" y="384" />
+<SUBCOMPONENT type="-1" id="3779" >
+<father id="3784" num="3" />
+<cdparam x="290" y="427" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3802" />
-<TGConnectingPoint num="1" id="3803" />
-<TGConnectingPoint num="2" id="3804" />
-<TGConnectingPoint num="3" id="3805" />
+<TGConnectingPoint num="0" id="3775" />
+<TGConnectingPoint num="1" id="3776" />
+<TGConnectingPoint num="2" id="3777" />
+<TGConnectingPoint num="3" id="3778" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -8518,25 +8431,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3818" >
+<CONNECTOR type="5102" id="3791" >
<cdparam x="407" y="70" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="3817" />
-<P1 x="407" y="70" id="3936" />
-<P2 x="407" y="101" id="3896" />
+<TGConnectingPoint num="0" id="3790" />
+<P1 x="407" y="70" id="3892" />
+<P2 x="407" y="99" id="3852" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3816" >
-<father id="3818" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3789" >
+<father id="3791" num="0" />
<cdparam x="407" y="110" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3812" />
-<TGConnectingPoint num="1" id="3813" />
-<TGConnectingPoint num="2" id="3814" />
-<TGConnectingPoint num="3" id="3815" />
+<TGConnectingPoint num="0" id="3785" />
+<TGConnectingPoint num="1" id="3786" />
+<TGConnectingPoint num="2" id="3787" />
+<TGConnectingPoint num="3" id="3788" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -8546,25 +8459,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3825" >
-<cdparam x="314" y="182" />
+<CONNECTOR type="5102" id="3798" >
+<cdparam x="407" y="149" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="3824" />
-<P1 x="314" y="182" id="3923" />
-<P2 x="296" y="256" id="3884" />
+<TGConnectingPoint num="0" id="3797" />
+<P1 x="407" y="149" id="3857" />
+<P2 x="407" y="188" id="3840" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3823" >
-<father id="3825" num="0" />
-<cdparam x="314" y="222" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3796" >
+<father id="3798" num="0" />
+<cdparam x="407" y="189" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3819" />
-<TGConnectingPoint num="1" id="3820" />
-<TGConnectingPoint num="2" id="3821" />
-<TGConnectingPoint num="3" id="3822" />
+<TGConnectingPoint num="0" id="3792" />
+<TGConnectingPoint num="1" id="3793" />
+<TGConnectingPoint num="2" id="3794" />
+<TGConnectingPoint num="3" id="3795" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -8574,68 +8487,111 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3832" >
-<cdparam x="296" y="286" />
+<CONNECTOR type="5102" id="3805" >
+<cdparam x="407" y="218" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to Send signal" value="null" />
-<TGConnectingPoint num="0" id="3831" />
-<P1 x="296" y="286" id="3885" />
-<P2 x="289" y="314" id="3873" />
+<infoparam name="connector from Receive signal to choice" value="null" />
+<TGConnectingPoint num="0" id="3804" />
+<P1 x="407" y="218" id="3841" />
+<P2 x="407" y="254" id="3824" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3830" >
-<father id="3832" num="0" />
-<cdparam x="296" y="326" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3803" >
+<father id="3805" num="0" />
+<cdparam x="419" y="243" />
+<sizeparam width="108" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3826" />
-<TGConnectingPoint num="1" id="3827" />
-<TGConnectingPoint num="2" id="3828" />
-<TGConnectingPoint num="3" id="3829" />
+<TGConnectingPoint num="0" id="3799" />
+<TGConnectingPoint num="1" id="3800" />
+<TGConnectingPoint num="2" id="3801" />
+<TGConnectingPoint num="3" id="3802" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
+<actions value="checkingMessage()" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3839" >
-<cdparam x="498" y="182" />
+<CONNECTOR type="5102" id="3812" >
+<cdparam x="382" y="279" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="3838" />
-<P1 x="498" y="182" id="3926" />
-<P2 x="507" y="237" id="3862" />
+<infoparam name="connector from choice to Send signal" value="null" />
+<TGConnectingPoint num="0" id="3811" />
+<P1 x="382" y="279" id="3828" />
+<P2 x="290" y="357" id="3813" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3837" >
-<father id="3839" num="0" />
-<cdparam x="498" y="222" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3810" >
+<father id="3812" num="0" />
+<cdparam x="259" y="312" />
+<sizeparam width="85" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3833" />
-<TGConnectingPoint num="1" id="3834" />
-<TGConnectingPoint num="2" id="3835" />
-<TGConnectingPoint num="3" id="3836" />
+<TGConnectingPoint num="0" id="3806" />
+<TGConnectingPoint num="1" id="3807" />
+<TGConnectingPoint num="2" id="3808" />
+<TGConnectingPoint num="3" id="3809" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
+<actions value="validMessage()" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5103" id="3850" >
-<cdparam x="490" y="282" />
-<sizeparam width="283" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="3823" >
+<cdparam x="174" y="362" />
+<sizeparam width="232" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="forwardEmergencyBrakingMessage(id, position)" />
+<infoparam name="Send signal" value="toPlausibityCheckMessage(id, position)" />
+<TGConnectingPoint num="0" id="3813" />
+<TGConnectingPoint num="1" id="3814" />
+<TGConnectingPoint num="2" id="3815" />
+<TGConnectingPoint num="3" id="3816" />
+<TGConnectingPoint num="4" id="3817" />
+<TGConnectingPoint num="5" id="3818" />
+<TGConnectingPoint num="6" id="3819" />
+<TGConnectingPoint num="7" id="3820" />
+<TGConnectingPoint num="8" id="3821" />
+<TGConnectingPoint num="9" id="3822" />
+</COMPONENT>
+
+<COMPONENT type="5107" id="3839" >
+<cdparam x="392" y="264" />
+<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="choice" value="null" />
+<TGConnectingPoint num="0" id="3824" />
+<TGConnectingPoint num="1" id="3825" />
+<TGConnectingPoint num="2" id="3826" />
+<TGConnectingPoint num="3" id="3827" />
+<TGConnectingPoint num="4" id="3828" />
+<TGConnectingPoint num="5" id="3829" />
+<TGConnectingPoint num="6" id="3830" />
+<TGConnectingPoint num="7" id="3831" />
+<TGConnectingPoint num="8" id="3832" />
+<TGConnectingPoint num="9" id="3833" />
+<TGConnectingPoint num="10" id="3834" />
+<TGConnectingPoint num="11" id="3835" />
+<TGConnectingPoint num="12" id="3836" />
+<TGConnectingPoint num="13" id="3837" />
+<TGConnectingPoint num="14" id="3838" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="3850" >
+<cdparam x="275" y="193" />
+<sizeparam width="264" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Receive signal" value="getEmergencyBrakingMessage(id, position)" />
<TGConnectingPoint num="0" id="3840" />
<TGConnectingPoint num="1" id="3841" />
<TGConnectingPoint num="2" id="3842" />
@@ -8648,12 +8604,12 @@
<TGConnectingPoint num="9" id="3849" />
</COMPONENT>
-<COMPONENT type="5104" id="3861" >
-<cdparam x="288" y="407" />
-<sizeparam width="304" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5106" id="3891" >
+<cdparam x="298" y="99" />
+<sizeparam width="219" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="broadcastEmergencyBrakingMessage(id, position)" />
+<infoparam name="state0" value="WaitingForMessageToAnalyze" />
<TGConnectingPoint num="0" id="3851" />
<TGConnectingPoint num="1" id="3852" />
<TGConnectingPoint num="2" id="3853" />
@@ -8664,174 +8620,102 @@
<TGConnectingPoint num="7" id="3858" />
<TGConnectingPoint num="8" id="3859" />
<TGConnectingPoint num="9" id="3860" />
-</COMPONENT>
-
-<COMPONENT type="5104" id="3872" >
-<cdparam x="412" y="242" />
-<sizeparam width="190" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="obstacleDetected(id, position)" />
-<TGConnectingPoint num="0" id="3862" />
-<TGConnectingPoint num="1" id="3863" />
-<TGConnectingPoint num="2" id="3864" />
-<TGConnectingPoint num="3" id="3865" />
-<TGConnectingPoint num="4" id="3866" />
-<TGConnectingPoint num="5" id="3867" />
-<TGConnectingPoint num="6" id="3868" />
-<TGConnectingPoint num="7" id="3869" />
-<TGConnectingPoint num="8" id="3870" />
-<TGConnectingPoint num="9" id="3871" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="3883" >
-<cdparam x="208" y="319" />
-<sizeparam width="163" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="setCarPosition(id, position)" />
-<TGConnectingPoint num="0" id="3873" />
-<TGConnectingPoint num="1" id="3874" />
-<TGConnectingPoint num="2" id="3875" />
-<TGConnectingPoint num="3" id="3876" />
-<TGConnectingPoint num="4" id="3877" />
-<TGConnectingPoint num="5" id="3878" />
-<TGConnectingPoint num="6" id="3879" />
-<TGConnectingPoint num="7" id="3880" />
-<TGConnectingPoint num="8" id="3881" />
-<TGConnectingPoint num="9" id="3882" />
-</COMPONENT>
-
-<COMPONENT type="5104" id="3894" >
-<cdparam x="220" y="261" />
-<sizeparam width="152" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="carPosition(id, position)" />
-<TGConnectingPoint num="0" id="3884" />
-<TGConnectingPoint num="1" id="3885" />
-<TGConnectingPoint num="2" id="3886" />
-<TGConnectingPoint num="3" id="3887" />
-<TGConnectingPoint num="4" id="3888" />
-<TGConnectingPoint num="5" id="3889" />
-<TGConnectingPoint num="6" id="3890" />
-<TGConnectingPoint num="7" id="3891" />
-<TGConnectingPoint num="8" id="3892" />
-<TGConnectingPoint num="9" id="3893" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="3935" >
-<cdparam x="285" y="101" />
-<sizeparam width="245" height="81" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingForEnvironmentInput" />
-<TGConnectingPoint num="0" id="3895" />
-<TGConnectingPoint num="1" id="3896" />
-<TGConnectingPoint num="2" id="3897" />
-<TGConnectingPoint num="3" id="3898" />
-<TGConnectingPoint num="4" id="3899" />
-<TGConnectingPoint num="5" id="3900" />
-<TGConnectingPoint num="6" id="3901" />
-<TGConnectingPoint num="7" id="3902" />
-<TGConnectingPoint num="8" id="3903" />
-<TGConnectingPoint num="9" id="3904" />
-<TGConnectingPoint num="10" id="3905" />
-<TGConnectingPoint num="11" id="3906" />
-<TGConnectingPoint num="12" id="3907" />
-<TGConnectingPoint num="13" id="3908" />
-<TGConnectingPoint num="14" id="3909" />
-<TGConnectingPoint num="15" id="3910" />
-<TGConnectingPoint num="16" id="3911" />
-<TGConnectingPoint num="17" id="3912" />
-<TGConnectingPoint num="18" id="3913" />
-<TGConnectingPoint num="19" id="3914" />
-<TGConnectingPoint num="20" id="3915" />
-<TGConnectingPoint num="21" id="3916" />
-<TGConnectingPoint num="22" id="3917" />
-<TGConnectingPoint num="23" id="3918" />
-<TGConnectingPoint num="24" id="3919" />
-<TGConnectingPoint num="25" id="3920" />
-<TGConnectingPoint num="26" id="3921" />
-<TGConnectingPoint num="27" id="3922" />
-<TGConnectingPoint num="28" id="3923" />
-<TGConnectingPoint num="29" id="3924" />
-<TGConnectingPoint num="30" id="3925" />
-<TGConnectingPoint num="31" id="3926" />
-<TGConnectingPoint num="32" id="3927" />
-<TGConnectingPoint num="33" id="3928" />
-<TGConnectingPoint num="34" id="3929" />
-<TGConnectingPoint num="35" id="3930" />
-<TGConnectingPoint num="36" id="3931" />
-<TGConnectingPoint num="37" id="3932" />
-<TGConnectingPoint num="38" id="3933" />
-<TGConnectingPoint num="39" id="3934" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="3937" >
+<TGConnectingPoint num="10" id="3861" />
+<TGConnectingPoint num="11" id="3862" />
+<TGConnectingPoint num="12" id="3863" />
+<TGConnectingPoint num="13" id="3864" />
+<TGConnectingPoint num="14" id="3865" />
+<TGConnectingPoint num="15" id="3866" />
+<TGConnectingPoint num="16" id="3867" />
+<TGConnectingPoint num="17" id="3868" />
+<TGConnectingPoint num="18" id="3869" />
+<TGConnectingPoint num="19" id="3870" />
+<TGConnectingPoint num="20" id="3871" />
+<TGConnectingPoint num="21" id="3872" />
+<TGConnectingPoint num="22" id="3873" />
+<TGConnectingPoint num="23" id="3874" />
+<TGConnectingPoint num="24" id="3875" />
+<TGConnectingPoint num="25" id="3876" />
+<TGConnectingPoint num="26" id="3877" />
+<TGConnectingPoint num="27" id="3878" />
+<TGConnectingPoint num="28" id="3879" />
+<TGConnectingPoint num="29" id="3880" />
+<TGConnectingPoint num="30" id="3881" />
+<TGConnectingPoint num="31" id="3882" />
+<TGConnectingPoint num="32" id="3883" />
+<TGConnectingPoint num="33" id="3884" />
+<TGConnectingPoint num="34" id="3885" />
+<TGConnectingPoint num="35" id="3886" />
+<TGConnectingPoint num="36" id="3887" />
+<TGConnectingPoint num="37" id="3888" />
+<TGConnectingPoint num="38" id="3889" />
+<TGConnectingPoint num="39" id="3890" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="3893" >
<cdparam x="400" y="50" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="3936" />
+<TGConnectingPoint num="0" id="3892" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
<AVATARStateMachineDiagramPanel name="NeighbourhoodTableManagement" minX="10" maxX="1900" minY="10" maxY="1900" >
-<CONNECTOR type="5102" id="3950" >
+<CONNECTOR type="5102" id="3906" >
<cdparam x="371" y="281" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="3946" />
-<TGConnectingPoint num="1" id="3947" />
-<TGConnectingPoint num="2" id="3948" />
-<TGConnectingPoint num="3" id="3949" />
-<P1 x="371" y="281" id="4192" />
-<P2 x="453" y="163" id="4584" />
+<TGConnectingPoint num="0" id="3902" />
+<TGConnectingPoint num="1" id="3903" />
+<TGConnectingPoint num="2" id="3904" />
+<TGConnectingPoint num="3" id="3905" />
+<P1 x="371" y="281" id="4148" />
+<P2 x="453" y="163" id="4540" />
<Point x="372" y="309" />
<Point x="272" y="313" />
<Point x="255" y="142" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3938" >
-<father id="3950" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3894" >
+<father id="3906" num="0" />
<cdparam x="372" y="309" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3939" >
-<father id="3950" num="1" />
+<SUBCOMPONENT type="-1" id="3895" >
+<father id="3906" num="1" />
<cdparam x="272" y="313" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3940" >
-<father id="3950" num="2" />
+<SUBCOMPONENT type="-1" id="3896" >
+<father id="3906" num="2" />
<cdparam x="255" y="142" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3945" >
-<father id="3950" num="3" />
+<SUBCOMPONENT type="-1" id="3901" >
+<father id="3906" num="3" />
<cdparam x="371" y="321" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3941" />
-<TGConnectingPoint num="1" id="3942" />
-<TGConnectingPoint num="2" id="3943" />
-<TGConnectingPoint num="3" id="3944" />
+<TGConnectingPoint num="0" id="3897" />
+<TGConnectingPoint num="1" id="3898" />
+<TGConnectingPoint num="2" id="3899" />
+<TGConnectingPoint num="3" id="3900" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -8841,25 +8725,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3957" >
+<CONNECTOR type="5102" id="3913" >
<cdparam x="862" y="884" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3956" />
-<P1 x="740" y="812" id="4205" />
-<P2 x="729" y="1182" id="4510" />
+<TGConnectingPoint num="0" id="3912" />
+<P1 x="740" y="812" id="4161" />
+<P2 x="729" y="1182" id="4466" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3955" >
-<father id="3957" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3911" >
+<father id="3913" num="0" />
<cdparam x="512" y="935" />
<sizeparam width="614" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3951" />
-<TGConnectingPoint num="1" id="3952" />
-<TGConnectingPoint num="2" id="3953" />
-<TGConnectingPoint num="3" id="3954" />
+<TGConnectingPoint num="0" id="3907" />
+<TGConnectingPoint num="1" id="3908" />
+<TGConnectingPoint num="2" id="3909" />
+<TGConnectingPoint num="3" id="3910" />
<extraparam>
<guard value="[ (listOfNodes.position2 >= listOfNodes.position1) and (listOfNodes.position2 >= listOfNodes.position1) ]" />
<afterMin value="" />
@@ -8870,25 +8754,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3964" >
+<CONNECTOR type="5102" id="3920" >
<cdparam x="765" y="787" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to choice" value="null" />
-<TGConnectingPoint num="0" id="3963" />
-<P1 x="765" y="787" id="4204" />
-<P2 x="793" y="1182" id="4501" />
+<TGConnectingPoint num="0" id="3919" />
+<P1 x="765" y="787" id="4160" />
+<P2 x="793" y="1182" id="4457" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3962" >
-<father id="3964" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3918" >
+<father id="3920" num="0" />
<cdparam x="653" y="869" />
<sizeparam width="614" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3958" />
-<TGConnectingPoint num="1" id="3959" />
-<TGConnectingPoint num="2" id="3960" />
-<TGConnectingPoint num="3" id="3961" />
+<TGConnectingPoint num="0" id="3914" />
+<TGConnectingPoint num="1" id="3915" />
+<TGConnectingPoint num="2" id="3916" />
+<TGConnectingPoint num="3" id="3917" />
<extraparam>
<guard value="[ (listOfNodes.position1 >= listOfNodes.position0) and (listOfNodes.position1 >= listOfNodes.position2) ]" />
<afterMin value="" />
@@ -8899,25 +8783,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3971" >
+<CONNECTOR type="5102" id="3927" >
<cdparam x="715" y="787" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3970" />
-<P1 x="715" y="787" id="4203" />
-<P2 x="607" y="1182" id="4509" />
+<TGConnectingPoint num="0" id="3926" />
+<P1 x="715" y="787" id="4159" />
+<P2 x="607" y="1182" id="4465" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3969" >
-<father id="3971" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3925" >
+<father id="3927" num="0" />
<cdparam x="347" y="830" />
<sizeparam width="614" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3965" />
-<TGConnectingPoint num="1" id="3966" />
-<TGConnectingPoint num="2" id="3967" />
-<TGConnectingPoint num="3" id="3968" />
+<TGConnectingPoint num="0" id="3921" />
+<TGConnectingPoint num="1" id="3922" />
+<TGConnectingPoint num="2" id="3923" />
+<TGConnectingPoint num="3" id="3924" />
<extraparam>
<guard value="[ (listOfNodes.position0 >= listOfNodes.position1) and (listOfNodes.position0 >= listOfNodes.position2) ]" />
<afterMin value="" />
@@ -8928,25 +8812,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3978" >
+<CONNECTOR type="5102" id="3934" >
<cdparam x="330" y="819" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3977" />
-<P1 x="330" y="819" id="4220" />
-<P2 x="485" y="1182" id="4508" />
+<TGConnectingPoint num="0" id="3933" />
+<P1 x="330" y="819" id="4176" />
+<P2 x="485" y="1182" id="4464" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3976" >
-<father id="3978" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3932" >
+<father id="3934" num="0" />
<cdparam x="339" y="869" />
<sizeparam width="250" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3972" />
-<TGConnectingPoint num="1" id="3973" />
-<TGConnectingPoint num="2" id="3974" />
-<TGConnectingPoint num="3" id="3975" />
+<TGConnectingPoint num="0" id="3928" />
+<TGConnectingPoint num="1" id="3929" />
+<TGConnectingPoint num="2" id="3930" />
+<TGConnectingPoint num="3" id="3931" />
<extraparam>
<guard value="[ (listOfNodes.position2 < currentPosition) ]" />
<afterMin value="" />
@@ -8957,25 +8841,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3985" >
+<CONNECTOR type="5102" id="3941" >
<cdparam x="305" y="844" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3984" />
-<P1 x="305" y="844" id="4221" />
-<P2 x="427" y="1207" id="4495" />
+<TGConnectingPoint num="0" id="3940" />
+<P1 x="305" y="844" id="4177" />
+<P2 x="427" y="1207" id="4451" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3983" >
-<father id="3985" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3939" >
+<father id="3941" num="0" />
<cdparam x="281" y="907" />
<sizeparam width="250" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3979" />
-<TGConnectingPoint num="1" id="3980" />
-<TGConnectingPoint num="2" id="3981" />
-<TGConnectingPoint num="3" id="3982" />
+<TGConnectingPoint num="0" id="3935" />
+<TGConnectingPoint num="1" id="3936" />
+<TGConnectingPoint num="2" id="3937" />
+<TGConnectingPoint num="3" id="3938" />
<extraparam>
<guard value="[ (listOfNodes.position1 < currentPosition) ]" />
<afterMin value="" />
@@ -8986,35 +8870,35 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="3994" >
+<CONNECTOR type="5102" id="3950" >
<cdparam x="280" y="819" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="3992" />
-<TGConnectingPoint num="1" id="3993" />
-<P1 x="280" y="819" id="4219" />
-<P2 x="427" y="1225" id="4517" />
+<TGConnectingPoint num="0" id="3948" />
+<TGConnectingPoint num="1" id="3949" />
+<P1 x="280" y="819" id="4175" />
+<P2 x="427" y="1225" id="4473" />
<Point x="245" y="990" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3986" >
-<father id="3994" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3942" >
+<father id="3950" num="0" />
<cdparam x="245" y="990" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="3991" >
-<father id="3994" num="1" />
+<SUBCOMPONENT type="-1" id="3947" >
+<father id="3950" num="1" />
<cdparam x="28" y="885" />
<sizeparam width="250" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3987" />
-<TGConnectingPoint num="1" id="3988" />
-<TGConnectingPoint num="2" id="3989" />
-<TGConnectingPoint num="3" id="3990" />
+<TGConnectingPoint num="0" id="3943" />
+<TGConnectingPoint num="1" id="3944" />
+<TGConnectingPoint num="2" id="3945" />
+<TGConnectingPoint num="3" id="3946" />
<extraparam>
<guard value="[ (listOfNodes.position0 < currentPosition) ]" />
<afterMin value="" />
@@ -9025,35 +8909,35 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4003" >
+<CONNECTOR type="5102" id="3959" >
<cdparam x="535" y="705" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4001" />
-<TGConnectingPoint num="1" id="4002" />
-<P1 x="522" y="668" id="4444" />
-<P2 x="740" y="762" id="4202" />
+<TGConnectingPoint num="0" id="3957" />
+<TGConnectingPoint num="1" id="3958" />
+<P1 x="522" y="668" id="4400" />
+<P2 x="740" y="762" id="4158" />
<Point x="653" y="702" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="3995" >
-<father id="4003" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3951" >
+<father id="3959" num="0" />
<cdparam x="653" y="702" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4000" >
-<father id="4003" num="1" />
+<SUBCOMPONENT type="-1" id="3956" >
+<father id="3959" num="1" />
<cdparam x="589" y="673" />
<sizeparam width="39" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="3996" />
-<TGConnectingPoint num="1" id="3997" />
-<TGConnectingPoint num="2" id="3998" />
-<TGConnectingPoint num="3" id="3999" />
+<TGConnectingPoint num="0" id="3952" />
+<TGConnectingPoint num="1" id="3953" />
+<TGConnectingPoint num="2" id="3954" />
+<TGConnectingPoint num="3" id="3955" />
<extraparam>
<guard value="[ else ]" />
<afterMin value="" />
@@ -9063,25 +8947,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4010" >
+<CONNECTOR type="5102" id="3966" >
<cdparam x="851" y="1232" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4009" />
-<P1 x="851" y="1232" id="4523" />
-<P2 x="759" y="1409" id="4253" />
+<TGConnectingPoint num="0" id="3965" />
+<P1 x="851" y="1232" id="4479" />
+<P2 x="759" y="1409" id="4209" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4008" >
-<father id="4010" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3964" >
+<father id="3966" num="0" />
<cdparam x="829" y="1296" />
<sizeparam width="186" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4004" />
-<TGConnectingPoint num="1" id="4005" />
-<TGConnectingPoint num="2" id="4006" />
-<TGConnectingPoint num="3" id="4007" />
+<TGConnectingPoint num="0" id="3960" />
+<TGConnectingPoint num="1" id="3961" />
+<TGConnectingPoint num="2" id="3962" />
+<TGConnectingPoint num="3" id="3963" />
<extraparam>
<guard value="[ listOfNodes.id2 == 0]" />
<afterMin value="" />
@@ -9093,25 +8977,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4017" >
+<CONNECTOR type="5102" id="3973" >
<cdparam x="671" y="1232" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4016" />
-<P1 x="671" y="1232" id="4498" />
-<P2 x="640" y="1409" id="4235" />
+<TGConnectingPoint num="0" id="3972" />
+<P1 x="671" y="1232" id="4454" />
+<P2 x="640" y="1409" id="4191" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4015" >
-<father id="4017" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3971" >
+<father id="3973" num="0" />
<cdparam x="570" y="1299" />
<sizeparam width="186" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4011" />
-<TGConnectingPoint num="1" id="4012" />
-<TGConnectingPoint num="2" id="4013" />
-<TGConnectingPoint num="3" id="4014" />
+<TGConnectingPoint num="0" id="3967" />
+<TGConnectingPoint num="1" id="3968" />
+<TGConnectingPoint num="2" id="3969" />
+<TGConnectingPoint num="3" id="3970" />
<extraparam>
<guard value="[ listOfNodes.id1 == 0]" />
<afterMin value="" />
@@ -9123,25 +9007,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4024" >
+<CONNECTOR type="5102" id="3980" >
<cdparam x="549" y="1232" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4023" />
-<P1 x="485" y="1232" id="4520" />
-<P2 x="517" y="1409" id="4250" />
+<TGConnectingPoint num="0" id="3979" />
+<P1 x="485" y="1232" id="4476" />
+<P2 x="517" y="1409" id="4206" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4022" >
-<father id="4024" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3978" >
+<father id="3980" num="0" />
<cdparam x="293" y="1279" />
<sizeparam width="186" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4018" />
-<TGConnectingPoint num="1" id="4019" />
-<TGConnectingPoint num="2" id="4020" />
-<TGConnectingPoint num="3" id="4021" />
+<TGConnectingPoint num="0" id="3974" />
+<TGConnectingPoint num="1" id="3975" />
+<TGConnectingPoint num="2" id="3976" />
+<TGConnectingPoint num="3" id="3977" />
<extraparam>
<guard value="[ listOfNodes.id0 == 0]" />
<afterMin value="" />
@@ -9153,45 +9037,45 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4035" >
+<CONNECTOR type="5102" id="3991" >
<cdparam x="820" y="1233" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4032" />
-<TGConnectingPoint num="1" id="4033" />
-<TGConnectingPoint num="2" id="4034" />
-<P1 x="801" y="1434" id="4238" />
-<P2 x="710" y="145" id="4576" />
+<TGConnectingPoint num="0" id="3988" />
+<TGConnectingPoint num="1" id="3989" />
+<TGConnectingPoint num="2" id="3990" />
+<P1 x="801" y="1434" id="4194" />
+<P2 x="710" y="145" id="4532" />
<Point x="1377" y="1228" />
<Point x="1356" y="105" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4025" >
-<father id="4035" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3981" >
+<father id="3991" num="0" />
<cdparam x="1377" y="1228" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4026" >
-<father id="4035" num="1" />
+<SUBCOMPONENT type="-1" id="3982" >
+<father id="3991" num="1" />
<cdparam x="1356" y="105" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4031" >
-<father id="4035" num="2" />
+<SUBCOMPONENT type="-1" id="3987" >
+<father id="3991" num="2" />
<cdparam x="820" y="1273" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4027" />
-<TGConnectingPoint num="1" id="4028" />
-<TGConnectingPoint num="2" id="4029" />
-<TGConnectingPoint num="3" id="4030" />
+<TGConnectingPoint num="0" id="3983" />
+<TGConnectingPoint num="1" id="3984" />
+<TGConnectingPoint num="2" id="3985" />
+<TGConnectingPoint num="3" id="3986" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9201,35 +9085,35 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4044" >
+<CONNECTOR type="5102" id="4000" >
<cdparam x="1056" y="524" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4042" />
-<TGConnectingPoint num="1" id="4043" />
-<P1 x="1170" y="495" id="4177" />
-<P2 x="1082" y="649" id="4286" />
+<TGConnectingPoint num="0" id="3998" />
+<TGConnectingPoint num="1" id="3999" />
+<P1 x="1170" y="495" id="4133" />
+<P2 x="1082" y="649" id="4242" />
<Point x="1204" y="597" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4036" >
-<father id="4044" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="3992" >
+<father id="4000" num="0" />
<cdparam x="1204" y="597" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4041" >
-<father id="4044" num="1" />
+<SUBCOMPONENT type="-1" id="3997" >
+<father id="4000" num="1" />
<cdparam x="1198" y="537" />
<sizeparam width="186" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4037" />
-<TGConnectingPoint num="1" id="4038" />
-<TGConnectingPoint num="2" id="4039" />
-<TGConnectingPoint num="3" id="4040" />
+<TGConnectingPoint num="0" id="3993" />
+<TGConnectingPoint num="1" id="3994" />
+<TGConnectingPoint num="2" id="3995" />
+<TGConnectingPoint num="3" id="3996" />
<extraparam>
<guard value="[ else]" />
<afterMin value="" />
@@ -9240,35 +9124,35 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4053" >
+<CONNECTOR type="5102" id="4009" >
<cdparam x="1006" y="524" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4051" />
-<TGConnectingPoint num="1" id="4052" />
-<P1 x="1002" y="448" id="4317" />
-<P2 x="982" y="637" id="4275" />
+<TGConnectingPoint num="0" id="4007" />
+<TGConnectingPoint num="1" id="4008" />
+<P1 x="1002" y="448" id="4273" />
+<P2 x="982" y="637" id="4231" />
<Point x="946" y="594" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4045" >
-<father id="4053" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4001" >
+<father id="4009" num="0" />
<cdparam x="946" y="594" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4050" >
-<father id="4053" num="1" />
+<SUBCOMPONENT type="-1" id="4006" >
+<father id="4009" num="1" />
<cdparam x="797" y="485" />
<sizeparam width="186" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4046" />
-<TGConnectingPoint num="1" id="4047" />
-<TGConnectingPoint num="2" id="4048" />
-<TGConnectingPoint num="3" id="4049" />
+<TGConnectingPoint num="0" id="4002" />
+<TGConnectingPoint num="1" id="4003" />
+<TGConnectingPoint num="2" id="4004" />
+<TGConnectingPoint num="3" id="4005" />
<extraparam>
<guard value="[ listOfNodes.id0 == id]" />
<afterMin value="" />
@@ -9279,55 +9163,55 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4066" >
+<CONNECTOR type="5102" id="4022" >
<cdparam x="1032" y="687" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4062" />
-<TGConnectingPoint num="1" id="4063" />
-<TGConnectingPoint num="2" id="4064" />
-<TGConnectingPoint num="3" id="4065" />
-<P1 x="1032" y="687" id="4281" />
-<P2 x="710" y="163" id="4585" />
+<TGConnectingPoint num="0" id="4018" />
+<TGConnectingPoint num="1" id="4019" />
+<TGConnectingPoint num="2" id="4020" />
+<TGConnectingPoint num="3" id="4021" />
+<P1 x="1032" y="687" id="4237" />
+<P2 x="710" y="163" id="4541" />
<Point x="1038" y="721" />
<Point x="1296" y="719" />
<Point x="1226" y="164" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4054" >
-<father id="4066" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4010" >
+<father id="4022" num="0" />
<cdparam x="1038" y="721" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4055" >
-<father id="4066" num="1" />
+<SUBCOMPONENT type="-1" id="4011" >
+<father id="4022" num="1" />
<cdparam x="1296" y="719" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4056" >
-<father id="4066" num="2" />
+<SUBCOMPONENT type="-1" id="4012" >
+<father id="4022" num="2" />
<cdparam x="1226" y="164" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4061" >
-<father id="4066" num="3" />
+<SUBCOMPONENT type="-1" id="4017" >
+<father id="4022" num="3" />
<cdparam x="1032" y="727" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4057" />
-<TGConnectingPoint num="1" id="4058" />
-<TGConnectingPoint num="2" id="4059" />
-<TGConnectingPoint num="3" id="4060" />
+<TGConnectingPoint num="0" id="4013" />
+<TGConnectingPoint num="1" id="4014" />
+<TGConnectingPoint num="2" id="4015" />
+<TGConnectingPoint num="3" id="4016" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9337,25 +9221,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4073" >
+<CONNECTOR type="5102" id="4029" >
<cdparam x="556" y="347" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4072" />
-<P1 x="556" y="347" id="4387" />
-<P2 x="556" y="435" id="4541" />
+<TGConnectingPoint num="0" id="4028" />
+<P1 x="556" y="347" id="4343" />
+<P2 x="556" y="435" id="4497" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4071" >
-<father id="4073" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4027" >
+<father id="4029" num="0" />
<cdparam x="463" y="415" />
<sizeparam width="450" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4067" />
-<TGConnectingPoint num="1" id="4068" />
-<TGConnectingPoint num="2" id="4069" />
-<TGConnectingPoint num="3" id="4070" />
+<TGConnectingPoint num="0" id="4023" />
+<TGConnectingPoint num="1" id="4024" />
+<TGConnectingPoint num="2" id="4025" />
+<TGConnectingPoint num="3" id="4026" />
<extraparam>
<guard value="[ else ]" />
<afterMin value="" />
@@ -9365,55 +9249,55 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4086" >
+<CONNECTOR type="5102" id="4042" >
<cdparam x="782" y="281" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Receive signal to state0" value="null" />
-<TGConnectingPoint num="0" id="4082" />
-<TGConnectingPoint num="1" id="4083" />
-<TGConnectingPoint num="2" id="4084" />
-<TGConnectingPoint num="3" id="4085" />
-<P1 x="782" y="281" id="4415" />
-<P2 x="710" y="199" id="4587" />
+<TGConnectingPoint num="0" id="4038" />
+<TGConnectingPoint num="1" id="4039" />
+<TGConnectingPoint num="2" id="4040" />
+<TGConnectingPoint num="3" id="4041" />
+<P1 x="782" y="281" id="4371" />
+<P2 x="710" y="199" id="4543" />
<Point x="782" y="307" />
<Point x="916" y="307" />
<Point x="916" y="199" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4074" >
-<father id="4086" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4030" >
+<father id="4042" num="0" />
<cdparam x="782" y="307" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4075" >
-<father id="4086" num="1" />
+<SUBCOMPONENT type="-1" id="4031" >
+<father id="4042" num="1" />
<cdparam x="916" y="307" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4076" >
-<father id="4086" num="2" />
+<SUBCOMPONENT type="-1" id="4032" >
+<father id="4042" num="2" />
<cdparam x="916" y="199" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4081" >
-<father id="4086" num="3" />
+<SUBCOMPONENT type="-1" id="4037" >
+<father id="4042" num="3" />
<cdparam x="921" y="264" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4077" />
-<TGConnectingPoint num="1" id="4078" />
-<TGConnectingPoint num="2" id="4079" />
-<TGConnectingPoint num="3" id="4080" />
+<TGConnectingPoint num="0" id="4033" />
+<TGConnectingPoint num="1" id="4034" />
+<TGConnectingPoint num="2" id="4035" />
+<TGConnectingPoint num="3" id="4036" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9423,25 +9307,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4093" >
+<CONNECTOR type="5102" id="4049" >
<cdparam x="663" y="216" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="4092" />
-<P1 x="710" y="217" id="4581" />
-<P2 x="782" y="251" id="4414" />
+<TGConnectingPoint num="0" id="4048" />
+<P1 x="710" y="217" id="4537" />
+<P2 x="782" y="251" id="4370" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4091" >
-<father id="4093" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4047" >
+<father id="4049" num="0" />
<cdparam x="663" y="256" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4087" />
-<TGConnectingPoint num="1" id="4088" />
-<TGConnectingPoint num="2" id="4089" />
-<TGConnectingPoint num="3" id="4090" />
+<TGConnectingPoint num="0" id="4043" />
+<TGConnectingPoint num="1" id="4044" />
+<TGConnectingPoint num="2" id="4045" />
+<TGConnectingPoint num="3" id="4046" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9451,45 +9335,45 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4104" >
+<CONNECTOR type="5102" id="4060" >
<cdparam x="618" y="592" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4101" />
-<TGConnectingPoint num="1" id="4102" />
-<TGConnectingPoint num="2" id="4103" />
-<P1 x="618" y="485" id="4564" />
-<P2 x="851" y="1182" id="4511" />
+<TGConnectingPoint num="0" id="4057" />
+<TGConnectingPoint num="1" id="4058" />
+<TGConnectingPoint num="2" id="4059" />
+<P1 x="618" y="485" id="4520" />
+<P2 x="851" y="1182" id="4467" />
<Point x="939" y="640" />
<Point x="1080" y="938" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4094" >
-<father id="4104" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4050" >
+<father id="4060" num="0" />
<cdparam x="939" y="640" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4095" >
-<father id="4104" num="1" />
+<SUBCOMPONENT type="-1" id="4051" >
+<father id="4060" num="1" />
<cdparam x="1080" y="938" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4100" >
-<father id="4104" num="2" />
+<SUBCOMPONENT type="-1" id="4056" >
+<father id="4060" num="2" />
<cdparam x="679" y="584" />
<sizeparam width="39" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4096" />
-<TGConnectingPoint num="1" id="4097" />
-<TGConnectingPoint num="2" id="4098" />
-<TGConnectingPoint num="3" id="4099" />
+<TGConnectingPoint num="0" id="4052" />
+<TGConnectingPoint num="1" id="4053" />
+<TGConnectingPoint num="2" id="4054" />
+<TGConnectingPoint num="3" id="4055" />
<extraparam>
<guard value="[ else ]" />
<afterMin value="" />
@@ -9499,25 +9383,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4111" >
+<CONNECTOR type="5102" id="4067" >
<cdparam x="581" y="216" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="4110" />
-<P1 x="581" y="217" id="4580" />
-<P2 x="581" y="249" id="4615" />
+<TGConnectingPoint num="0" id="4066" />
+<P1 x="581" y="217" id="4536" />
+<P2 x="581" y="249" id="4571" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4109" >
-<father id="4111" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4065" >
+<father id="4067" num="0" />
<cdparam x="581" y="256" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4105" />
-<TGConnectingPoint num="1" id="4106" />
-<TGConnectingPoint num="2" id="4107" />
-<TGConnectingPoint num="3" id="4108" />
+<TGConnectingPoint num="0" id="4061" />
+<TGConnectingPoint num="1" id="4062" />
+<TGConnectingPoint num="2" id="4063" />
+<TGConnectingPoint num="3" id="4064" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9527,25 +9411,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4118" >
+<CONNECTOR type="5102" id="4074" >
<cdparam x="582" y="125" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="4117" />
-<P1 x="581" y="100" id="4626" />
-<P2 x="581" y="145" id="4575" />
+<TGConnectingPoint num="0" id="4073" />
+<P1 x="581" y="100" id="4582" />
+<P2 x="581" y="145" id="4531" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4116" >
-<father id="4118" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4072" >
+<father id="4074" num="0" />
<cdparam x="608" y="98" />
<sizeparam width="115" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4112" />
-<TGConnectingPoint num="1" id="4113" />
-<TGConnectingPoint num="2" id="4114" />
-<TGConnectingPoint num="3" id="4115" />
+<TGConnectingPoint num="0" id="4068" />
+<TGConnectingPoint num="1" id="4069" />
+<TGConnectingPoint num="2" id="4070" />
+<TGConnectingPoint num="3" id="4071" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9558,25 +9442,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4125" >
+<CONNECTOR type="5102" id="4081" >
<cdparam x="581" y="279" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Receive signal to choice" value="null" />
-<TGConnectingPoint num="0" id="4124" />
-<P1 x="581" y="279" id="4616" />
-<P2 x="581" y="297" id="4374" />
+<TGConnectingPoint num="0" id="4080" />
+<P1 x="581" y="279" id="4572" />
+<P2 x="581" y="297" id="4330" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4123" >
-<father id="4125" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4079" >
+<father id="4081" num="0" />
<cdparam x="581" y="319" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4119" />
-<TGConnectingPoint num="1" id="4120" />
-<TGConnectingPoint num="2" id="4121" />
-<TGConnectingPoint num="3" id="4122" />
+<TGConnectingPoint num="0" id="4075" />
+<TGConnectingPoint num="1" id="4076" />
+<TGConnectingPoint num="2" id="4077" />
+<TGConnectingPoint num="3" id="4078" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9586,25 +9470,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4132" >
+<CONNECTOR type="5102" id="4088" >
<cdparam x="631" y="592" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4131" />
-<P1 x="543" y="485" id="4561" />
-<P2 x="497" y="643" id="4442" />
+<TGConnectingPoint num="0" id="4087" />
+<P1 x="543" y="485" id="4517" />
+<P2 x="497" y="643" id="4398" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4130" >
-<father id="4132" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4086" >
+<father id="4088" num="0" />
<cdparam x="177" y="619" />
<sizeparam width="437" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4126" />
-<TGConnectingPoint num="1" id="4127" />
-<TGConnectingPoint num="2" id="4128" />
-<TGConnectingPoint num="3" id="4129" />
+<TGConnectingPoint num="0" id="4082" />
+<TGConnectingPoint num="1" id="4083" />
+<TGConnectingPoint num="2" id="4084" />
+<TGConnectingPoint num="3" id="4085" />
<extraparam>
<guard value="[(listOfNodes.id0 > 0) and (listOfNodes.id1 > 0) and (listOfNodes.id2 > 0)]" />
<afterMin value="" />
@@ -9614,25 +9498,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4139" >
+<CONNECTOR type="5102" id="4095" >
<cdparam x="331" y="732" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4138" />
-<P1 x="472" y="668" id="4443" />
-<P2 x="305" y="794" id="4218" />
+<TGConnectingPoint num="0" id="4094" />
+<P1 x="472" y="668" id="4399" />
+<P2 x="305" y="794" id="4174" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4137" >
-<father id="4139" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4093" >
+<father id="4095" num="0" />
<cdparam x="10" y="771" />
<sizeparam width="754" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4133" />
-<TGConnectingPoint num="1" id="4134" />
-<TGConnectingPoint num="2" id="4135" />
-<TGConnectingPoint num="3" id="4136" />
+<TGConnectingPoint num="0" id="4089" />
+<TGConnectingPoint num="1" id="4090" />
+<TGConnectingPoint num="2" id="4091" />
+<TGConnectingPoint num="3" id="4092" />
<extraparam>
<guard value="[ (listOfNodes.position0 < currentPosition) or (listOfNodes.position1 < currentPosition) or (listOfNodes.position2 < currentPosition)]" />
<afterMin value="" />
@@ -9642,25 +9526,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4146" >
+<CONNECTOR type="5102" id="4102" >
<cdparam x="664" y="390" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4145" />
-<P1 x="581" y="347" id="4379" />
-<P2 x="971" y="369" id="4342" />
+<TGConnectingPoint num="0" id="4101" />
+<P1 x="581" y="347" id="4335" />
+<P2 x="971" y="369" id="4298" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4144" >
-<father id="4146" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4100" >
+<father id="4102" num="0" />
<cdparam x="780" y="351" />
<sizeparam width="456" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4140" />
-<TGConnectingPoint num="1" id="4141" />
-<TGConnectingPoint num="2" id="4142" />
-<TGConnectingPoint num="3" id="4143" />
+<TGConnectingPoint num="0" id="4096" />
+<TGConnectingPoint num="1" id="4097" />
+<TGConnectingPoint num="2" id="4098" />
+<TGConnectingPoint num="3" id="4099" />
<extraparam>
<guard value="[(listOfNodes.id0 == id) or (listOfNodes.id1 == id) or (listOfNodes.id2 == id)]" />
<afterMin value="" />
@@ -9670,25 +9554,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4153" >
+<CONNECTOR type="5102" id="4109" >
<cdparam x="1019" y="473" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to choice" value="null" />
-<TGConnectingPoint num="0" id="4152" />
-<P1 x="1021" y="407" id="4338" />
-<P2 x="1027" y="423" id="4316" />
+<TGConnectingPoint num="0" id="4108" />
+<P1 x="1021" y="407" id="4294" />
+<P2 x="1027" y="423" id="4272" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4151" >
-<father id="4153" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4107" >
+<father id="4109" num="0" />
<cdparam x="1019" y="513" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4147" />
-<TGConnectingPoint num="1" id="4148" />
-<TGConnectingPoint num="2" id="4149" />
-<TGConnectingPoint num="3" id="4150" />
+<TGConnectingPoint num="0" id="4103" />
+<TGConnectingPoint num="1" id="4104" />
+<TGConnectingPoint num="2" id="4105" />
+<TGConnectingPoint num="3" id="4106" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9698,25 +9582,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4160" >
+<CONNECTOR type="5102" id="4116" >
<cdparam x="1031" y="549" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4159" />
-<P1 x="1120" y="495" id="4176" />
-<P2 x="1032" y="637" id="4276" />
+<TGConnectingPoint num="0" id="4115" />
+<P1 x="1120" y="495" id="4132" />
+<P2 x="1032" y="637" id="4232" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4158" >
-<father id="4160" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4114" >
+<father id="4116" num="0" />
<cdparam x="971" y="536" />
<sizeparam width="186" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4154" />
-<TGConnectingPoint num="1" id="4155" />
-<TGConnectingPoint num="2" id="4156" />
-<TGConnectingPoint num="3" id="4157" />
+<TGConnectingPoint num="0" id="4110" />
+<TGConnectingPoint num="1" id="4111" />
+<TGConnectingPoint num="2" id="4112" />
+<TGConnectingPoint num="3" id="4113" />
<extraparam>
<guard value="[ listOfNodes.id1 == id]" />
<afterMin value="" />
@@ -9727,25 +9611,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4167" >
+<CONNECTOR type="5102" id="4123" >
<cdparam x="453" y="217" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="4166" />
-<P1 x="453" y="217" id="4579" />
-<P2 x="371" y="251" id="4191" />
+<TGConnectingPoint num="0" id="4122" />
+<P1 x="453" y="217" id="4535" />
+<P2 x="371" y="251" id="4147" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4165" >
-<father id="4167" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4121" >
+<father id="4123" num="0" />
<cdparam x="453" y="257" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4161" />
-<TGConnectingPoint num="1" id="4162" />
-<TGConnectingPoint num="2" id="4163" />
-<TGConnectingPoint num="3" id="4164" />
+<TGConnectingPoint num="0" id="4117" />
+<TGConnectingPoint num="1" id="4118" />
+<TGConnectingPoint num="2" id="4119" />
+<TGConnectingPoint num="3" id="4120" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -9755,25 +9639,25 @@
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4174" >
+<CONNECTOR type="5102" id="4130" >
<cdparam x="1052" y="448" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to choice" value="null" />
-<TGConnectingPoint num="0" id="4173" />
-<P1 x="1052" y="448" id="4321" />
-<P2 x="1145" y="470" id="4175" />
+<TGConnectingPoint num="0" id="4129" />
+<P1 x="1052" y="448" id="4277" />
+<P2 x="1145" y="470" id="4131" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4172" >
-<father id="4174" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4128" >
+<father id="4130" num="0" />
<cdparam x="1107" y="440" />
<sizeparam width="39" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4168" />
-<TGConnectingPoint num="1" id="4169" />
-<TGConnectingPoint num="2" id="4170" />
-<TGConnectingPoint num="3" id="4171" />
+<TGConnectingPoint num="0" id="4124" />
+<TGConnectingPoint num="1" id="4125" />
+<TGConnectingPoint num="2" id="4126" />
+<TGConnectingPoint num="3" id="4127" />
<extraparam>
<guard value="[ else ]" />
<afterMin value="" />
@@ -9783,335 +9667,335 @@
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5107" id="4190" >
+<COMPONENT type="5107" id="4146" >
<cdparam x="1130" y="480" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="4175" />
-<TGConnectingPoint num="1" id="4176" />
-<TGConnectingPoint num="2" id="4177" />
-<TGConnectingPoint num="3" id="4178" />
-<TGConnectingPoint num="4" id="4179" />
-<TGConnectingPoint num="5" id="4180" />
-<TGConnectingPoint num="6" id="4181" />
-<TGConnectingPoint num="7" id="4182" />
-<TGConnectingPoint num="8" id="4183" />
-<TGConnectingPoint num="9" id="4184" />
-<TGConnectingPoint num="10" id="4185" />
-<TGConnectingPoint num="11" id="4186" />
-<TGConnectingPoint num="12" id="4187" />
-<TGConnectingPoint num="13" id="4188" />
-<TGConnectingPoint num="14" id="4189" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="4201" >
+<TGConnectingPoint num="0" id="4131" />
+<TGConnectingPoint num="1" id="4132" />
+<TGConnectingPoint num="2" id="4133" />
+<TGConnectingPoint num="3" id="4134" />
+<TGConnectingPoint num="4" id="4135" />
+<TGConnectingPoint num="5" id="4136" />
+<TGConnectingPoint num="6" id="4137" />
+<TGConnectingPoint num="7" id="4138" />
+<TGConnectingPoint num="8" id="4139" />
+<TGConnectingPoint num="9" id="4140" />
+<TGConnectingPoint num="10" id="4141" />
+<TGConnectingPoint num="11" id="4142" />
+<TGConnectingPoint num="12" id="4143" />
+<TGConnectingPoint num="13" id="4144" />
+<TGConnectingPoint num="14" id="4145" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="4157" >
<cdparam x="252" y="256" />
<sizeparam width="238" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="Send signal" value="sendTable(currentPosition, listOfNodes)" />
-<TGConnectingPoint num="0" id="4191" />
-<TGConnectingPoint num="1" id="4192" />
-<TGConnectingPoint num="2" id="4193" />
-<TGConnectingPoint num="3" id="4194" />
-<TGConnectingPoint num="4" id="4195" />
-<TGConnectingPoint num="5" id="4196" />
-<TGConnectingPoint num="6" id="4197" />
-<TGConnectingPoint num="7" id="4198" />
-<TGConnectingPoint num="8" id="4199" />
-<TGConnectingPoint num="9" id="4200" />
-</COMPONENT>
-
-<COMPONENT type="5107" id="4217" >
+<TGConnectingPoint num="0" id="4147" />
+<TGConnectingPoint num="1" id="4148" />
+<TGConnectingPoint num="2" id="4149" />
+<TGConnectingPoint num="3" id="4150" />
+<TGConnectingPoint num="4" id="4151" />
+<TGConnectingPoint num="5" id="4152" />
+<TGConnectingPoint num="6" id="4153" />
+<TGConnectingPoint num="7" id="4154" />
+<TGConnectingPoint num="8" id="4155" />
+<TGConnectingPoint num="9" id="4156" />
+</COMPONENT>
+
+<COMPONENT type="5107" id="4173" >
<cdparam x="725" y="772" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="4202" />
-<TGConnectingPoint num="1" id="4203" />
-<TGConnectingPoint num="2" id="4204" />
-<TGConnectingPoint num="3" id="4205" />
-<TGConnectingPoint num="4" id="4206" />
-<TGConnectingPoint num="5" id="4207" />
-<TGConnectingPoint num="6" id="4208" />
-<TGConnectingPoint num="7" id="4209" />
-<TGConnectingPoint num="8" id="4210" />
-<TGConnectingPoint num="9" id="4211" />
-<TGConnectingPoint num="10" id="4212" />
-<TGConnectingPoint num="11" id="4213" />
-<TGConnectingPoint num="12" id="4214" />
-<TGConnectingPoint num="13" id="4215" />
-<TGConnectingPoint num="14" id="4216" />
-</COMPONENT>
-
-<COMPONENT type="5107" id="4233" >
+<TGConnectingPoint num="0" id="4158" />
+<TGConnectingPoint num="1" id="4159" />
+<TGConnectingPoint num="2" id="4160" />
+<TGConnectingPoint num="3" id="4161" />
+<TGConnectingPoint num="4" id="4162" />
+<TGConnectingPoint num="5" id="4163" />
+<TGConnectingPoint num="6" id="4164" />
+<TGConnectingPoint num="7" id="4165" />
+<TGConnectingPoint num="8" id="4166" />
+<TGConnectingPoint num="9" id="4167" />
+<TGConnectingPoint num="10" id="4168" />
+<TGConnectingPoint num="11" id="4169" />
+<TGConnectingPoint num="12" id="4170" />
+<TGConnectingPoint num="13" id="4171" />
+<TGConnectingPoint num="14" id="4172" />
+</COMPONENT>
+
+<COMPONENT type="5107" id="4189" >
<cdparam x="290" y="804" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="4218" />
-<TGConnectingPoint num="1" id="4219" />
-<TGConnectingPoint num="2" id="4220" />
-<TGConnectingPoint num="3" id="4221" />
-<TGConnectingPoint num="4" id="4222" />
-<TGConnectingPoint num="5" id="4223" />
-<TGConnectingPoint num="6" id="4224" />
-<TGConnectingPoint num="7" id="4225" />
-<TGConnectingPoint num="8" id="4226" />
-<TGConnectingPoint num="9" id="4227" />
-<TGConnectingPoint num="10" id="4228" />
-<TGConnectingPoint num="11" id="4229" />
-<TGConnectingPoint num="12" id="4230" />
-<TGConnectingPoint num="13" id="4231" />
-<TGConnectingPoint num="14" id="4232" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="4274" >
+<TGConnectingPoint num="0" id="4174" />
+<TGConnectingPoint num="1" id="4175" />
+<TGConnectingPoint num="2" id="4176" />
+<TGConnectingPoint num="3" id="4177" />
+<TGConnectingPoint num="4" id="4178" />
+<TGConnectingPoint num="5" id="4179" />
+<TGConnectingPoint num="6" id="4180" />
+<TGConnectingPoint num="7" id="4181" />
+<TGConnectingPoint num="8" id="4182" />
+<TGConnectingPoint num="9" id="4183" />
+<TGConnectingPoint num="10" id="4184" />
+<TGConnectingPoint num="11" id="4185" />
+<TGConnectingPoint num="12" id="4186" />
+<TGConnectingPoint num="13" id="4187" />
+<TGConnectingPoint num="14" id="4188" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="4230" >
<cdparam x="479" y="1409" />
<sizeparam width="322" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="state0" value="IDAdded" />
-<TGConnectingPoint num="0" id="4234" />
-<TGConnectingPoint num="1" id="4235" />
-<TGConnectingPoint num="2" id="4236" />
-<TGConnectingPoint num="3" id="4237" />
-<TGConnectingPoint num="4" id="4238" />
-<TGConnectingPoint num="5" id="4239" />
-<TGConnectingPoint num="6" id="4240" />
-<TGConnectingPoint num="7" id="4241" />
-<TGConnectingPoint num="8" id="4242" />
-<TGConnectingPoint num="9" id="4243" />
-<TGConnectingPoint num="10" id="4244" />
-<TGConnectingPoint num="11" id="4245" />
-<TGConnectingPoint num="12" id="4246" />
-<TGConnectingPoint num="13" id="4247" />
-<TGConnectingPoint num="14" id="4248" />
-<TGConnectingPoint num="15" id="4249" />
-<TGConnectingPoint num="16" id="4250" />
-<TGConnectingPoint num="17" id="4251" />
-<TGConnectingPoint num="18" id="4252" />
-<TGConnectingPoint num="19" id="4253" />
-<TGConnectingPoint num="20" id="4254" />
-<TGConnectingPoint num="21" id="4255" />
-<TGConnectingPoint num="22" id="4256" />
-<TGConnectingPoint num="23" id="4257" />
-<TGConnectingPoint num="24" id="4258" />
-<TGConnectingPoint num="25" id="4259" />
-<TGConnectingPoint num="26" id="4260" />
-<TGConnectingPoint num="27" id="4261" />
-<TGConnectingPoint num="28" id="4262" />
-<TGConnectingPoint num="29" id="4263" />
-<TGConnectingPoint num="30" id="4264" />
-<TGConnectingPoint num="31" id="4265" />
-<TGConnectingPoint num="32" id="4266" />
-<TGConnectingPoint num="33" id="4267" />
-<TGConnectingPoint num="34" id="4268" />
-<TGConnectingPoint num="35" id="4269" />
-<TGConnectingPoint num="36" id="4270" />
-<TGConnectingPoint num="37" id="4271" />
-<TGConnectingPoint num="38" id="4272" />
-<TGConnectingPoint num="39" id="4273" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="4315" >
+<TGConnectingPoint num="0" id="4190" />
+<TGConnectingPoint num="1" id="4191" />
+<TGConnectingPoint num="2" id="4192" />
+<TGConnectingPoint num="3" id="4193" />
+<TGConnectingPoint num="4" id="4194" />
+<TGConnectingPoint num="5" id="4195" />
+<TGConnectingPoint num="6" id="4196" />
+<TGConnectingPoint num="7" id="4197" />
+<TGConnectingPoint num="8" id="4198" />
+<TGConnectingPoint num="9" id="4199" />
+<TGConnectingPoint num="10" id="4200" />
+<TGConnectingPoint num="11" id="4201" />
+<TGConnectingPoint num="12" id="4202" />
+<TGConnectingPoint num="13" id="4203" />
+<TGConnectingPoint num="14" id="4204" />
+<TGConnectingPoint num="15" id="4205" />
+<TGConnectingPoint num="16" id="4206" />
+<TGConnectingPoint num="17" id="4207" />
+<TGConnectingPoint num="18" id="4208" />
+<TGConnectingPoint num="19" id="4209" />
+<TGConnectingPoint num="20" id="4210" />
+<TGConnectingPoint num="21" id="4211" />
+<TGConnectingPoint num="22" id="4212" />
+<TGConnectingPoint num="23" id="4213" />
+<TGConnectingPoint num="24" id="4214" />
+<TGConnectingPoint num="25" id="4215" />
+<TGConnectingPoint num="26" id="4216" />
+<TGConnectingPoint num="27" id="4217" />
+<TGConnectingPoint num="28" id="4218" />
+<TGConnectingPoint num="29" id="4219" />
+<TGConnectingPoint num="30" id="4220" />
+<TGConnectingPoint num="31" id="4221" />
+<TGConnectingPoint num="32" id="4222" />
+<TGConnectingPoint num="33" id="4223" />
+<TGConnectingPoint num="34" id="4224" />
+<TGConnectingPoint num="35" id="4225" />
+<TGConnectingPoint num="36" id="4226" />
+<TGConnectingPoint num="37" id="4227" />
+<TGConnectingPoint num="38" id="4228" />
+<TGConnectingPoint num="39" id="4229" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="4271" >
<cdparam x="982" y="637" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="state0" value="PositionUpdated" />
-<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" />
-<TGConnectingPoint num="32" id="4307" />
-<TGConnectingPoint num="33" id="4308" />
-<TGConnectingPoint num="34" id="4309" />
-<TGConnectingPoint num="35" id="4310" />
-<TGConnectingPoint num="36" id="4311" />
-<TGConnectingPoint num="37" id="4312" />
-<TGConnectingPoint num="38" id="4313" />
-<TGConnectingPoint num="39" id="4314" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5107" id="4331" >
+<TGConnectingPoint num="0" id="4231" />
+<TGConnectingPoint num="1" id="4232" />
+<TGConnectingPoint num="2" id="4233" />
+<TGConnectingPoint num="3" id="4234" />
+<TGConnectingPoint num="4" id="4235" />
+<TGConnectingPoint num="5" id="4236" />
+<TGConnectingPoint num="6" id="4237" />
+<TGConnectingPoint num="7" id="4238" />
+<TGConnectingPoint num="8" id="4239" />
+<TGConnectingPoint num="9" id="4240" />
+<TGConnectingPoint num="10" id="4241" />
+<TGConnectingPoint num="11" id="4242" />
+<TGConnectingPoint num="12" id="4243" />
+<TGConnectingPoint num="13" id="4244" />
+<TGConnectingPoint num="14" id="4245" />
+<TGConnectingPoint num="15" id="4246" />
+<TGConnectingPoint num="16" id="4247" />
+<TGConnectingPoint num="17" id="4248" />
+<TGConnectingPoint num="18" id="4249" />
+<TGConnectingPoint num="19" id="4250" />
+<TGConnectingPoint num="20" id="4251" />
+<TGConnectingPoint num="21" id="4252" />
+<TGConnectingPoint num="22" id="4253" />
+<TGConnectingPoint num="23" id="4254" />
+<TGConnectingPoint num="24" id="4255" />
+<TGConnectingPoint num="25" id="4256" />
+<TGConnectingPoint num="26" id="4257" />
+<TGConnectingPoint num="27" id="4258" />
+<TGConnectingPoint num="28" id="4259" />
+<TGConnectingPoint num="29" id="4260" />
+<TGConnectingPoint num="30" id="4261" />
+<TGConnectingPoint num="31" id="4262" />
+<TGConnectingPoint num="32" id="4263" />
+<TGConnectingPoint num="33" id="4264" />
+<TGConnectingPoint num="34" id="4265" />
+<TGConnectingPoint num="35" id="4266" />
+<TGConnectingPoint num="36" id="4267" />
+<TGConnectingPoint num="37" id="4268" />
+<TGConnectingPoint num="38" id="4269" />
+<TGConnectingPoint num="39" id="4270" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5107" id="4287" >
<cdparam x="1012" y="433" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="4316" />
-<TGConnectingPoint num="1" id="4317" />
-<TGConnectingPoint num="2" id="4318" />
-<TGConnectingPoint num="3" id="4319" />
-<TGConnectingPoint num="4" id="4320" />
-<TGConnectingPoint num="5" id="4321" />
-<TGConnectingPoint num="6" id="4322" />
-<TGConnectingPoint num="7" id="4323" />
-<TGConnectingPoint num="8" id="4324" />
-<TGConnectingPoint num="9" id="4325" />
-<TGConnectingPoint num="10" id="4326" />
-<TGConnectingPoint num="11" id="4327" />
-<TGConnectingPoint num="12" id="4328" />
-<TGConnectingPoint num="13" id="4329" />
-<TGConnectingPoint num="14" id="4330" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="4372" >
+<TGConnectingPoint num="0" id="4272" />
+<TGConnectingPoint num="1" id="4273" />
+<TGConnectingPoint num="2" id="4274" />
+<TGConnectingPoint num="3" id="4275" />
+<TGConnectingPoint num="4" id="4276" />
+<TGConnectingPoint num="5" id="4277" />
+<TGConnectingPoint num="6" id="4278" />
+<TGConnectingPoint num="7" id="4279" />
+<TGConnectingPoint num="8" id="4280" />
+<TGConnectingPoint num="9" id="4281" />
+<TGConnectingPoint num="10" id="4282" />
+<TGConnectingPoint num="11" id="4283" />
+<TGConnectingPoint num="12" id="4284" />
+<TGConnectingPoint num="13" id="4285" />
+<TGConnectingPoint num="14" id="4286" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="4328" >
<cdparam x="971" y="357" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="state0" value="UpdatingPosition" />
-<TGConnectingPoint num="0" id="4332" />
-<TGConnectingPoint num="1" id="4333" />
-<TGConnectingPoint num="2" id="4334" />
-<TGConnectingPoint num="3" id="4335" />
-<TGConnectingPoint num="4" id="4336" />
-<TGConnectingPoint num="5" id="4337" />
-<TGConnectingPoint num="6" id="4338" />
-<TGConnectingPoint num="7" id="4339" />
-<TGConnectingPoint num="8" id="4340" />
-<TGConnectingPoint num="9" id="4341" />
-<TGConnectingPoint num="10" id="4342" />
-<TGConnectingPoint num="11" id="4343" />
-<TGConnectingPoint num="12" id="4344" />
-<TGConnectingPoint num="13" id="4345" />
-<TGConnectingPoint num="14" id="4346" />
-<TGConnectingPoint num="15" id="4347" />
-<TGConnectingPoint num="16" id="4348" />
-<TGConnectingPoint num="17" id="4349" />
-<TGConnectingPoint num="18" id="4350" />
-<TGConnectingPoint num="19" id="4351" />
-<TGConnectingPoint num="20" id="4352" />
-<TGConnectingPoint num="21" id="4353" />
-<TGConnectingPoint num="22" id="4354" />
-<TGConnectingPoint num="23" id="4355" />
-<TGConnectingPoint num="24" id="4356" />
-<TGConnectingPoint num="25" id="4357" />
-<TGConnectingPoint num="26" id="4358" />
-<TGConnectingPoint num="27" id="4359" />
-<TGConnectingPoint num="28" id="4360" />
-<TGConnectingPoint num="29" id="4361" />
-<TGConnectingPoint num="30" id="4362" />
-<TGConnectingPoint num="31" id="4363" />
-<TGConnectingPoint num="32" id="4364" />
-<TGConnectingPoint num="33" id="4365" />
-<TGConnectingPoint num="34" id="4366" />
-<TGConnectingPoint num="35" id="4367" />
-<TGConnectingPoint num="36" id="4368" />
-<TGConnectingPoint num="37" id="4369" />
-<TGConnectingPoint num="38" id="4370" />
-<TGConnectingPoint num="39" id="4371" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="4413" >
+<TGConnectingPoint num="0" id="4288" />
+<TGConnectingPoint num="1" id="4289" />
+<TGConnectingPoint num="2" id="4290" />
+<TGConnectingPoint num="3" id="4291" />
+<TGConnectingPoint num="4" id="4292" />
+<TGConnectingPoint num="5" id="4293" />
+<TGConnectingPoint num="6" id="4294" />
+<TGConnectingPoint num="7" id="4295" />
+<TGConnectingPoint num="8" id="4296" />
+<TGConnectingPoint num="9" id="4297" />
+<TGConnectingPoint num="10" id="4298" />
+<TGConnectingPoint num="11" id="4299" />
+<TGConnectingPoint num="12" id="4300" />
+<TGConnectingPoint num="13" id="4301" />
+<TGConnectingPoint num="14" id="4302" />
+<TGConnectingPoint num="15" id="4303" />
+<TGConnectingPoint num="16" id="4304" />
+<TGConnectingPoint num="17" id="4305" />
+<TGConnectingPoint num="18" id="4306" />
+<TGConnectingPoint num="19" id="4307" />
+<TGConnectingPoint num="20" id="4308" />
+<TGConnectingPoint num="21" id="4309" />
+<TGConnectingPoint num="22" id="4310" />
+<TGConnectingPoint num="23" id="4311" />
+<TGConnectingPoint num="24" id="4312" />
+<TGConnectingPoint num="25" id="4313" />
+<TGConnectingPoint num="26" id="4314" />
+<TGConnectingPoint num="27" id="4315" />
+<TGConnectingPoint num="28" id="4316" />
+<TGConnectingPoint num="29" id="4317" />
+<TGConnectingPoint num="30" id="4318" />
+<TGConnectingPoint num="31" id="4319" />
+<TGConnectingPoint num="32" id="4320" />
+<TGConnectingPoint num="33" id="4321" />
+<TGConnectingPoint num="34" id="4322" />
+<TGConnectingPoint num="35" id="4323" />
+<TGConnectingPoint num="36" id="4324" />
+<TGConnectingPoint num="37" id="4325" />
+<TGConnectingPoint num="38" id="4326" />
+<TGConnectingPoint num="39" id="4327" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="4369" >
<cdparam x="531" y="297" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="state0" value="IsKnownID" />
-<TGConnectingPoint num="0" id="4373" />
-<TGConnectingPoint num="1" id="4374" />
-<TGConnectingPoint num="2" id="4375" />
-<TGConnectingPoint num="3" id="4376" />
-<TGConnectingPoint num="4" id="4377" />
-<TGConnectingPoint num="5" id="4378" />
-<TGConnectingPoint num="6" id="4379" />
-<TGConnectingPoint num="7" id="4380" />
-<TGConnectingPoint num="8" id="4381" />
-<TGConnectingPoint num="9" id="4382" />
-<TGConnectingPoint num="10" id="4383" />
-<TGConnectingPoint num="11" id="4384" />
-<TGConnectingPoint num="12" id="4385" />
-<TGConnectingPoint num="13" id="4386" />
-<TGConnectingPoint num="14" id="4387" />
-<TGConnectingPoint num="15" id="4388" />
-<TGConnectingPoint num="16" id="4389" />
-<TGConnectingPoint num="17" id="4390" />
-<TGConnectingPoint num="18" id="4391" />
-<TGConnectingPoint num="19" id="4392" />
-<TGConnectingPoint num="20" id="4393" />
-<TGConnectingPoint num="21" id="4394" />
-<TGConnectingPoint num="22" id="4395" />
-<TGConnectingPoint num="23" id="4396" />
-<TGConnectingPoint num="24" id="4397" />
-<TGConnectingPoint num="25" id="4398" />
-<TGConnectingPoint num="26" id="4399" />
-<TGConnectingPoint num="27" id="4400" />
-<TGConnectingPoint num="28" id="4401" />
-<TGConnectingPoint num="29" id="4402" />
-<TGConnectingPoint num="30" id="4403" />
-<TGConnectingPoint num="31" id="4404" />
-<TGConnectingPoint num="32" id="4405" />
-<TGConnectingPoint num="33" id="4406" />
-<TGConnectingPoint num="34" id="4407" />
-<TGConnectingPoint num="35" id="4408" />
-<TGConnectingPoint num="36" id="4409" />
-<TGConnectingPoint num="37" id="4410" />
-<TGConnectingPoint num="38" id="4411" />
-<TGConnectingPoint num="39" id="4412" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5104" id="4424" >
+<TGConnectingPoint num="0" id="4329" />
+<TGConnectingPoint num="1" id="4330" />
+<TGConnectingPoint num="2" id="4331" />
+<TGConnectingPoint num="3" id="4332" />
+<TGConnectingPoint num="4" id="4333" />
+<TGConnectingPoint num="5" id="4334" />
+<TGConnectingPoint num="6" id="4335" />
+<TGConnectingPoint num="7" id="4336" />
+<TGConnectingPoint num="8" id="4337" />
+<TGConnectingPoint num="9" id="4338" />
+<TGConnectingPoint num="10" id="4339" />
+<TGConnectingPoint num="11" id="4340" />
+<TGConnectingPoint num="12" id="4341" />
+<TGConnectingPoint num="13" id="4342" />
+<TGConnectingPoint num="14" id="4343" />
+<TGConnectingPoint num="15" id="4344" />
+<TGConnectingPoint num="16" id="4345" />
+<TGConnectingPoint num="17" id="4346" />
+<TGConnectingPoint num="18" id="4347" />
+<TGConnectingPoint num="19" id="4348" />
+<TGConnectingPoint num="20" id="4349" />
+<TGConnectingPoint num="21" id="4350" />
+<TGConnectingPoint num="22" id="4351" />
+<TGConnectingPoint num="23" id="4352" />
+<TGConnectingPoint num="24" id="4353" />
+<TGConnectingPoint num="25" id="4354" />
+<TGConnectingPoint num="26" id="4355" />
+<TGConnectingPoint num="27" id="4356" />
+<TGConnectingPoint num="28" id="4357" />
+<TGConnectingPoint num="29" id="4358" />
+<TGConnectingPoint num="30" id="4359" />
+<TGConnectingPoint num="31" id="4360" />
+<TGConnectingPoint num="32" id="4361" />
+<TGConnectingPoint num="33" id="4362" />
+<TGConnectingPoint num="34" id="4363" />
+<TGConnectingPoint num="35" id="4364" />
+<TGConnectingPoint num="36" id="4365" />
+<TGConnectingPoint num="37" id="4366" />
+<TGConnectingPoint num="38" id="4367" />
+<TGConnectingPoint num="39" id="4368" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5104" id="4380" >
<cdparam x="696" y="256" />
<sizeparam width="172" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="Receive signal" value="setPosition(currentPosition)" />
-<TGConnectingPoint num="0" id="4414" />
-<TGConnectingPoint num="1" id="4415" />
-<TGConnectingPoint num="2" id="4416" />
-<TGConnectingPoint num="3" id="4417" />
-<TGConnectingPoint num="4" id="4418" />
-<TGConnectingPoint num="5" id="4419" />
-<TGConnectingPoint num="6" id="4420" />
-<TGConnectingPoint num="7" id="4421" />
-<TGConnectingPoint num="8" id="4422" />
-<TGConnectingPoint num="9" id="4423" />
-</COMPONENT>
-
-<COMPONENT type="301" id="4441" >
+<TGConnectingPoint num="0" id="4370" />
+<TGConnectingPoint num="1" id="4371" />
+<TGConnectingPoint num="2" id="4372" />
+<TGConnectingPoint num="3" id="4373" />
+<TGConnectingPoint num="4" id="4374" />
+<TGConnectingPoint num="5" id="4375" />
+<TGConnectingPoint num="6" id="4376" />
+<TGConnectingPoint num="7" id="4377" />
+<TGConnectingPoint num="8" id="4378" />
+<TGConnectingPoint num="9" id="4379" />
+</COMPONENT>
+
+<COMPONENT type="301" id="4397" >
<cdparam x="265" y="634" />
<sizeparam width="195" height="50" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
@@ -10119,396 +10003,510 @@
<infoparam name="UML Note" value="We first one behind if possible
Otherwise, the most far away
" />
-<TGConnectingPoint num="0" id="4425" />
-<TGConnectingPoint num="1" id="4426" />
-<TGConnectingPoint num="2" id="4427" />
-<TGConnectingPoint num="3" id="4428" />
-<TGConnectingPoint num="4" id="4429" />
-<TGConnectingPoint num="5" id="4430" />
-<TGConnectingPoint num="6" id="4431" />
-<TGConnectingPoint num="7" id="4432" />
-<TGConnectingPoint num="8" id="4433" />
-<TGConnectingPoint num="9" id="4434" />
-<TGConnectingPoint num="10" id="4435" />
-<TGConnectingPoint num="11" id="4436" />
-<TGConnectingPoint num="12" id="4437" />
-<TGConnectingPoint num="13" id="4438" />
-<TGConnectingPoint num="14" id="4439" />
-<TGConnectingPoint num="15" id="4440" />
+<TGConnectingPoint num="0" id="4381" />
+<TGConnectingPoint num="1" id="4382" />
+<TGConnectingPoint num="2" id="4383" />
+<TGConnectingPoint num="3" id="4384" />
+<TGConnectingPoint num="4" id="4385" />
+<TGConnectingPoint num="5" id="4386" />
+<TGConnectingPoint num="6" id="4387" />
+<TGConnectingPoint num="7" id="4388" />
+<TGConnectingPoint num="8" id="4389" />
+<TGConnectingPoint num="9" id="4390" />
+<TGConnectingPoint num="10" id="4391" />
+<TGConnectingPoint num="11" id="4392" />
+<TGConnectingPoint num="12" id="4393" />
+<TGConnectingPoint num="13" id="4394" />
+<TGConnectingPoint num="14" id="4395" />
+<TGConnectingPoint num="15" id="4396" />
<extraparam>
<Line value="We first one behind if possible" />
<Line value="Otherwise, the most far away" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5107" id="4457" >
+<COMPONENT type="5107" id="4413" >
<cdparam x="482" y="653" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="4442" />
-<TGConnectingPoint num="1" id="4443" />
-<TGConnectingPoint num="2" id="4444" />
-<TGConnectingPoint num="3" id="4445" />
-<TGConnectingPoint num="4" id="4446" />
-<TGConnectingPoint num="5" id="4447" />
-<TGConnectingPoint num="6" id="4448" />
-<TGConnectingPoint num="7" id="4449" />
-<TGConnectingPoint num="8" id="4450" />
-<TGConnectingPoint num="9" id="4451" />
-<TGConnectingPoint num="10" id="4452" />
-<TGConnectingPoint num="11" id="4453" />
-<TGConnectingPoint num="12" id="4454" />
-<TGConnectingPoint num="13" id="4455" />
-<TGConnectingPoint num="14" id="4456" />
-</COMPONENT>
-
-<COMPONENT type="301" id="4474" >
+<TGConnectingPoint num="0" id="4398" />
+<TGConnectingPoint num="1" id="4399" />
+<TGConnectingPoint num="2" id="4400" />
+<TGConnectingPoint num="3" id="4401" />
+<TGConnectingPoint num="4" id="4402" />
+<TGConnectingPoint num="5" id="4403" />
+<TGConnectingPoint num="6" id="4404" />
+<TGConnectingPoint num="7" id="4405" />
+<TGConnectingPoint num="8" id="4406" />
+<TGConnectingPoint num="9" id="4407" />
+<TGConnectingPoint num="10" id="4408" />
+<TGConnectingPoint num="11" id="4409" />
+<TGConnectingPoint num="12" id="4410" />
+<TGConnectingPoint num="13" id="4411" />
+<TGConnectingPoint num="14" id="4412" />
+</COMPONENT>
+
+<COMPONENT type="301" id="4430" >
<cdparam x="425" y="562" />
<sizeparam width="78" height="35" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="UML Note" value="No free id
" />
-<TGConnectingPoint num="0" id="4458" />
-<TGConnectingPoint num="1" id="4459" />
-<TGConnectingPoint num="2" id="4460" />
-<TGConnectingPoint num="3" id="4461" />
-<TGConnectingPoint num="4" id="4462" />
-<TGConnectingPoint num="5" id="4463" />
-<TGConnectingPoint num="6" id="4464" />
-<TGConnectingPoint num="7" id="4465" />
-<TGConnectingPoint num="8" id="4466" />
-<TGConnectingPoint num="9" id="4467" />
-<TGConnectingPoint num="10" id="4468" />
-<TGConnectingPoint num="11" id="4469" />
-<TGConnectingPoint num="12" id="4470" />
-<TGConnectingPoint num="13" id="4471" />
-<TGConnectingPoint num="14" id="4472" />
-<TGConnectingPoint num="15" id="4473" />
+<TGConnectingPoint num="0" id="4414" />
+<TGConnectingPoint num="1" id="4415" />
+<TGConnectingPoint num="2" id="4416" />
+<TGConnectingPoint num="3" id="4417" />
+<TGConnectingPoint num="4" id="4418" />
+<TGConnectingPoint num="5" id="4419" />
+<TGConnectingPoint num="6" id="4420" />
+<TGConnectingPoint num="7" id="4421" />
+<TGConnectingPoint num="8" id="4422" />
+<TGConnectingPoint num="9" id="4423" />
+<TGConnectingPoint num="10" id="4424" />
+<TGConnectingPoint num="11" id="4425" />
+<TGConnectingPoint num="12" id="4426" />
+<TGConnectingPoint num="13" id="4427" />
+<TGConnectingPoint num="14" id="4428" />
+<TGConnectingPoint num="15" id="4429" />
<extraparam>
<Line value="No free id" />
</extraparam>
</COMPONENT>
-<COMPONENT type="301" id="4491" >
+<COMPONENT type="301" id="4447" >
<cdparam x="733" y="597" />
<sizeparam width="131" height="35" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="UML Note" value="One free id at least
" />
-<TGConnectingPoint num="0" id="4475" />
-<TGConnectingPoint num="1" id="4476" />
-<TGConnectingPoint num="2" id="4477" />
-<TGConnectingPoint num="3" id="4478" />
-<TGConnectingPoint num="4" id="4479" />
-<TGConnectingPoint num="5" id="4480" />
-<TGConnectingPoint num="6" id="4481" />
-<TGConnectingPoint num="7" id="4482" />
-<TGConnectingPoint num="8" id="4483" />
-<TGConnectingPoint num="9" id="4484" />
-<TGConnectingPoint num="10" id="4485" />
-<TGConnectingPoint num="11" id="4486" />
-<TGConnectingPoint num="12" id="4487" />
-<TGConnectingPoint num="13" id="4488" />
-<TGConnectingPoint num="14" id="4489" />
-<TGConnectingPoint num="15" id="4490" />
+<TGConnectingPoint num="0" id="4431" />
+<TGConnectingPoint num="1" id="4432" />
+<TGConnectingPoint num="2" id="4433" />
+<TGConnectingPoint num="3" id="4434" />
+<TGConnectingPoint num="4" id="4435" />
+<TGConnectingPoint num="5" id="4436" />
+<TGConnectingPoint num="6" id="4437" />
+<TGConnectingPoint num="7" id="4438" />
+<TGConnectingPoint num="8" id="4439" />
+<TGConnectingPoint num="9" id="4440" />
+<TGConnectingPoint num="10" id="4441" />
+<TGConnectingPoint num="11" id="4442" />
+<TGConnectingPoint num="12" id="4443" />
+<TGConnectingPoint num="13" id="4444" />
+<TGConnectingPoint num="14" id="4445" />
+<TGConnectingPoint num="15" id="4446" />
<extraparam>
<Line value="One free id at least" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5106" id="4532" >
+<COMPONENT type="5106" id="4488" >
<cdparam x="427" y="1182" />
<sizeparam width="488" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="state0" value="AddingNewID" />
-<TGConnectingPoint num="0" id="4492" />
-<TGConnectingPoint num="1" id="4493" />
-<TGConnectingPoint num="2" id="4494" />
-<TGConnectingPoint num="3" id="4495" />
-<TGConnectingPoint num="4" id="4496" />
-<TGConnectingPoint num="5" id="4497" />
-<TGConnectingPoint num="6" id="4498" />
-<TGConnectingPoint num="7" id="4499" />
-<TGConnectingPoint num="8" id="4500" />
-<TGConnectingPoint num="9" id="4501" />
-<TGConnectingPoint num="10" id="4502" />
-<TGConnectingPoint num="11" id="4503" />
-<TGConnectingPoint num="12" id="4504" />
-<TGConnectingPoint num="13" id="4505" />
-<TGConnectingPoint num="14" id="4506" />
-<TGConnectingPoint num="15" id="4507" />
-<TGConnectingPoint num="16" id="4508" />
-<TGConnectingPoint num="17" id="4509" />
-<TGConnectingPoint num="18" id="4510" />
-<TGConnectingPoint num="19" id="4511" />
-<TGConnectingPoint num="20" id="4512" />
-<TGConnectingPoint num="21" id="4513" />
-<TGConnectingPoint num="22" id="4514" />
-<TGConnectingPoint num="23" id="4515" />
-<TGConnectingPoint num="24" id="4516" />
-<TGConnectingPoint num="25" id="4517" />
-<TGConnectingPoint num="26" id="4518" />
-<TGConnectingPoint num="27" id="4519" />
-<TGConnectingPoint num="28" id="4520" />
-<TGConnectingPoint num="29" id="4521" />
-<TGConnectingPoint num="30" id="4522" />
-<TGConnectingPoint num="31" id="4523" />
-<TGConnectingPoint num="32" id="4524" />
-<TGConnectingPoint num="33" id="4525" />
-<TGConnectingPoint num="34" id="4526" />
-<TGConnectingPoint num="35" id="4527" />
-<TGConnectingPoint num="36" id="4528" />
-<TGConnectingPoint num="37" id="4529" />
-<TGConnectingPoint num="38" id="4530" />
-<TGConnectingPoint num="39" id="4531" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="4573" >
+<TGConnectingPoint num="0" id="4448" />
+<TGConnectingPoint num="1" id="4449" />
+<TGConnectingPoint num="2" id="4450" />
+<TGConnectingPoint num="3" id="4451" />
+<TGConnectingPoint num="4" id="4452" />
+<TGConnectingPoint num="5" id="4453" />
+<TGConnectingPoint num="6" id="4454" />
+<TGConnectingPoint num="7" id="4455" />
+<TGConnectingPoint num="8" id="4456" />
+<TGConnectingPoint num="9" id="4457" />
+<TGConnectingPoint num="10" id="4458" />
+<TGConnectingPoint num="11" id="4459" />
+<TGConnectingPoint num="12" id="4460" />
+<TGConnectingPoint num="13" id="4461" />
+<TGConnectingPoint num="14" id="4462" />
+<TGConnectingPoint num="15" id="4463" />
+<TGConnectingPoint num="16" id="4464" />
+<TGConnectingPoint num="17" id="4465" />
+<TGConnectingPoint num="18" id="4466" />
+<TGConnectingPoint num="19" id="4467" />
+<TGConnectingPoint num="20" id="4468" />
+<TGConnectingPoint num="21" id="4469" />
+<TGConnectingPoint num="22" id="4470" />
+<TGConnectingPoint num="23" id="4471" />
+<TGConnectingPoint num="24" id="4472" />
+<TGConnectingPoint num="25" id="4473" />
+<TGConnectingPoint num="26" id="4474" />
+<TGConnectingPoint num="27" id="4475" />
+<TGConnectingPoint num="28" id="4476" />
+<TGConnectingPoint num="29" id="4477" />
+<TGConnectingPoint num="30" id="4478" />
+<TGConnectingPoint num="31" id="4479" />
+<TGConnectingPoint num="32" id="4480" />
+<TGConnectingPoint num="33" id="4481" />
+<TGConnectingPoint num="34" id="4482" />
+<TGConnectingPoint num="35" id="4483" />
+<TGConnectingPoint num="36" id="4484" />
+<TGConnectingPoint num="37" id="4485" />
+<TGConnectingPoint num="38" id="4486" />
+<TGConnectingPoint num="39" id="4487" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="4529" >
<cdparam x="531" y="435" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="state0" value="RemovingOldIDs" />
-<TGConnectingPoint num="0" id="4533" />
-<TGConnectingPoint num="1" id="4534" />
-<TGConnectingPoint num="2" id="4535" />
-<TGConnectingPoint num="3" id="4536" />
-<TGConnectingPoint num="4" id="4537" />
-<TGConnectingPoint num="5" id="4538" />
-<TGConnectingPoint num="6" id="4539" />
-<TGConnectingPoint num="7" id="4540" />
-<TGConnectingPoint num="8" id="4541" />
-<TGConnectingPoint num="9" id="4542" />
-<TGConnectingPoint num="10" id="4543" />
-<TGConnectingPoint num="11" id="4544" />
-<TGConnectingPoint num="12" id="4545" />
-<TGConnectingPoint num="13" id="4546" />
-<TGConnectingPoint num="14" id="4547" />
-<TGConnectingPoint num="15" id="4548" />
-<TGConnectingPoint num="16" id="4549" />
-<TGConnectingPoint num="17" id="4550" />
-<TGConnectingPoint num="18" id="4551" />
-<TGConnectingPoint num="19" id="4552" />
-<TGConnectingPoint num="20" id="4553" />
-<TGConnectingPoint num="21" id="4554" />
-<TGConnectingPoint num="22" id="4555" />
-<TGConnectingPoint num="23" id="4556" />
-<TGConnectingPoint num="24" id="4557" />
-<TGConnectingPoint num="25" id="4558" />
-<TGConnectingPoint num="26" id="4559" />
-<TGConnectingPoint num="27" id="4560" />
-<TGConnectingPoint num="28" id="4561" />
-<TGConnectingPoint num="29" id="4562" />
-<TGConnectingPoint num="30" id="4563" />
-<TGConnectingPoint num="31" id="4564" />
-<TGConnectingPoint num="32" id="4565" />
-<TGConnectingPoint num="33" id="4566" />
-<TGConnectingPoint num="34" id="4567" />
-<TGConnectingPoint num="35" id="4568" />
-<TGConnectingPoint num="36" id="4569" />
-<TGConnectingPoint num="37" id="4570" />
-<TGConnectingPoint num="38" id="4571" />
-<TGConnectingPoint num="39" id="4572" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="4614" >
+<TGConnectingPoint num="0" id="4489" />
+<TGConnectingPoint num="1" id="4490" />
+<TGConnectingPoint num="2" id="4491" />
+<TGConnectingPoint num="3" id="4492" />
+<TGConnectingPoint num="4" id="4493" />
+<TGConnectingPoint num="5" id="4494" />
+<TGConnectingPoint num="6" id="4495" />
+<TGConnectingPoint num="7" id="4496" />
+<TGConnectingPoint num="8" id="4497" />
+<TGConnectingPoint num="9" id="4498" />
+<TGConnectingPoint num="10" id="4499" />
+<TGConnectingPoint num="11" id="4500" />
+<TGConnectingPoint num="12" id="4501" />
+<TGConnectingPoint num="13" id="4502" />
+<TGConnectingPoint num="14" id="4503" />
+<TGConnectingPoint num="15" id="4504" />
+<TGConnectingPoint num="16" id="4505" />
+<TGConnectingPoint num="17" id="4506" />
+<TGConnectingPoint num="18" id="4507" />
+<TGConnectingPoint num="19" id="4508" />
+<TGConnectingPoint num="20" id="4509" />
+<TGConnectingPoint num="21" id="4510" />
+<TGConnectingPoint num="22" id="4511" />
+<TGConnectingPoint num="23" id="4512" />
+<TGConnectingPoint num="24" id="4513" />
+<TGConnectingPoint num="25" id="4514" />
+<TGConnectingPoint num="26" id="4515" />
+<TGConnectingPoint num="27" id="4516" />
+<TGConnectingPoint num="28" id="4517" />
+<TGConnectingPoint num="29" id="4518" />
+<TGConnectingPoint num="30" id="4519" />
+<TGConnectingPoint num="31" id="4520" />
+<TGConnectingPoint num="32" id="4521" />
+<TGConnectingPoint num="33" id="4522" />
+<TGConnectingPoint num="34" id="4523" />
+<TGConnectingPoint num="35" id="4524" />
+<TGConnectingPoint num="36" id="4525" />
+<TGConnectingPoint num="37" id="4526" />
+<TGConnectingPoint num="38" id="4527" />
+<TGConnectingPoint num="39" id="4528" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="4570" >
<cdparam x="453" y="145" />
<sizeparam width="257" height="72" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="state0" value="WaitingForNewNodesOrPosition" />
-<TGConnectingPoint num="0" id="4574" />
-<TGConnectingPoint num="1" id="4575" />
-<TGConnectingPoint num="2" id="4576" />
-<TGConnectingPoint num="3" id="4577" />
-<TGConnectingPoint num="4" id="4578" />
-<TGConnectingPoint num="5" id="4579" />
-<TGConnectingPoint num="6" id="4580" />
-<TGConnectingPoint num="7" id="4581" />
-<TGConnectingPoint num="8" id="4582" />
-<TGConnectingPoint num="9" id="4583" />
-<TGConnectingPoint num="10" id="4584" />
-<TGConnectingPoint num="11" id="4585" />
-<TGConnectingPoint num="12" id="4586" />
-<TGConnectingPoint num="13" id="4587" />
-<TGConnectingPoint num="14" id="4588" />
-<TGConnectingPoint num="15" id="4589" />
-<TGConnectingPoint num="16" id="4590" />
-<TGConnectingPoint num="17" id="4591" />
-<TGConnectingPoint num="18" id="4592" />
-<TGConnectingPoint num="19" id="4593" />
-<TGConnectingPoint num="20" id="4594" />
-<TGConnectingPoint num="21" id="4595" />
-<TGConnectingPoint num="22" id="4596" />
-<TGConnectingPoint num="23" id="4597" />
-<TGConnectingPoint num="24" id="4598" />
-<TGConnectingPoint num="25" id="4599" />
-<TGConnectingPoint num="26" id="4600" />
-<TGConnectingPoint num="27" id="4601" />
-<TGConnectingPoint num="28" id="4602" />
-<TGConnectingPoint num="29" id="4603" />
-<TGConnectingPoint num="30" id="4604" />
-<TGConnectingPoint num="31" id="4605" />
-<TGConnectingPoint num="32" id="4606" />
-<TGConnectingPoint num="33" id="4607" />
-<TGConnectingPoint num="34" id="4608" />
-<TGConnectingPoint num="35" id="4609" />
-<TGConnectingPoint num="36" id="4610" />
-<TGConnectingPoint num="37" id="4611" />
-<TGConnectingPoint num="38" id="4612" />
-<TGConnectingPoint num="39" id="4613" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5104" id="4625" >
+<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="505" y="254" />
<sizeparam width="152" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="Receive signal" value="addANode(id, position)" />
-<TGConnectingPoint num="0" id="4615" />
-<TGConnectingPoint num="1" id="4616" />
-<TGConnectingPoint num="2" id="4617" />
-<TGConnectingPoint num="3" id="4618" />
-<TGConnectingPoint num="4" id="4619" />
-<TGConnectingPoint num="5" id="4620" />
-<TGConnectingPoint num="6" id="4621" />
-<TGConnectingPoint num="7" id="4622" />
-<TGConnectingPoint num="8" id="4623" />
-<TGConnectingPoint num="9" id="4624" />
-</COMPONENT>
-
-<COMPONENT type="5100" id="4627" >
+<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="5100" id="4583" >
<cdparam x="574" y="80" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="1900" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="4626" />
+<TGConnectingPoint num="0" id="4582" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="CorrectnessChecking" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="4640" >
-<cdparam x="432" y="279" />
+<AVATARStateMachineDiagramPanel name="DSRSC_Management" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="4590" >
+<cdparam x="507" y="267" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4636" />
-<TGConnectingPoint num="1" id="4637" />
-<TGConnectingPoint num="2" id="4638" />
-<TGConnectingPoint num="3" id="4639" />
-<P1 x="432" y="279" id="4695" />
-<P2 x="517" y="124" id="4724" />
-<Point x="504" y="393" />
-<Point x="621" y="397" />
-<Point x="623" y="107" />
+<infoparam name="connector from Receive signal to Send signal" value="null" />
+<TGConnectingPoint num="0" id="4589" />
+<P1 x="507" y="267" id="4688" />
+<P2 x="631" y="277" id="4665" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4628" >
-<father id="4640" num="0" />
-<cdparam x="504" y="393" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4588" >
+<father id="4590" num="0" />
+<cdparam x="507" y="307" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4584" />
+<TGConnectingPoint num="1" id="4585" />
+<TGConnectingPoint num="2" id="4586" />
+<TGConnectingPoint num="3" id="4587" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4603" >
+<cdparam x="440" y="432" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Receive signal to state0" value="null" />
+<TGConnectingPoint num="0" id="4599" />
+<TGConnectingPoint num="1" id="4600" />
+<TGConnectingPoint num="2" id="4601" />
+<TGConnectingPoint num="3" id="4602" />
+<P1 x="440" y="432" id="4677" />
+<P2 x="530" y="110" id="4742" />
+<Point x="442" y="479" />
+<Point x="974" y="511" />
+<Point x="957" y="129" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4591" >
+<father id="4603" num="0" />
+<cdparam x="442" y="479" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4629" >
-<father id="4640" num="1" />
-<cdparam x="621" y="397" />
+<SUBCOMPONENT type="-1" id="4592" >
+<father id="4603" num="1" />
+<cdparam x="974" y="511" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4630" >
-<father id="4640" num="2" />
-<cdparam x="623" y="107" />
+<SUBCOMPONENT type="-1" id="4593" >
+<father id="4603" num="2" />
+<cdparam x="957" y="129" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4635" >
-<father id="4640" num="3" />
-<cdparam x="479" y="319" />
-<sizeparam width="98" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="4598" >
+<father id="4603" num="3" />
+<cdparam x="457" y="473" />
+<sizeparam width="150" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4631" />
-<TGConnectingPoint num="1" id="4632" />
-<TGConnectingPoint num="2" id="4633" />
-<TGConnectingPoint num="3" id="4634" />
+<TGConnectingPoint num="0" id="4594" />
+<TGConnectingPoint num="1" id="4595" />
+<TGConnectingPoint num="2" id="4596" />
+<TGConnectingPoint num="3" id="4597" />
<extraparam>
-<guard value="[ canHaveInvalid]" />
+<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
-<actions value="invalidMessage()" />
+<actions value="sendMessage(id, position)" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4653" >
-<cdparam x="290" y="387" />
+<CONNECTOR type="5102" id="4610" >
+<cdparam x="407" y="182" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to Receive signal" value="null" />
+<TGConnectingPoint num="0" id="4609" />
+<P1 x="407" y="182" id="4726" />
+<P2 x="440" y="402" id="4676" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4608" >
+<father id="4610" num="0" />
+<cdparam x="407" y="222" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4604" />
+<TGConnectingPoint num="1" id="4605" />
+<TGConnectingPoint num="2" id="4606" />
+<TGConnectingPoint num="3" id="4607" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4623" >
+<cdparam x="507" y="267" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Receive signal to state0" value="null" />
+<TGConnectingPoint num="0" id="4619" />
+<TGConnectingPoint num="1" id="4620" />
+<TGConnectingPoint num="2" id="4621" />
+<TGConnectingPoint num="3" id="4622" />
+<P1 x="631" y="307" id="4666" />
+<P2 x="530" y="141" id="4724" />
+<Point x="644" y="343" />
+<Point x="829" y="341" />
+<Point x="848" y="153" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4611" >
+<father id="4623" num="0" />
+<cdparam x="644" y="343" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="4612" >
+<father id="4623" num="1" />
+<cdparam x="829" y="341" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="4613" >
+<father id="4623" num="2" />
+<cdparam x="848" y="153" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="4618" >
+<father id="4623" num="3" />
+<cdparam x="507" y="307" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4614" />
+<TGConnectingPoint num="1" id="4615" />
+<TGConnectingPoint num="2" id="4616" />
+<TGConnectingPoint num="3" id="4617" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4636" >
+<cdparam x="289" y="344" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="4649" />
-<TGConnectingPoint num="1" id="4650" />
-<TGConnectingPoint num="2" id="4651" />
-<TGConnectingPoint num="3" id="4652" />
-<P1 x="290" y="387" id="4683" />
-<P2 x="298" y="117" id="4741" />
-<Point x="297" y="425" />
-<Point x="160" y="415" />
-<Point x="172" y="94" />
+<TGConnectingPoint num="0" id="4632" />
+<TGConnectingPoint num="1" id="4633" />
+<TGConnectingPoint num="2" id="4634" />
+<TGConnectingPoint num="3" id="4635" />
+<P1 x="289" y="344" id="4699" />
+<P2 x="285" y="141" id="4723" />
+<Point x="285" y="384" />
+<Point x="189" y="387" />
+<Point x="176" y="154" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4641" >
-<father id="4653" num="0" />
-<cdparam x="297" y="425" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4624" >
+<father id="4636" num="0" />
+<cdparam x="285" y="384" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4642" >
-<father id="4653" num="1" />
-<cdparam x="160" y="415" />
+<SUBCOMPONENT type="-1" id="4625" >
+<father id="4636" num="1" />
+<cdparam x="189" y="387" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4643" >
-<father id="4653" num="2" />
-<cdparam x="172" y="94" />
+<SUBCOMPONENT type="-1" id="4626" >
+<father id="4636" num="2" />
+<cdparam x="176" y="154" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="4648" >
-<father id="4653" num="3" />
-<cdparam x="290" y="427" />
+<SUBCOMPONENT type="-1" id="4631" >
+<father id="4636" num="3" />
+<cdparam x="289" y="384" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4644" />
-<TGConnectingPoint num="1" id="4645" />
-<TGConnectingPoint num="2" id="4646" />
-<TGConnectingPoint num="3" id="4647" />
+<TGConnectingPoint num="0" id="4627" />
+<TGConnectingPoint num="1" id="4628" />
+<TGConnectingPoint num="2" id="4629" />
+<TGConnectingPoint num="3" id="4630" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -10518,25 +10516,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4660" >
+<CONNECTOR type="5102" id="4643" >
<cdparam x="407" y="70" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="4659" />
+<TGConnectingPoint num="0" id="4642" />
<P1 x="407" y="70" id="4761" />
-<P2 x="407" y="99" id="4721" />
+<P2 x="407" y="101" id="4721" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4658" >
-<father id="4660" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4641" >
+<father id="4643" num="0" />
<cdparam x="407" y="110" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4654" />
-<TGConnectingPoint num="1" id="4655" />
-<TGConnectingPoint num="2" id="4656" />
-<TGConnectingPoint num="3" id="4657" />
+<TGConnectingPoint num="0" id="4637" />
+<TGConnectingPoint num="1" id="4638" />
+<TGConnectingPoint num="2" id="4639" />
+<TGConnectingPoint num="3" id="4640" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -10546,25 +10544,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4667" >
-<cdparam x="407" y="149" />
+<CONNECTOR type="5102" id="4650" >
+<cdparam x="314" y="182" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="4666" />
-<P1 x="407" y="149" id="4726" />
-<P2 x="407" y="188" id="4709" />
+<TGConnectingPoint num="0" id="4649" />
+<P1 x="314" y="182" id="4748" />
+<P2 x="296" y="256" id="4709" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4665" >
-<father id="4667" num="0" />
-<cdparam x="407" y="189" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4648" >
+<father id="4650" num="0" />
+<cdparam x="314" y="222" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4661" />
-<TGConnectingPoint num="1" id="4662" />
-<TGConnectingPoint num="2" id="4663" />
-<TGConnectingPoint num="3" id="4664" />
+<TGConnectingPoint num="0" id="4644" />
+<TGConnectingPoint num="1" id="4645" />
+<TGConnectingPoint num="2" id="4646" />
+<TGConnectingPoint num="3" id="4647" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -10574,111 +10572,140 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4674" >
-<cdparam x="407" y="218" />
+<CONNECTOR type="5102" id="4657" >
+<cdparam x="296" y="286" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to choice" value="null" />
-<TGConnectingPoint num="0" id="4673" />
-<P1 x="407" y="218" id="4710" />
-<P2 x="407" y="254" id="4693" />
+<infoparam name="connector from Receive signal to Send signal" value="null" />
+<TGConnectingPoint num="0" id="4656" />
+<P1 x="296" y="286" id="4710" />
+<P2 x="289" y="314" id="4698" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4672" >
-<father id="4674" num="0" />
-<cdparam x="419" y="243" />
-<sizeparam width="108" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4655" >
+<father id="4657" num="0" />
+<cdparam x="296" y="326" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4668" />
-<TGConnectingPoint num="1" id="4669" />
-<TGConnectingPoint num="2" id="4670" />
-<TGConnectingPoint num="3" id="4671" />
+<TGConnectingPoint num="0" id="4651" />
+<TGConnectingPoint num="1" id="4652" />
+<TGConnectingPoint num="2" id="4653" />
+<TGConnectingPoint num="3" id="4654" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
-<actions value="checkingMessage()" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4681" >
-<cdparam x="382" y="279" />
+<CONNECTOR type="5102" id="4664" >
+<cdparam x="498" y="182" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from choice to Send signal" value="null" />
-<TGConnectingPoint num="0" id="4680" />
-<P1 x="382" y="279" id="4697" />
-<P2 x="290" y="357" id="4682" />
+<infoparam name="connector from state0 to Receive signal" value="null" />
+<TGConnectingPoint num="0" id="4663" />
+<P1 x="498" y="182" id="4751" />
+<P2 x="507" y="237" id="4687" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4679" >
-<father id="4681" num="0" />
-<cdparam x="259" y="312" />
-<sizeparam width="85" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4662" >
+<father id="4664" num="0" />
+<cdparam x="498" y="222" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4675" />
-<TGConnectingPoint num="1" id="4676" />
-<TGConnectingPoint num="2" id="4677" />
-<TGConnectingPoint num="3" id="4678" />
+<TGConnectingPoint num="0" id="4658" />
+<TGConnectingPoint num="1" id="4659" />
+<TGConnectingPoint num="2" id="4660" />
+<TGConnectingPoint num="3" id="4661" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
-<actions value="validMessage()" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5103" id="4692" >
-<cdparam x="174" y="362" />
-<sizeparam width="232" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="4675" >
+<cdparam x="490" y="282" />
+<sizeparam width="283" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="toPlausibityCheckMessage(id, position)" />
-<TGConnectingPoint num="0" id="4682" />
-<TGConnectingPoint num="1" id="4683" />
-<TGConnectingPoint num="2" id="4684" />
-<TGConnectingPoint num="3" id="4685" />
-<TGConnectingPoint num="4" id="4686" />
-<TGConnectingPoint num="5" id="4687" />
-<TGConnectingPoint num="6" id="4688" />
-<TGConnectingPoint num="7" id="4689" />
-<TGConnectingPoint num="8" id="4690" />
-<TGConnectingPoint num="9" id="4691" />
-</COMPONENT>
-
-<COMPONENT type="5107" id="4708" >
-<cdparam x="392" y="264" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Send signal" value="forwardEmergencyBrakingMessage(id, position)" />
+<TGConnectingPoint num="0" id="4665" />
+<TGConnectingPoint num="1" id="4666" />
+<TGConnectingPoint num="2" id="4667" />
+<TGConnectingPoint num="3" id="4668" />
+<TGConnectingPoint num="4" id="4669" />
+<TGConnectingPoint num="5" id="4670" />
+<TGConnectingPoint num="6" id="4671" />
+<TGConnectingPoint num="7" id="4672" />
+<TGConnectingPoint num="8" id="4673" />
+<TGConnectingPoint num="9" id="4674" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="4686" >
+<cdparam x="288" y="407" />
+<sizeparam width="304" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="4693" />
-<TGConnectingPoint num="1" id="4694" />
-<TGConnectingPoint num="2" id="4695" />
-<TGConnectingPoint num="3" id="4696" />
-<TGConnectingPoint num="4" id="4697" />
-<TGConnectingPoint num="5" id="4698" />
-<TGConnectingPoint num="6" id="4699" />
-<TGConnectingPoint num="7" id="4700" />
-<TGConnectingPoint num="8" id="4701" />
-<TGConnectingPoint num="9" id="4702" />
-<TGConnectingPoint num="10" id="4703" />
-<TGConnectingPoint num="11" id="4704" />
-<TGConnectingPoint num="12" id="4705" />
-<TGConnectingPoint num="13" id="4706" />
-<TGConnectingPoint num="14" id="4707" />
+<infoparam name="Receive signal" value="broadcastEmergencyBrakingMessage(id, position)" />
+<TGConnectingPoint num="0" id="4676" />
+<TGConnectingPoint num="1" id="4677" />
+<TGConnectingPoint num="2" id="4678" />
+<TGConnectingPoint num="3" id="4679" />
+<TGConnectingPoint num="4" id="4680" />
+<TGConnectingPoint num="5" id="4681" />
+<TGConnectingPoint num="6" id="4682" />
+<TGConnectingPoint num="7" id="4683" />
+<TGConnectingPoint num="8" id="4684" />
+<TGConnectingPoint num="9" id="4685" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="4697" >
+<cdparam x="412" y="242" />
+<sizeparam width="190" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Receive signal" value="obstacleDetected(id, position)" />
+<TGConnectingPoint num="0" id="4687" />
+<TGConnectingPoint num="1" id="4688" />
+<TGConnectingPoint num="2" id="4689" />
+<TGConnectingPoint num="3" id="4690" />
+<TGConnectingPoint num="4" id="4691" />
+<TGConnectingPoint num="5" id="4692" />
+<TGConnectingPoint num="6" id="4693" />
+<TGConnectingPoint num="7" id="4694" />
+<TGConnectingPoint num="8" id="4695" />
+<TGConnectingPoint num="9" id="4696" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="4708" >
+<cdparam x="208" y="319" />
+<sizeparam width="163" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Send signal" value="setCarPosition(id, position)" />
+<TGConnectingPoint num="0" id="4698" />
+<TGConnectingPoint num="1" id="4699" />
+<TGConnectingPoint num="2" id="4700" />
+<TGConnectingPoint num="3" id="4701" />
+<TGConnectingPoint num="4" id="4702" />
+<TGConnectingPoint num="5" id="4703" />
+<TGConnectingPoint num="6" id="4704" />
+<TGConnectingPoint num="7" id="4705" />
+<TGConnectingPoint num="8" id="4706" />
+<TGConnectingPoint num="9" id="4707" />
</COMPONENT>
<COMPONENT type="5104" id="4719" >
-<cdparam x="275" y="193" />
-<sizeparam width="264" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="220" y="261" />
+<sizeparam width="152" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="getEmergencyBrakingMessage(id, position)" />
+<infoparam name="Receive signal" value="carPosition(id, position)" />
<TGConnectingPoint num="0" id="4709" />
<TGConnectingPoint num="1" id="4710" />
<TGConnectingPoint num="2" id="4711" />
@@ -10692,11 +10719,11 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5106" id="4760" >
-<cdparam x="298" y="99" />
-<sizeparam width="219" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="285" y="101" />
+<sizeparam width="245" height="81" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingForMessageToAnalyze" />
+<infoparam name="state0" value="WaitingForEnvironmentInput" />
<TGConnectingPoint num="0" id="4720" />
<TGConnectingPoint num="1" id="4721" />
<TGConnectingPoint num="2" id="4722" />
@@ -11028,24 +11055,24 @@ Otherwise, the most far away
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="DangerAvoidanceStrategy" minX="10" maxX="1400" minY="10" maxY="900" >
+<AVATARStateMachineDiagramPanel name="BrakeManagement" minX="10" maxX="1400" minY="10" maxY="900" >
<CONNECTOR type="5102" id="4904" >
-<cdparam x="512" y="766" />
+<cdparam x="514" y="350" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Send signal to state0" value="null" />
+<infoparam name="connector from state0 to state0" value="null" />
<TGConnectingPoint num="0" id="4900" />
<TGConnectingPoint num="1" id="4901" />
<TGConnectingPoint num="2" id="4902" />
<TGConnectingPoint num="3" id="4903" />
-<P1 x="512" y="766" id="4969" />
-<P2 x="636" y="162" id="5150" />
-<Point x="516" y="826" />
-<Point x="776" y="833" />
-<Point x="781" y="165" />
+<P1 x="497" y="343" id="4932" />
+<P2 x="570" y="148" id="4982" />
+<Point x="497" y="396" />
+<Point x="697" y="396" />
+<Point x="697" y="148" />
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="4892" >
<father id="4904" num="0" />
-<cdparam x="516" y="826" />
+<cdparam x="497" y="396" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -11053,7 +11080,7 @@ Otherwise, the most far away
</SUBCOMPONENT>
<SUBCOMPONENT type="-1" id="4893" >
<father id="4904" num="1" />
-<cdparam x="776" y="833" />
+<cdparam x="697" y="396" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -11061,7 +11088,7 @@ Otherwise, the most far away
</SUBCOMPONENT>
<SUBCOMPONENT type="-1" id="4894" >
<father id="4904" num="2" />
-<cdparam x="781" y="165" />
+<cdparam x="697" y="148" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -11069,8 +11096,8 @@ Otherwise, the most far away
</SUBCOMPONENT>
<SUBCOMPONENT type="-1" id="4899" >
<father id="4904" num="3" />
-<cdparam x="512" y="806" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="508" y="363" />
+<sizeparam width="180" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
@@ -11080,24 +11107,25 @@ Otherwise, the most far away
<TGConnectingPoint num="3" id="4898" />
<extraparam>
<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
+<afterMin value="value" />
+<afterMax value="brakeMaxDuration" />
<computeMin value="" />
<computeMax value="" />
+<actions value="brakingDone()" />
</extraparam>
</SUBCOMPONENT>
<CONNECTOR type="5102" id="4911" >
-<cdparam x="518" y="602" />
+<cdparam x="407" y="70" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Send signal to state0" value="null" />
+<infoparam name="connector from start state to state0" value="null" />
<TGConnectingPoint num="0" id="4910" />
-<P1 x="510" y="605" id="4980" />
-<P2 x="511" y="642" id="4991" />
+<P1 x="475" y="89" id="5019" />
+<P2 x="484" y="124" id="4979" />
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="4909" >
<father id="4911" num="0" />
-<cdparam x="518" y="642" />
+<cdparam x="407" y="110" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -11115,25 +11143,302 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4918" >
+<CONNECTOR type="5102" id="4918" >
+<cdparam x="484" y="172" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from state0 to Receive signal" value="null" />
+<TGConnectingPoint num="0" id="4917" />
+<P1 x="441" y="172" id="4992" />
+<P2 x="441" y="195" id="4967" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4916" >
+<father id="4918" num="0" />
+<cdparam x="484" y="212" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4912" />
+<TGConnectingPoint num="1" id="4913" />
+<TGConnectingPoint num="2" id="4914" />
+<TGConnectingPoint num="3" id="4915" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="4925" >
+<cdparam x="485" y="230" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Receive signal to state0" value="null" />
+<TGConnectingPoint num="0" id="4924" />
+<P1 x="441" y="225" id="4968" />
+<P2 x="441" y="293" id="4934" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="4923" >
+<father id="4925" num="0" />
+<cdparam x="447" y="243" />
+<sizeparam width="235" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="4919" />
+<TGConnectingPoint num="1" id="4920" />
+<TGConnectingPoint num="2" id="4921" />
+<TGConnectingPoint num="3" id="4922" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<actions value="applyBraking(value)" />
+<actions value="value = value * 10" />
+<actions value="brakeMaxDuration = value + deltaBrake" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5106" id="4966" >
+<cdparam x="386" y="293" />
+<sizeparam width="223" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="state0" value="WaitingforBrakingToBeCompleted" />
+<TGConnectingPoint num="0" id="4926" />
+<TGConnectingPoint num="1" id="4927" />
+<TGConnectingPoint num="2" id="4928" />
+<TGConnectingPoint num="3" id="4929" />
+<TGConnectingPoint num="4" id="4930" />
+<TGConnectingPoint num="5" id="4931" />
+<TGConnectingPoint num="6" id="4932" />
+<TGConnectingPoint num="7" id="4933" />
+<TGConnectingPoint num="8" id="4934" />
+<TGConnectingPoint num="9" id="4935" />
+<TGConnectingPoint num="10" id="4936" />
+<TGConnectingPoint num="11" id="4937" />
+<TGConnectingPoint num="12" id="4938" />
+<TGConnectingPoint num="13" id="4939" />
+<TGConnectingPoint num="14" id="4940" />
+<TGConnectingPoint num="15" id="4941" />
+<TGConnectingPoint num="16" id="4942" />
+<TGConnectingPoint num="17" id="4943" />
+<TGConnectingPoint num="18" id="4944" />
+<TGConnectingPoint num="19" id="4945" />
+<TGConnectingPoint num="20" id="4946" />
+<TGConnectingPoint num="21" id="4947" />
+<TGConnectingPoint num="22" id="4948" />
+<TGConnectingPoint num="23" id="4949" />
+<TGConnectingPoint num="24" id="4950" />
+<TGConnectingPoint num="25" id="4951" />
+<TGConnectingPoint num="26" id="4952" />
+<TGConnectingPoint num="27" id="4953" />
+<TGConnectingPoint num="28" id="4954" />
+<TGConnectingPoint num="29" id="4955" />
+<TGConnectingPoint num="30" id="4956" />
+<TGConnectingPoint num="31" id="4957" />
+<TGConnectingPoint num="32" id="4958" />
+<TGConnectingPoint num="33" id="4959" />
+<TGConnectingPoint num="34" id="4960" />
+<TGConnectingPoint num="35" id="4961" />
+<TGConnectingPoint num="36" id="4962" />
+<TGConnectingPoint num="37" id="4963" />
+<TGConnectingPoint num="38" id="4964" />
+<TGConnectingPoint num="39" id="4965" />
+<invariant />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5104" id="4977" >
+<cdparam x="396" y="200" />
+<sizeparam width="90" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Receive signal" value="brake(value)" />
+<TGConnectingPoint num="0" id="4967" />
+<TGConnectingPoint num="1" id="4968" />
+<TGConnectingPoint num="2" id="4969" />
+<TGConnectingPoint num="3" id="4970" />
+<TGConnectingPoint num="4" id="4971" />
+<TGConnectingPoint num="5" id="4972" />
+<TGConnectingPoint num="6" id="4973" />
+<TGConnectingPoint num="7" id="4974" />
+<TGConnectingPoint num="8" id="4975" />
+<TGConnectingPoint num="9" id="4976" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="5018" >
+<cdparam x="398" y="124" />
+<sizeparam width="172" height="48" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="state0" value="WaitForBrakingOrder" />
+<TGConnectingPoint num="0" id="4978" />
+<TGConnectingPoint num="1" id="4979" />
+<TGConnectingPoint num="2" id="4980" />
+<TGConnectingPoint num="3" id="4981" />
+<TGConnectingPoint num="4" id="4982" />
+<TGConnectingPoint num="5" id="4983" />
+<TGConnectingPoint num="6" id="4984" />
+<TGConnectingPoint num="7" id="4985" />
+<TGConnectingPoint num="8" id="4986" />
+<TGConnectingPoint num="9" id="4987" />
+<TGConnectingPoint num="10" id="4988" />
+<TGConnectingPoint num="11" id="4989" />
+<TGConnectingPoint num="12" id="4990" />
+<TGConnectingPoint num="13" id="4991" />
+<TGConnectingPoint num="14" id="4992" />
+<TGConnectingPoint num="15" id="4993" />
+<TGConnectingPoint num="16" id="4994" />
+<TGConnectingPoint num="17" id="4995" />
+<TGConnectingPoint num="18" id="4996" />
+<TGConnectingPoint num="19" id="4997" />
+<TGConnectingPoint num="20" id="4998" />
+<TGConnectingPoint num="21" id="4999" />
+<TGConnectingPoint num="22" id="5000" />
+<TGConnectingPoint num="23" id="5001" />
+<TGConnectingPoint num="24" id="5002" />
+<TGConnectingPoint num="25" id="5003" />
+<TGConnectingPoint num="26" id="5004" />
+<TGConnectingPoint num="27" id="5005" />
+<TGConnectingPoint num="28" id="5006" />
+<TGConnectingPoint num="29" id="5007" />
+<TGConnectingPoint num="30" id="5008" />
+<TGConnectingPoint num="31" id="5009" />
+<TGConnectingPoint num="32" id="5010" />
+<TGConnectingPoint num="33" id="5011" />
+<TGConnectingPoint num="34" id="5012" />
+<TGConnectingPoint num="35" id="5013" />
+<TGConnectingPoint num="36" id="5014" />
+<TGConnectingPoint num="37" id="5015" />
+<TGConnectingPoint num="38" id="5016" />
+<TGConnectingPoint num="39" id="5017" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="5020" >
+<cdparam x="468" y="69" />
+<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="start state" value="null" />
+<TGConnectingPoint num="0" id="5019" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="DangerAvoidanceStrategy" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="5033" >
+<cdparam x="512" y="766" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Send signal to state0" value="null" />
+<TGConnectingPoint num="0" id="5029" />
+<TGConnectingPoint num="1" id="5030" />
+<TGConnectingPoint num="2" id="5031" />
+<TGConnectingPoint num="3" id="5032" />
+<P1 x="512" y="766" id="5098" />
+<P2 x="636" y="162" id="5279" />
+<Point x="516" y="826" />
+<Point x="776" y="833" />
+<Point x="781" y="165" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5021" >
+<father id="5033" num="0" />
+<cdparam x="516" y="826" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5022" >
+<father id="5033" num="1" />
+<cdparam x="776" y="833" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5023" >
+<father id="5033" num="2" />
+<cdparam x="781" y="165" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5028" >
+<father id="5033" num="3" />
+<cdparam x="512" y="806" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5024" />
+<TGConnectingPoint num="1" id="5025" />
+<TGConnectingPoint num="2" id="5026" />
+<TGConnectingPoint num="3" id="5027" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5040" >
+<cdparam x="518" y="602" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Send signal to state0" value="null" />
+<TGConnectingPoint num="0" id="5039" />
+<P1 x="510" y="605" id="5109" />
+<P2 x="511" y="642" id="5120" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5038" >
+<father id="5040" num="0" />
+<cdparam x="518" y="642" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5034" />
+<TGConnectingPoint num="1" id="5035" />
+<TGConnectingPoint num="2" id="5036" />
+<TGConnectingPoint num="3" id="5037" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="5047" >
<cdparam x="586" y="530" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="4917" />
-<P1 x="510" y="530" id="5060" />
-<P2 x="510" y="575" id="4979" />
+<TGConnectingPoint num="0" id="5046" />
+<P1 x="510" y="530" id="5189" />
+<P2 x="510" y="575" id="5108" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4916" >
-<father id="4918" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5045" >
+<father id="5047" num="0" />
<cdparam x="523" y="558" />
<sizeparam width="244" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4912" />
-<TGConnectingPoint num="1" id="4913" />
-<TGConnectingPoint num="2" id="4914" />
-<TGConnectingPoint num="3" id="4915" />
+<TGConnectingPoint num="0" id="5041" />
+<TGConnectingPoint num="1" id="5042" />
+<TGConnectingPoint num="2" id="5043" />
+<TGConnectingPoint num="3" id="5044" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11144,25 +11449,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4925" >
+<CONNECTOR type="5102" id="5054" >
<cdparam x="524" y="331" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to state0" value="null" />
-<TGConnectingPoint num="0" id="4924" />
-<P1 x="524" y="331" id="5102" />
-<P2 x="560" y="480" id="5049" />
+<TGConnectingPoint num="0" id="5053" />
+<P1 x="524" y="331" id="5231" />
+<P2 x="560" y="480" id="5178" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4923" >
-<father id="4925" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5052" >
+<father id="5054" num="0" />
<cdparam x="548" y="369" />
<sizeparam width="44" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4919" />
-<TGConnectingPoint num="1" id="4920" />
-<TGConnectingPoint num="2" id="4921" />
-<TGConnectingPoint num="3" id="4922" />
+<TGConnectingPoint num="0" id="5048" />
+<TGConnectingPoint num="1" id="5049" />
+<TGConnectingPoint num="2" id="5050" />
+<TGConnectingPoint num="3" id="5051" />
<extraparam>
<guard value="[ else ]" />
<afterMin value="" />
@@ -11172,25 +11477,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4932" >
+<CONNECTOR type="5102" id="5061" >
<cdparam x="419" y="125" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="4931" />
-<P1 x="419" y="125" id="5168" />
-<P2 x="431" y="144" id="5135" />
+<TGConnectingPoint num="0" id="5060" />
+<P1 x="419" y="125" id="5297" />
+<P2 x="431" y="144" id="5264" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4930" >
-<father id="4932" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5059" >
+<father id="5061" num="0" />
<cdparam x="419" y="165" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4926" />
-<TGConnectingPoint num="1" id="4927" />
-<TGConnectingPoint num="2" id="4928" />
-<TGConnectingPoint num="3" id="4929" />
+<TGConnectingPoint num="0" id="5055" />
+<TGConnectingPoint num="1" id="5056" />
+<TGConnectingPoint num="2" id="5057" />
+<TGConnectingPoint num="3" id="5058" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11200,25 +11505,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4939" >
+<CONNECTOR type="5102" id="5068" >
<cdparam x="499" y="194" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="4938" />
-<P1 x="499" y="194" id="5133" />
-<P2 x="499" y="228" id="5116" />
+<TGConnectingPoint num="0" id="5067" />
+<P1 x="499" y="194" id="5262" />
+<P2 x="499" y="228" id="5245" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4937" >
-<father id="4939" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5066" >
+<father id="5068" num="0" />
<cdparam x="499" y="234" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4933" />
-<TGConnectingPoint num="1" id="4934" />
-<TGConnectingPoint num="2" id="4935" />
-<TGConnectingPoint num="3" id="4936" />
+<TGConnectingPoint num="0" id="5062" />
+<TGConnectingPoint num="1" id="5063" />
+<TGConnectingPoint num="2" id="5064" />
+<TGConnectingPoint num="3" id="5065" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11228,25 +11533,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4946" >
+<CONNECTOR type="5102" id="5075" >
<cdparam x="499" y="258" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Receive signal to choice" value="null" />
-<TGConnectingPoint num="0" id="4945" />
-<P1 x="499" y="258" id="5117" />
-<P2 x="499" y="306" id="5100" />
+<TGConnectingPoint num="0" id="5074" />
+<P1 x="499" y="258" id="5246" />
+<P2 x="499" y="306" id="5229" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4944" >
-<father id="4946" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5073" >
+<father id="5075" num="0" />
<cdparam x="499" y="298" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4940" />
-<TGConnectingPoint num="1" id="4941" />
-<TGConnectingPoint num="2" id="4942" />
-<TGConnectingPoint num="3" id="4943" />
+<TGConnectingPoint num="0" id="5069" />
+<TGConnectingPoint num="1" id="5070" />
+<TGConnectingPoint num="2" id="5071" />
+<TGConnectingPoint num="3" id="5072" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11256,25 +11561,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4953" >
+<CONNECTOR type="5102" id="5082" >
<cdparam x="474" y="331" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from choice to Send signal" value="null" />
-<TGConnectingPoint num="0" id="4952" />
-<P1 x="474" y="331" id="5104" />
-<P2 x="393" y="394" id="5072" />
+<TGConnectingPoint num="0" id="5081" />
+<P1 x="474" y="331" id="5233" />
+<P2 x="393" y="394" id="5201" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4951" >
-<father id="4953" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5080" >
+<father id="5082" num="0" />
<cdparam x="356" y="357" />
<sizeparam width="78" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4947" />
-<TGConnectingPoint num="1" id="4948" />
-<TGConnectingPoint num="2" id="4949" />
-<TGConnectingPoint num="3" id="4950" />
+<TGConnectingPoint num="0" id="5076" />
+<TGConnectingPoint num="1" id="5077" />
+<TGConnectingPoint num="2" id="5078" />
+<TGConnectingPoint num="3" id="5079" />
<extraparam>
<guard value="[ speed > 5]" />
<afterMin value="" />
@@ -11284,25 +11589,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4960" >
+<CONNECTOR type="5102" id="5089" >
<cdparam x="390" y="432" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="4959" />
-<P1 x="393" y="424" id="5073" />
-<P2 x="436" y="480" id="5031" />
+<TGConnectingPoint num="0" id="5088" />
+<P1 x="393" y="424" id="5202" />
+<P2 x="436" y="480" id="5160" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4958" >
-<father id="4960" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5087" >
+<father id="5089" num="0" />
<cdparam x="390" y="472" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4954" />
-<TGConnectingPoint num="1" id="4955" />
-<TGConnectingPoint num="2" id="4956" />
-<TGConnectingPoint num="3" id="4957" />
+<TGConnectingPoint num="0" id="5083" />
+<TGConnectingPoint num="1" id="5084" />
+<TGConnectingPoint num="2" id="5085" />
+<TGConnectingPoint num="3" id="5086" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11312,25 +11617,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="4967" >
+<CONNECTOR type="5102" id="5096" >
<cdparam x="537" y="692" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="4966" />
-<P1 x="511" y="692" id="4996" />
-<P2 x="512" y="736" id="4968" />
+<TGConnectingPoint num="0" id="5095" />
+<P1 x="511" y="692" id="5125" />
+<P2 x="512" y="736" id="5097" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="4965" >
-<father id="4967" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5094" >
+<father id="5096" num="0" />
<cdparam x="534" y="724" />
<sizeparam width="126" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="4961" />
-<TGConnectingPoint num="1" id="4962" />
-<TGConnectingPoint num="2" id="4963" />
-<TGConnectingPoint num="3" id="4964" />
+<TGConnectingPoint num="0" id="5090" />
+<TGConnectingPoint num="1" id="5091" />
+<TGConnectingPoint num="2" id="5092" />
+<TGConnectingPoint num="3" id="5093" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11341,495 +11646,217 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5103" id="4978" >
+<COMPONENT type="5103" id="5107" >
<cdparam x="378" y="741" />
<sizeparam width="269" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Send signal" value="forwardEmergency(value, currentPosition)" />
-<TGConnectingPoint num="0" id="4968" />
-<TGConnectingPoint num="1" id="4969" />
-<TGConnectingPoint num="2" id="4970" />
-<TGConnectingPoint num="3" id="4971" />
-<TGConnectingPoint num="4" id="4972" />
-<TGConnectingPoint num="5" id="4973" />
-<TGConnectingPoint num="6" id="4974" />
-<TGConnectingPoint num="7" id="4975" />
-<TGConnectingPoint num="8" id="4976" />
-<TGConnectingPoint num="9" id="4977" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="4989" >
+<TGConnectingPoint num="0" id="5097" />
+<TGConnectingPoint num="1" id="5098" />
+<TGConnectingPoint num="2" id="5099" />
+<TGConnectingPoint num="3" id="5100" />
+<TGConnectingPoint num="4" id="5101" />
+<TGConnectingPoint num="5" id="5102" />
+<TGConnectingPoint num="6" id="5103" />
+<TGConnectingPoint num="7" id="5104" />
+<TGConnectingPoint num="8" id="5105" />
+<TGConnectingPoint num="9" id="5106" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="5118" >
<cdparam x="446" y="580" />
<sizeparam width="128" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Send signal" value="brakePower(value)" />
-<TGConnectingPoint num="0" id="4979" />
-<TGConnectingPoint num="1" id="4980" />
-<TGConnectingPoint num="2" id="4981" />
-<TGConnectingPoint num="3" id="4982" />
-<TGConnectingPoint num="4" id="4983" />
-<TGConnectingPoint num="5" id="4984" />
-<TGConnectingPoint num="6" id="4985" />
-<TGConnectingPoint num="7" id="4986" />
-<TGConnectingPoint num="8" id="4987" />
-<TGConnectingPoint num="9" id="4988" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="5030" >
+<TGConnectingPoint num="0" id="5108" />
+<TGConnectingPoint num="1" id="5109" />
+<TGConnectingPoint num="2" id="5110" />
+<TGConnectingPoint num="3" id="5111" />
+<TGConnectingPoint num="4" id="5112" />
+<TGConnectingPoint num="5" id="5113" />
+<TGConnectingPoint num="6" id="5114" />
+<TGConnectingPoint num="7" id="5115" />
+<TGConnectingPoint num="8" id="5116" />
+<TGConnectingPoint num="9" id="5117" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="5159" >
<cdparam x="403" y="642" />
<sizeparam width="217" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="state0" value="ForwardManagement" />
-<TGConnectingPoint num="0" id="4990" />
-<TGConnectingPoint num="1" id="4991" />
-<TGConnectingPoint num="2" id="4992" />
-<TGConnectingPoint num="3" id="4993" />
-<TGConnectingPoint num="4" id="4994" />
-<TGConnectingPoint num="5" id="4995" />
-<TGConnectingPoint num="6" id="4996" />
-<TGConnectingPoint num="7" id="4997" />
-<TGConnectingPoint num="8" id="4998" />
-<TGConnectingPoint num="9" id="4999" />
-<TGConnectingPoint num="10" id="5000" />
-<TGConnectingPoint num="11" id="5001" />
-<TGConnectingPoint num="12" id="5002" />
-<TGConnectingPoint num="13" id="5003" />
-<TGConnectingPoint num="14" id="5004" />
-<TGConnectingPoint num="15" id="5005" />
-<TGConnectingPoint num="16" id="5006" />
-<TGConnectingPoint num="17" id="5007" />
-<TGConnectingPoint num="18" id="5008" />
-<TGConnectingPoint num="19" id="5009" />
-<TGConnectingPoint num="20" id="5010" />
-<TGConnectingPoint num="21" id="5011" />
-<TGConnectingPoint num="22" id="5012" />
-<TGConnectingPoint num="23" id="5013" />
-<TGConnectingPoint num="24" id="5014" />
-<TGConnectingPoint num="25" id="5015" />
-<TGConnectingPoint num="26" id="5016" />
-<TGConnectingPoint num="27" id="5017" />
-<TGConnectingPoint num="28" id="5018" />
-<TGConnectingPoint num="29" id="5019" />
-<TGConnectingPoint num="30" id="5020" />
-<TGConnectingPoint num="31" id="5021" />
-<TGConnectingPoint num="32" id="5022" />
-<TGConnectingPoint num="33" id="5023" />
-<TGConnectingPoint num="34" id="5024" />
-<TGConnectingPoint num="35" id="5025" />
-<TGConnectingPoint num="36" id="5026" />
-<TGConnectingPoint num="37" id="5027" />
-<TGConnectingPoint num="38" id="5028" />
-<TGConnectingPoint num="39" id="5029" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="5071" >
+<TGConnectingPoint num="0" id="5119" />
+<TGConnectingPoint num="1" id="5120" />
+<TGConnectingPoint num="2" id="5121" />
+<TGConnectingPoint num="3" id="5122" />
+<TGConnectingPoint num="4" id="5123" />
+<TGConnectingPoint num="5" id="5124" />
+<TGConnectingPoint num="6" id="5125" />
+<TGConnectingPoint num="7" id="5126" />
+<TGConnectingPoint num="8" id="5127" />
+<TGConnectingPoint num="9" id="5128" />
+<TGConnectingPoint num="10" id="5129" />
+<TGConnectingPoint num="11" id="5130" />
+<TGConnectingPoint num="12" id="5131" />
+<TGConnectingPoint num="13" id="5132" />
+<TGConnectingPoint num="14" id="5133" />
+<TGConnectingPoint num="15" id="5134" />
+<TGConnectingPoint num="16" id="5135" />
+<TGConnectingPoint num="17" id="5136" />
+<TGConnectingPoint num="18" id="5137" />
+<TGConnectingPoint num="19" id="5138" />
+<TGConnectingPoint num="20" id="5139" />
+<TGConnectingPoint num="21" id="5140" />
+<TGConnectingPoint num="22" id="5141" />
+<TGConnectingPoint num="23" id="5142" />
+<TGConnectingPoint num="24" id="5143" />
+<TGConnectingPoint num="25" id="5144" />
+<TGConnectingPoint num="26" id="5145" />
+<TGConnectingPoint num="27" id="5146" />
+<TGConnectingPoint num="28" id="5147" />
+<TGConnectingPoint num="29" id="5148" />
+<TGConnectingPoint num="30" id="5149" />
+<TGConnectingPoint num="31" id="5150" />
+<TGConnectingPoint num="32" id="5151" />
+<TGConnectingPoint num="33" id="5152" />
+<TGConnectingPoint num="34" id="5153" />
+<TGConnectingPoint num="35" id="5154" />
+<TGConnectingPoint num="36" id="5155" />
+<TGConnectingPoint num="37" id="5156" />
+<TGConnectingPoint num="38" id="5157" />
+<TGConnectingPoint num="39" id="5158" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="5200" >
<cdparam x="436" y="480" />
<sizeparam width="201" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="state0" value="BrakingManagement" />
-<TGConnectingPoint num="0" id="5031" />
-<TGConnectingPoint num="1" id="5032" />
-<TGConnectingPoint num="2" id="5033" />
-<TGConnectingPoint num="3" id="5034" />
-<TGConnectingPoint num="4" id="5035" />
-<TGConnectingPoint num="5" id="5036" />
-<TGConnectingPoint num="6" id="5037" />
-<TGConnectingPoint num="7" id="5038" />
-<TGConnectingPoint num="8" id="5039" />
-<TGConnectingPoint num="9" id="5040" />
-<TGConnectingPoint num="10" id="5041" />
-<TGConnectingPoint num="11" id="5042" />
-<TGConnectingPoint num="12" id="5043" />
-<TGConnectingPoint num="13" id="5044" />
-<TGConnectingPoint num="14" id="5045" />
-<TGConnectingPoint num="15" id="5046" />
-<TGConnectingPoint num="16" id="5047" />
-<TGConnectingPoint num="17" id="5048" />
-<TGConnectingPoint num="18" id="5049" />
-<TGConnectingPoint num="19" id="5050" />
-<TGConnectingPoint num="20" id="5051" />
-<TGConnectingPoint num="21" id="5052" />
-<TGConnectingPoint num="22" id="5053" />
-<TGConnectingPoint num="23" id="5054" />
-<TGConnectingPoint num="24" id="5055" />
-<TGConnectingPoint num="25" id="5056" />
-<TGConnectingPoint num="26" id="5057" />
-<TGConnectingPoint num="27" id="5058" />
-<TGConnectingPoint num="28" id="5059" />
-<TGConnectingPoint num="29" id="5060" />
-<TGConnectingPoint num="30" id="5061" />
-<TGConnectingPoint num="31" id="5062" />
-<TGConnectingPoint num="32" id="5063" />
-<TGConnectingPoint num="33" id="5064" />
-<TGConnectingPoint num="34" id="5065" />
-<TGConnectingPoint num="35" id="5066" />
-<TGConnectingPoint num="36" id="5067" />
-<TGConnectingPoint num="37" id="5068" />
-<TGConnectingPoint num="38" id="5069" />
-<TGConnectingPoint num="39" id="5070" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5103" id="5082" >
+<TGConnectingPoint num="0" id="5160" />
+<TGConnectingPoint num="1" id="5161" />
+<TGConnectingPoint num="2" id="5162" />
+<TGConnectingPoint num="3" id="5163" />
+<TGConnectingPoint num="4" id="5164" />
+<TGConnectingPoint num="5" id="5165" />
+<TGConnectingPoint num="6" id="5166" />
+<TGConnectingPoint num="7" id="5167" />
+<TGConnectingPoint num="8" id="5168" />
+<TGConnectingPoint num="9" id="5169" />
+<TGConnectingPoint num="10" id="5170" />
+<TGConnectingPoint num="11" id="5171" />
+<TGConnectingPoint num="12" id="5172" />
+<TGConnectingPoint num="13" id="5173" />
+<TGConnectingPoint num="14" id="5174" />
+<TGConnectingPoint num="15" id="5175" />
+<TGConnectingPoint num="16" id="5176" />
+<TGConnectingPoint num="17" id="5177" />
+<TGConnectingPoint num="18" id="5178" />
+<TGConnectingPoint num="19" id="5179" />
+<TGConnectingPoint num="20" id="5180" />
+<TGConnectingPoint num="21" id="5181" />
+<TGConnectingPoint num="22" id="5182" />
+<TGConnectingPoint num="23" id="5183" />
+<TGConnectingPoint num="24" id="5184" />
+<TGConnectingPoint num="25" id="5185" />
+<TGConnectingPoint num="26" id="5186" />
+<TGConnectingPoint num="27" id="5187" />
+<TGConnectingPoint num="28" id="5188" />
+<TGConnectingPoint num="29" id="5189" />
+<TGConnectingPoint num="30" id="5190" />
+<TGConnectingPoint num="31" id="5191" />
+<TGConnectingPoint num="32" id="5192" />
+<TGConnectingPoint num="33" id="5193" />
+<TGConnectingPoint num="34" id="5194" />
+<TGConnectingPoint num="35" id="5195" />
+<TGConnectingPoint num="36" id="5196" />
+<TGConnectingPoint num="37" id="5197" />
+<TGConnectingPoint num="38" id="5198" />
+<TGConnectingPoint num="39" id="5199" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5103" id="5211" >
<cdparam x="326" y="399" />
<sizeparam width="135" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="Send signal" value="reducePower(value)" />
-<TGConnectingPoint num="0" id="5072" />
-<TGConnectingPoint num="1" id="5073" />
-<TGConnectingPoint num="2" id="5074" />
-<TGConnectingPoint num="3" id="5075" />
-<TGConnectingPoint num="4" id="5076" />
-<TGConnectingPoint num="5" id="5077" />
-<TGConnectingPoint num="6" id="5078" />
-<TGConnectingPoint num="7" id="5079" />
-<TGConnectingPoint num="8" id="5080" />
-<TGConnectingPoint num="9" id="5081" />
-</COMPONENT>
-
-<COMPONENT type="301" id="5099" >
+<TGConnectingPoint num="0" id="5201" />
+<TGConnectingPoint num="1" id="5202" />
+<TGConnectingPoint num="2" id="5203" />
+<TGConnectingPoint num="3" id="5204" />
+<TGConnectingPoint num="4" id="5205" />
+<TGConnectingPoint num="5" id="5206" />
+<TGConnectingPoint num="6" id="5207" />
+<TGConnectingPoint num="7" id="5208" />
+<TGConnectingPoint num="8" id="5209" />
+<TGConnectingPoint num="9" id="5210" />
+</COMPONENT>
+
+<COMPONENT type="301" id="5228" >
<cdparam x="561" y="301" />
<sizeparam width="169" height="35" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="UML Note" value="Have to reduce Power ?
" />
-<TGConnectingPoint num="0" id="5083" />
-<TGConnectingPoint num="1" id="5084" />
-<TGConnectingPoint num="2" id="5085" />
-<TGConnectingPoint num="3" id="5086" />
-<TGConnectingPoint num="4" id="5087" />
-<TGConnectingPoint num="5" id="5088" />
-<TGConnectingPoint num="6" id="5089" />
-<TGConnectingPoint num="7" id="5090" />
-<TGConnectingPoint num="8" id="5091" />
-<TGConnectingPoint num="9" id="5092" />
-<TGConnectingPoint num="10" id="5093" />
-<TGConnectingPoint num="11" id="5094" />
-<TGConnectingPoint num="12" id="5095" />
-<TGConnectingPoint num="13" id="5096" />
-<TGConnectingPoint num="14" id="5097" />
-<TGConnectingPoint num="15" id="5098" />
+<TGConnectingPoint num="0" id="5212" />
+<TGConnectingPoint num="1" id="5213" />
+<TGConnectingPoint num="2" id="5214" />
+<TGConnectingPoint num="3" id="5215" />
+<TGConnectingPoint num="4" id="5216" />
+<TGConnectingPoint num="5" id="5217" />
+<TGConnectingPoint num="6" id="5218" />
+<TGConnectingPoint num="7" id="5219" />
+<TGConnectingPoint num="8" id="5220" />
+<TGConnectingPoint num="9" id="5221" />
+<TGConnectingPoint num="10" id="5222" />
+<TGConnectingPoint num="11" id="5223" />
+<TGConnectingPoint num="12" id="5224" />
+<TGConnectingPoint num="13" id="5225" />
+<TGConnectingPoint num="14" id="5226" />
+<TGConnectingPoint num="15" id="5227" />
<extraparam>
<Line value="Have to reduce Power ?" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5107" id="5115" >
+<COMPONENT type="5107" id="5244" >
<cdparam x="484" y="316" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="5100" />
-<TGConnectingPoint num="1" id="5101" />
-<TGConnectingPoint num="2" id="5102" />
-<TGConnectingPoint num="3" id="5103" />
-<TGConnectingPoint num="4" id="5104" />
-<TGConnectingPoint num="5" id="5105" />
-<TGConnectingPoint num="6" id="5106" />
-<TGConnectingPoint num="7" id="5107" />
-<TGConnectingPoint num="8" id="5108" />
-<TGConnectingPoint num="9" id="5109" />
-<TGConnectingPoint num="10" id="5110" />
-<TGConnectingPoint num="11" id="5111" />
-<TGConnectingPoint num="12" id="5112" />
-<TGConnectingPoint num="13" id="5113" />
-<TGConnectingPoint num="14" id="5114" />
-</COMPONENT>
-
-<COMPONENT type="5104" id="5126" >
-<cdparam x="370" y="233" />
-<sizeparam width="258" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="brake(speed, currentPosition, position)" />
-<TGConnectingPoint num="0" id="5116" />
-<TGConnectingPoint num="1" id="5117" />
-<TGConnectingPoint num="2" id="5118" />
-<TGConnectingPoint num="3" id="5119" />
-<TGConnectingPoint num="4" id="5120" />
-<TGConnectingPoint num="5" id="5121" />
-<TGConnectingPoint num="6" id="5122" />
-<TGConnectingPoint num="7" id="5123" />
-<TGConnectingPoint num="8" id="5124" />
-<TGConnectingPoint num="9" id="5125" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="5167" >
-<cdparam x="363" y="144" />
-<sizeparam width="273" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingForActionsToTake" />
-<TGConnectingPoint num="0" id="5127" />
-<TGConnectingPoint num="1" id="5128" />
-<TGConnectingPoint num="2" id="5129" />
-<TGConnectingPoint num="3" id="5130" />
-<TGConnectingPoint num="4" id="5131" />
-<TGConnectingPoint num="5" id="5132" />
-<TGConnectingPoint num="6" id="5133" />
-<TGConnectingPoint num="7" id="5134" />
-<TGConnectingPoint num="8" id="5135" />
-<TGConnectingPoint num="9" id="5136" />
-<TGConnectingPoint num="10" id="5137" />
-<TGConnectingPoint num="11" id="5138" />
-<TGConnectingPoint num="12" id="5139" />
-<TGConnectingPoint num="13" id="5140" />
-<TGConnectingPoint num="14" id="5141" />
-<TGConnectingPoint num="15" id="5142" />
-<TGConnectingPoint num="16" id="5143" />
-<TGConnectingPoint num="17" id="5144" />
-<TGConnectingPoint num="18" id="5145" />
-<TGConnectingPoint num="19" id="5146" />
-<TGConnectingPoint num="20" id="5147" />
-<TGConnectingPoint num="21" id="5148" />
-<TGConnectingPoint num="22" id="5149" />
-<TGConnectingPoint num="23" id="5150" />
-<TGConnectingPoint num="24" id="5151" />
-<TGConnectingPoint num="25" id="5152" />
-<TGConnectingPoint num="26" id="5153" />
-<TGConnectingPoint num="27" id="5154" />
-<TGConnectingPoint num="28" id="5155" />
-<TGConnectingPoint num="29" id="5156" />
-<TGConnectingPoint num="30" id="5157" />
-<TGConnectingPoint num="31" id="5158" />
-<TGConnectingPoint num="32" id="5159" />
-<TGConnectingPoint num="33" id="5160" />
-<TGConnectingPoint num="34" id="5161" />
-<TGConnectingPoint num="35" id="5162" />
-<TGConnectingPoint num="36" id="5163" />
-<TGConnectingPoint num="37" id="5164" />
-<TGConnectingPoint num="38" id="5165" />
-<TGConnectingPoint num="39" id="5166" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="5169" >
-<cdparam x="412" y="105" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="5168" />
-</COMPONENT>
-
-
-</AVATARStateMachineDiagramPanel>
-
-<AVATARStateMachineDiagramPanel name="BrakeManagement" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="5182" >
-<cdparam x="514" y="350" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to state0" value="null" />
-<TGConnectingPoint num="0" id="5178" />
-<TGConnectingPoint num="1" id="5179" />
-<TGConnectingPoint num="2" id="5180" />
-<TGConnectingPoint num="3" id="5181" />
-<P1 x="497" y="343" id="5210" />
-<P2 x="570" y="148" id="5260" />
-<Point x="497" y="396" />
-<Point x="697" y="396" />
-<Point x="697" y="148" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5170" >
-<father id="5182" num="0" />
-<cdparam x="497" y="396" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5171" >
-<father id="5182" num="1" />
-<cdparam x="697" y="396" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5172" >
-<father id="5182" num="2" />
-<cdparam x="697" y="148" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5177" >
-<father id="5182" num="3" />
-<cdparam x="508" y="363" />
-<sizeparam width="180" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5173" />
-<TGConnectingPoint num="1" id="5174" />
-<TGConnectingPoint num="2" id="5175" />
-<TGConnectingPoint num="3" id="5176" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="value" />
-<afterMax value="brakeMaxDuration" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="brakingDone()" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="5189" >
-<cdparam x="407" y="70" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="5188" />
-<P1 x="475" y="89" id="5297" />
-<P2 x="484" y="124" id="5257" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5187" >
-<father id="5189" num="0" />
-<cdparam x="407" y="110" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5183" />
-<TGConnectingPoint num="1" id="5184" />
-<TGConnectingPoint num="2" id="5185" />
-<TGConnectingPoint num="3" id="5186" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="5196" >
-<cdparam x="484" y="172" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="5195" />
-<P1 x="441" y="172" id="5270" />
-<P2 x="441" y="195" id="5245" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5194" >
-<father id="5196" num="0" />
-<cdparam x="484" y="212" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5190" />
-<TGConnectingPoint num="1" id="5191" />
-<TGConnectingPoint num="2" id="5192" />
-<TGConnectingPoint num="3" id="5193" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="5203" >
-<cdparam x="485" y="230" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to state0" value="null" />
-<TGConnectingPoint num="0" id="5202" />
-<P1 x="441" y="225" id="5246" />
-<P2 x="441" y="293" id="5212" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5201" >
-<father id="5203" num="0" />
-<cdparam x="447" y="243" />
-<sizeparam width="235" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5197" />
-<TGConnectingPoint num="1" id="5198" />
-<TGConnectingPoint num="2" id="5199" />
-<TGConnectingPoint num="3" id="5200" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-<actions value="applyBraking(value)" />
-<actions value="value = value * 10" />
-<actions value="brakeMaxDuration = value + deltaBrake" />
-</extraparam>
-</SUBCOMPONENT>
-
-<COMPONENT type="5106" id="5244" >
-<cdparam x="386" y="293" />
-<sizeparam width="223" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitingforBrakingToBeCompleted" />
-<TGConnectingPoint num="0" id="5204" />
-<TGConnectingPoint num="1" id="5205" />
-<TGConnectingPoint num="2" id="5206" />
-<TGConnectingPoint num="3" id="5207" />
-<TGConnectingPoint num="4" id="5208" />
-<TGConnectingPoint num="5" id="5209" />
-<TGConnectingPoint num="6" id="5210" />
-<TGConnectingPoint num="7" id="5211" />
-<TGConnectingPoint num="8" id="5212" />
-<TGConnectingPoint num="9" id="5213" />
-<TGConnectingPoint num="10" id="5214" />
-<TGConnectingPoint num="11" id="5215" />
-<TGConnectingPoint num="12" id="5216" />
-<TGConnectingPoint num="13" id="5217" />
-<TGConnectingPoint num="14" id="5218" />
-<TGConnectingPoint num="15" id="5219" />
-<TGConnectingPoint num="16" id="5220" />
-<TGConnectingPoint num="17" id="5221" />
-<TGConnectingPoint num="18" id="5222" />
-<TGConnectingPoint num="19" id="5223" />
-<TGConnectingPoint num="20" id="5224" />
-<TGConnectingPoint num="21" id="5225" />
-<TGConnectingPoint num="22" id="5226" />
-<TGConnectingPoint num="23" id="5227" />
-<TGConnectingPoint num="24" id="5228" />
-<TGConnectingPoint num="25" id="5229" />
-<TGConnectingPoint num="26" id="5230" />
-<TGConnectingPoint num="27" id="5231" />
-<TGConnectingPoint num="28" id="5232" />
-<TGConnectingPoint num="29" id="5233" />
-<TGConnectingPoint num="30" id="5234" />
-<TGConnectingPoint num="31" id="5235" />
-<TGConnectingPoint num="32" id="5236" />
-<TGConnectingPoint num="33" id="5237" />
-<TGConnectingPoint num="34" id="5238" />
-<TGConnectingPoint num="35" id="5239" />
-<TGConnectingPoint num="36" id="5240" />
-<TGConnectingPoint num="37" id="5241" />
-<TGConnectingPoint num="38" id="5242" />
-<TGConnectingPoint num="39" id="5243" />
-<invariant />
-<extraparam>
-</extraparam>
+<TGConnectingPoint num="0" id="5229" />
+<TGConnectingPoint num="1" id="5230" />
+<TGConnectingPoint num="2" id="5231" />
+<TGConnectingPoint num="3" id="5232" />
+<TGConnectingPoint num="4" id="5233" />
+<TGConnectingPoint num="5" id="5234" />
+<TGConnectingPoint num="6" id="5235" />
+<TGConnectingPoint num="7" id="5236" />
+<TGConnectingPoint num="8" id="5237" />
+<TGConnectingPoint num="9" id="5238" />
+<TGConnectingPoint num="10" id="5239" />
+<TGConnectingPoint num="11" id="5240" />
+<TGConnectingPoint num="12" id="5241" />
+<TGConnectingPoint num="13" id="5242" />
+<TGConnectingPoint num="14" id="5243" />
</COMPONENT>
<COMPONENT type="5104" id="5255" >
-<cdparam x="396" y="200" />
-<sizeparam width="90" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="370" y="233" />
+<sizeparam width="258" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="brake(value)" />
+<infoparam name="Receive signal" value="brake(speed, currentPosition, position)" />
<TGConnectingPoint num="0" id="5245" />
<TGConnectingPoint num="1" id="5246" />
<TGConnectingPoint num="2" id="5247" />
@@ -11843,11 +11870,11 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5106" id="5296" >
-<cdparam x="398" y="124" />
-<sizeparam width="172" height="48" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="363" y="144" />
+<sizeparam width="273" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="state0" value="WaitForBrakingOrder" />
+<infoparam name="state0" value="WaitingForActionsToTake" />
<TGConnectingPoint num="0" id="5256" />
<TGConnectingPoint num="1" id="5257" />
<TGConnectingPoint num="2" id="5258" />
@@ -11893,7 +11920,7 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5100" id="5298" >
-<cdparam x="468" y="69" />
+<cdparam x="412" y="105" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -11904,56 +11931,26 @@ Otherwise, the most far away
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="ObjectListManagement" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="5311" >
-<cdparam x="548" y="343" />
+<AVATARStateMachineDiagramPanel name="VehiculeDynamicsManagement" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="5305" >
+<cdparam x="686" y="231" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="5307" />
-<TGConnectingPoint num="1" id="5308" />
-<TGConnectingPoint num="2" id="5309" />
-<TGConnectingPoint num="3" id="5310" />
-<P1 x="548" y="343" id="5347" />
-<P2 x="606" y="211" id="5391" />
-<Point x="546" y="362" />
-<Point x="658" y="366" />
-<Point x="672" y="172" />
+<infoparam name="connector from state0 to Send signal" value="null" />
+<TGConnectingPoint num="0" id="5304" />
+<P1 x="686" y="231" id="5383" />
+<P2 x="697" y="301" id="5346" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5299" >
-<father id="5311" num="0" />
-<cdparam x="546" y="362" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5300" >
-<father id="5311" num="1" />
-<cdparam x="658" y="366" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5301" >
-<father id="5311" num="2" />
-<cdparam x="672" y="172" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5306" >
-<father id="5311" num="3" />
-<cdparam x="548" y="383" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5303" >
+<father id="5305" num="0" />
+<cdparam x="686" y="271" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5302" />
-<TGConnectingPoint num="1" id="5303" />
-<TGConnectingPoint num="2" id="5304" />
-<TGConnectingPoint num="3" id="5305" />
+<TGConnectingPoint num="0" id="5299" />
+<TGConnectingPoint num="1" id="5300" />
+<TGConnectingPoint num="2" id="5301" />
+<TGConnectingPoint num="3" id="5302" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -11963,55 +11960,53 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5324" >
-<cdparam x="318" y="342" />
+<CONNECTOR type="5102" id="5312" >
+<cdparam x="513" y="231" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to state0" value="null" />
-<TGConnectingPoint num="0" id="5320" />
-<TGConnectingPoint num="1" id="5321" />
-<TGConnectingPoint num="2" id="5322" />
-<TGConnectingPoint num="3" id="5323" />
-<P1 x="318" y="342" id="5358" />
-<P2 x="332" y="211" id="5389" />
-<Point x="317" y="374" />
-<Point x="207" y="388" />
-<Point x="214" y="205" />
+<infoparam name="connector from state0 to Receive signal" value="null" />
+<TGConnectingPoint num="0" id="5311" />
+<P1 x="513" y="231" id="5396" />
+<P2 x="467" y="300" id="5357" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5312" >
-<father id="5324" num="0" />
-<cdparam x="317" y="374" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5313" >
-<father id="5324" num="1" />
-<cdparam x="207" y="388" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5314" >
-<father id="5324" num="2" />
-<cdparam x="214" y="205" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5310" >
+<father id="5312" num="0" />
+<cdparam x="513" y="271" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="5306" />
+<TGConnectingPoint num="1" id="5307" />
+<TGConnectingPoint num="2" id="5308" />
+<TGConnectingPoint num="3" id="5309" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5319" >
-<father id="5324" num="3" />
-<cdparam x="318" y="382" />
+
+<CONNECTOR type="5102" id="5319" >
+<cdparam x="597" y="156" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from start state to state0" value="null" />
+<TGConnectingPoint num="0" id="5318" />
+<P1 x="539" y="137" id="5409" />
+<P2 x="549" y="181" id="5376" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5317" >
+<father id="5319" num="0" />
+<cdparam x="597" y="196" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5315" />
-<TGConnectingPoint num="1" id="5316" />
-<TGConnectingPoint num="2" id="5317" />
-<TGConnectingPoint num="3" id="5318" />
+<TGConnectingPoint num="0" id="5313" />
+<TGConnectingPoint num="1" id="5314" />
+<TGConnectingPoint num="2" id="5315" />
+<TGConnectingPoint num="3" id="5316" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -12021,53 +12016,55 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5331" >
-<cdparam x="448" y="168" />
+<CONNECTOR type="5102" id="5332" >
+<cdparam x="467" y="330" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="5330" />
-<P1 x="390" y="149" id="5409" />
-<P2 x="400" y="193" id="5376" />
+<infoparam name="connector from Receive signal to state0" value="null" />
+<TGConnectingPoint num="0" id="5328" />
+<TGConnectingPoint num="1" id="5329" />
+<TGConnectingPoint num="2" id="5330" />
+<TGConnectingPoint num="3" id="5331" />
+<P1 x="467" y="330" id="5358" />
+<P2 x="481" y="199" id="5389" />
+<Point x="466" y="362" />
+<Point x="356" y="376" />
+<Point x="363" y="193" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5329" >
-<father id="5331" num="0" />
-<cdparam x="448" y="208" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5320" >
+<father id="5332" num="0" />
+<cdparam x="466" y="362" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5321" >
+<father id="5332" num="1" />
+<cdparam x="356" y="376" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5322" >
+<father id="5332" num="2" />
+<cdparam x="363" y="193" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5325" />
-<TGConnectingPoint num="1" id="5326" />
-<TGConnectingPoint num="2" id="5327" />
-<TGConnectingPoint num="3" id="5328" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
+<infoparam name="point " value="null" />
</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="5338" >
-<cdparam x="364" y="243" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="5337" />
-<P1 x="364" y="243" id="5396" />
-<P2 x="318" y="312" id="5357" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5336" >
-<father id="5338" num="0" />
-<cdparam x="364" y="283" />
+<SUBCOMPONENT type="-1" id="5327" >
+<father id="5332" num="3" />
+<cdparam x="467" y="370" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5332" />
-<TGConnectingPoint num="1" id="5333" />
-<TGConnectingPoint num="2" id="5334" />
-<TGConnectingPoint num="3" id="5335" />
+<TGConnectingPoint num="0" id="5323" />
+<TGConnectingPoint num="1" id="5324" />
+<TGConnectingPoint num="2" id="5325" />
+<TGConnectingPoint num="3" id="5326" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -12078,24 +12075,54 @@ Otherwise, the most far away
</SUBCOMPONENT>
<CONNECTOR type="5102" id="5345" >
-<cdparam x="537" y="243" />
+<cdparam x="697" y="331" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="5344" />
-<P1 x="537" y="243" id="5383" />
-<P2 x="548" y="313" id="5346" />
+<infoparam name="connector from Send signal to state0" value="null" />
+<TGConnectingPoint num="0" id="5341" />
+<TGConnectingPoint num="1" id="5342" />
+<TGConnectingPoint num="2" id="5343" />
+<TGConnectingPoint num="3" id="5344" />
+<P1 x="697" y="331" id="5347" />
+<P2 x="755" y="199" id="5391" />
+<Point x="695" y="350" />
+<Point x="807" y="354" />
+<Point x="821" y="160" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5343" >
+</CONNECTOR><SUBCOMPONENT type="-1" id="5333" >
<father id="5345" num="0" />
-<cdparam x="537" y="283" />
+<cdparam x="695" y="350" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5334" >
+<father id="5345" num="1" />
+<cdparam x="807" y="354" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5335" >
+<father id="5345" num="2" />
+<cdparam x="821" y="160" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5340" >
+<father id="5345" num="3" />
+<cdparam x="697" y="371" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5339" />
-<TGConnectingPoint num="1" id="5340" />
-<TGConnectingPoint num="2" id="5341" />
-<TGConnectingPoint num="3" id="5342" />
+<TGConnectingPoint num="0" id="5336" />
+<TGConnectingPoint num="1" id="5337" />
+<TGConnectingPoint num="2" id="5338" />
+<TGConnectingPoint num="3" id="5339" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -12106,11 +12133,11 @@ Otherwise, the most far away
</SUBCOMPONENT>
<COMPONENT type="5103" id="5356" >
-<cdparam x="463" y="318" />
-<sizeparam width="171" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="625" y="306" />
+<sizeparam width="145" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="getInfoOnObstacle(obstacle)" />
+<infoparam name="Send signal" value="getInfoOnSpeed(speed)" />
<TGConnectingPoint num="0" id="5346" />
<TGConnectingPoint num="1" id="5347" />
<TGConnectingPoint num="2" id="5348" />
@@ -12124,11 +12151,11 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5104" id="5367" >
-<cdparam x="233" y="317" />
-<sizeparam width="170" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="390" y="305" />
+<sizeparam width="155" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="isObstacleAhead(obstacle)" />
+<infoparam name="Receive signal" value="updateOnSpeed(speed)" />
<TGConnectingPoint num="0" id="5357" />
<TGConnectingPoint num="1" id="5358" />
<TGConnectingPoint num="2" id="5359" />
@@ -12142,7 +12169,7 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5106" id="5408" >
-<cdparam x="332" y="193" />
+<cdparam x="481" y="181" />
<sizeparam width="274" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -12192,7 +12219,7 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5100" id="5410" >
-<cdparam x="383" y="129" />
+<cdparam x="532" y="117" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -13210,26 +13237,56 @@ Otherwise, the most far away
</AVATARStateMachineDiagramPanel>
-<AVATARStateMachineDiagramPanel name="VehiculeDynamicsManagement" minX="10" maxX="1400" minY="10" maxY="900" >
-<CONNECTOR type="5102" id="5862" >
-<cdparam x="686" y="231" />
+<AVATARStateMachineDiagramPanel name="ObjectListManagement" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="5868" >
+<cdparam x="548" y="343" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Send signal" value="null" />
-<TGConnectingPoint num="0" id="5861" />
-<P1 x="686" y="231" id="5940" />
-<P2 x="697" y="301" id="5903" />
+<infoparam name="connector from Send signal to state0" value="null" />
+<TGConnectingPoint num="0" id="5864" />
+<TGConnectingPoint num="1" id="5865" />
+<TGConnectingPoint num="2" id="5866" />
+<TGConnectingPoint num="3" id="5867" />
+<P1 x="548" y="343" id="5904" />
+<P2 x="606" y="211" id="5948" />
+<Point x="546" y="362" />
+<Point x="658" y="366" />
+<Point x="672" y="172" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5860" >
-<father id="5862" num="0" />
-<cdparam x="686" y="271" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5856" >
+<father id="5868" num="0" />
+<cdparam x="546" y="362" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5857" >
+<father id="5868" num="1" />
+<cdparam x="658" y="366" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5858" >
+<father id="5868" num="2" />
+<cdparam x="672" y="172" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5863" >
+<father id="5868" num="3" />
+<cdparam x="548" y="383" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5856" />
-<TGConnectingPoint num="1" id="5857" />
-<TGConnectingPoint num="2" id="5858" />
-<TGConnectingPoint num="3" id="5859" />
+<TGConnectingPoint num="0" id="5859" />
+<TGConnectingPoint num="1" id="5860" />
+<TGConnectingPoint num="2" id="5861" />
+<TGConnectingPoint num="3" id="5862" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -13239,25 +13296,55 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5869" >
-<cdparam x="513" y="231" />
+<CONNECTOR type="5102" id="5881" >
+<cdparam x="318" y="342" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from state0 to Receive signal" value="null" />
-<TGConnectingPoint num="0" id="5868" />
-<P1 x="513" y="231" id="5953" />
-<P2 x="467" y="300" id="5914" />
+<infoparam name="connector from Receive signal to state0" value="null" />
+<TGConnectingPoint num="0" id="5877" />
+<TGConnectingPoint num="1" id="5878" />
+<TGConnectingPoint num="2" id="5879" />
+<TGConnectingPoint num="3" id="5880" />
+<P1 x="318" y="342" id="5915" />
+<P2 x="332" y="211" id="5946" />
+<Point x="317" y="374" />
+<Point x="207" y="388" />
+<Point x="214" y="205" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5867" >
-<father id="5869" num="0" />
-<cdparam x="513" y="271" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5869" >
+<father id="5881" num="0" />
+<cdparam x="317" y="374" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5870" >
+<father id="5881" num="1" />
+<cdparam x="207" y="388" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5871" >
+<father id="5881" num="2" />
+<cdparam x="214" y="205" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5876" >
+<father id="5881" num="3" />
+<cdparam x="318" y="382" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5863" />
-<TGConnectingPoint num="1" id="5864" />
-<TGConnectingPoint num="2" id="5865" />
-<TGConnectingPoint num="3" id="5866" />
+<TGConnectingPoint num="0" id="5872" />
+<TGConnectingPoint num="1" id="5873" />
+<TGConnectingPoint num="2" id="5874" />
+<TGConnectingPoint num="3" id="5875" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -13267,25 +13354,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5876" >
-<cdparam x="597" y="156" />
+<CONNECTOR type="5102" id="5888" >
+<cdparam x="448" y="168" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from start state to state0" value="null" />
-<TGConnectingPoint num="0" id="5875" />
-<P1 x="539" y="137" id="5966" />
-<P2 x="549" y="181" id="5933" />
+<TGConnectingPoint num="0" id="5887" />
+<P1 x="390" y="149" id="5966" />
+<P2 x="400" y="193" id="5933" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5874" >
-<father id="5876" num="0" />
-<cdparam x="597" y="196" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5886" >
+<father id="5888" num="0" />
+<cdparam x="448" y="208" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5870" />
-<TGConnectingPoint num="1" id="5871" />
-<TGConnectingPoint num="2" id="5872" />
-<TGConnectingPoint num="3" id="5873" />
+<TGConnectingPoint num="0" id="5882" />
+<TGConnectingPoint num="1" id="5883" />
+<TGConnectingPoint num="2" id="5884" />
+<TGConnectingPoint num="3" id="5885" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -13295,55 +13382,25 @@ Otherwise, the most far away
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="5889" >
-<cdparam x="467" y="330" />
+<CONNECTOR type="5102" id="5895" >
+<cdparam x="364" y="243" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Receive signal to state0" value="null" />
-<TGConnectingPoint num="0" id="5885" />
-<TGConnectingPoint num="1" id="5886" />
-<TGConnectingPoint num="2" id="5887" />
-<TGConnectingPoint num="3" id="5888" />
-<P1 x="467" y="330" id="5915" />
-<P2 x="481" y="199" id="5946" />
-<Point x="466" y="362" />
-<Point x="356" y="376" />
-<Point x="363" y="193" />
+<infoparam name="connector from state0 to Receive signal" value="null" />
+<TGConnectingPoint num="0" id="5894" />
+<P1 x="364" y="243" id="5953" />
+<P2 x="318" y="312" id="5914" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5877" >
-<father id="5889" num="0" />
-<cdparam x="466" y="362" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5878" >
-<father id="5889" num="1" />
-<cdparam x="356" y="376" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5879" >
-<father id="5889" num="2" />
-<cdparam x="363" y="193" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5884" >
-<father id="5889" num="3" />
-<cdparam x="467" y="370" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="5893" >
+<father id="5895" num="0" />
+<cdparam x="364" y="283" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5880" />
-<TGConnectingPoint num="1" id="5881" />
-<TGConnectingPoint num="2" id="5882" />
-<TGConnectingPoint num="3" id="5883" />
+<TGConnectingPoint num="0" id="5889" />
+<TGConnectingPoint num="1" id="5890" />
+<TGConnectingPoint num="2" id="5891" />
+<TGConnectingPoint num="3" id="5892" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -13354,54 +13411,24 @@ Otherwise, the most far away
</SUBCOMPONENT>
<CONNECTOR type="5102" id="5902" >
-<cdparam x="697" y="331" />
+<cdparam x="537" y="243" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector from Send signal to state0" value="null" />
-<TGConnectingPoint num="0" id="5898" />
-<TGConnectingPoint num="1" id="5899" />
-<TGConnectingPoint num="2" id="5900" />
-<TGConnectingPoint num="3" id="5901" />
-<P1 x="697" y="331" id="5904" />
-<P2 x="755" y="199" id="5948" />
-<Point x="695" y="350" />
-<Point x="807" y="354" />
-<Point x="821" y="160" />
+<infoparam name="connector from state0 to Send signal" value="null" />
+<TGConnectingPoint num="0" id="5901" />
+<P1 x="537" y="243" id="5940" />
+<P2 x="548" y="313" id="5903" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="5890" >
+</CONNECTOR><SUBCOMPONENT type="-1" id="5900" >
<father id="5902" num="0" />
-<cdparam x="695" y="350" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5891" >
-<father id="5902" num="1" />
-<cdparam x="807" y="354" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5892" >
-<father id="5902" num="2" />
-<cdparam x="821" y="160" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="5897" >
-<father id="5902" num="3" />
-<cdparam x="697" y="371" />
+<cdparam x="537" y="283" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="5893" />
-<TGConnectingPoint num="1" id="5894" />
-<TGConnectingPoint num="2" id="5895" />
-<TGConnectingPoint num="3" id="5896" />
+<TGConnectingPoint num="0" id="5896" />
+<TGConnectingPoint num="1" id="5897" />
+<TGConnectingPoint num="2" id="5898" />
+<TGConnectingPoint num="3" id="5899" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -13412,11 +13439,11 @@ Otherwise, the most far away
</SUBCOMPONENT>
<COMPONENT type="5103" id="5913" >
-<cdparam x="625" y="306" />
-<sizeparam width="145" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="463" y="318" />
+<sizeparam width="171" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Send signal" value="getInfoOnSpeed(speed)" />
+<infoparam name="Send signal" value="getInfoOnObstacle(obstacle)" />
<TGConnectingPoint num="0" id="5903" />
<TGConnectingPoint num="1" id="5904" />
<TGConnectingPoint num="2" id="5905" />
@@ -13430,11 +13457,11 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5104" id="5924" >
-<cdparam x="390" y="305" />
-<sizeparam width="155" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="233" y="317" />
+<sizeparam width="170" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
-<infoparam name="Receive signal" value="updateOnSpeed(speed)" />
+<infoparam name="Receive signal" value="isObstacleAhead(obstacle)" />
<TGConnectingPoint num="0" id="5914" />
<TGConnectingPoint num="1" id="5915" />
<TGConnectingPoint num="2" id="5916" />
@@ -13448,7 +13475,7 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5106" id="5965" >
-<cdparam x="481" y="181" />
+<cdparam x="332" y="193" />
<sizeparam width="274" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -13498,7 +13525,7 @@ Otherwise, the most far away
</COMPONENT>
<COMPONENT type="5100" id="5967" >
-<cdparam x="532" y="117" />
+<cdparam x="383" y="129" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
@@ -13625,11 +13652,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="5352" id="6026" >
<father id="6078" num="0" />
-<cdparam x="904" y="56" />
-<sizeparam width="170" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="902" y="193" />
+<sizeparam width="325" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="194" minY="0" maxY="197" />
-<infoparam name="TGComponent" value="AVATAR Design::CSCU" />
+<cdrectangleparam minX="0" maxX="39" minY="0" maxY="197" />
+<infoparam name="TGComponent" value="AVATAR Design::VehiculeDynamicsManagement" />
<TGConnectingPoint num="0" id="6018" />
<TGConnectingPoint num="1" id="6019" />
<TGConnectingPoint num="2" id="6020" />
@@ -13639,16 +13666,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6024" />
<TGConnectingPoint num="7" id="6025" />
<extraparam>
-<info value="AVATAR Design::CSCU" taskName="CSCU" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::VehiculeDynamicsManagement" taskName="VehiculeDynamicsManagement" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6035" >
<father id="6078" num="1" />
-<cdparam x="903" y="102" />
-<sizeparam width="277" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="902" y="147" />
+<sizeparam width="238" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="87" minY="0" maxY="197" />
-<infoparam name="TGComponent" value="AVATAR Design::ObjectListManagement" />
+<cdrectangleparam minX="0" maxX="126" minY="0" maxY="197" />
+<infoparam name="TGComponent" value="AVATAR Design::PlausibilityCheck" />
<TGConnectingPoint num="0" id="6027" />
<TGConnectingPoint num="1" id="6028" />
<TGConnectingPoint num="2" id="6029" />
@@ -13658,16 +13685,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6033" />
<TGConnectingPoint num="7" id="6034" />
<extraparam>
-<info value="AVATAR Design::ObjectListManagement" taskName="ObjectListManagement" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::PlausibilityCheck" taskName="PlausibilityCheck" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6044" >
<father id="6078" num="2" />
-<cdparam x="902" y="147" />
-<sizeparam width="238" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="903" y="102" />
+<sizeparam width="277" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="126" minY="0" maxY="197" />
-<infoparam name="TGComponent" value="AVATAR Design::PlausibilityCheck" />
+<cdrectangleparam minX="0" maxX="87" minY="0" maxY="197" />
+<infoparam name="TGComponent" value="AVATAR Design::ObjectListManagement" />
<TGConnectingPoint num="0" id="6036" />
<TGConnectingPoint num="1" id="6037" />
<TGConnectingPoint num="2" id="6038" />
@@ -13677,16 +13704,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6042" />
<TGConnectingPoint num="7" id="6043" />
<extraparam>
-<info value="AVATAR Design::PlausibilityCheck" taskName="PlausibilityCheck" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::ObjectListManagement" taskName="ObjectListManagement" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6053" >
<father id="6078" num="3" />
-<cdparam x="902" y="193" />
-<sizeparam width="325" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="904" y="56" />
+<sizeparam width="170" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="39" minY="0" maxY="197" />
-<infoparam name="TGComponent" value="AVATAR Design::VehiculeDynamicsManagement" />
+<cdrectangleparam minX="0" maxX="194" minY="0" maxY="197" />
+<infoparam name="TGComponent" value="AVATAR Design::CSCU" />
<TGConnectingPoint num="0" id="6045" />
<TGConnectingPoint num="1" id="6046" />
<TGConnectingPoint num="2" id="6047" />
@@ -13696,7 +13723,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6051" />
<TGConnectingPoint num="7" id="6052" />
<extraparam>
-<info value="AVATAR Design::VehiculeDynamicsManagement" taskName="VehiculeDynamicsManagement" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::CSCU" taskName="CSCU" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
@@ -13737,11 +13764,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="5352" id="6087" >
<father id="6139" num="0" />
-<cdparam x="57" y="55" />
-<sizeparam width="229" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="55" y="189" />
+<sizeparam width="267" 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="187" />
-<infoparam name="TGComponent" value="AVATAR Design::Communication" />
+<cdrectangleparam minX="0" maxX="112" minY="0" maxY="187" />
+<infoparam name="TGComponent" value="AVATAR Design::CorrectnessChecking" />
<TGConnectingPoint num="0" id="6079" />
<TGConnectingPoint num="1" id="6080" />
<TGConnectingPoint num="2" id="6081" />
@@ -13751,16 +13778,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6085" />
<TGConnectingPoint num="7" id="6086" />
<extraparam>
-<info value="AVATAR Design::Communication" taskName="Communication" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::CorrectnessChecking" taskName="CorrectnessChecking" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6096" >
<father id="6139" num="1" />
-<cdparam x="57" y="99" />
-<sizeparam width="264" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="55" y="144" />
+<sizeparam width="343" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="115" minY="0" maxY="187" />
-<infoparam name="TGComponent" value="AVATAR Design::DSRSC_Management" />
+<cdrectangleparam minX="0" maxX="36" minY="0" maxY="187" />
+<infoparam name="TGComponent" value="AVATAR Design::NeighbourhoodTableManagement" />
<TGConnectingPoint num="0" id="6088" />
<TGConnectingPoint num="1" id="6089" />
<TGConnectingPoint num="2" id="6090" />
@@ -13770,16 +13797,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6094" />
<TGConnectingPoint num="7" id="6095" />
<extraparam>
-<info value="AVATAR Design::DSRSC_Management" taskName="DSRSC_Management" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::NeighbourhoodTableManagement" taskName="NeighbourhoodTableManagement" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6105" >
<father id="6139" num="2" />
-<cdparam x="55" y="144" />
-<sizeparam width="343" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="57" y="99" />
+<sizeparam width="264" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="36" minY="0" maxY="187" />
-<infoparam name="TGComponent" value="AVATAR Design::NeighbourhoodTableManagement" />
+<cdrectangleparam minX="0" maxX="115" minY="0" maxY="187" />
+<infoparam name="TGComponent" value="AVATAR Design::DSRSC_Management" />
<TGConnectingPoint num="0" id="6097" />
<TGConnectingPoint num="1" id="6098" />
<TGConnectingPoint num="2" id="6099" />
@@ -13789,16 +13816,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6103" />
<TGConnectingPoint num="7" id="6104" />
<extraparam>
-<info value="AVATAR Design::NeighbourhoodTableManagement" taskName="NeighbourhoodTableManagement" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::DSRSC_Management" taskName="DSRSC_Management" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6114" >
<father id="6139" num="3" />
-<cdparam x="55" y="189" />
-<sizeparam width="267" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="57" y="55" />
+<sizeparam width="229" 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="187" />
-<infoparam name="TGComponent" value="AVATAR Design::CorrectnessChecking" />
+<cdrectangleparam minX="0" maxX="150" minY="0" maxY="187" />
+<infoparam name="TGComponent" value="AVATAR Design::Communication" />
<TGConnectingPoint num="0" id="6106" />
<TGConnectingPoint num="1" id="6107" />
<TGConnectingPoint num="2" id="6108" />
@@ -13808,7 +13835,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6112" />
<TGConnectingPoint num="7" id="6113" />
<extraparam>
-<info value="AVATAR Design::CorrectnessChecking" taskName="CorrectnessChecking" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::Communication" taskName="Communication" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
@@ -13849,11 +13876,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="5352" id="6148" >
<father id="6182" num="0" />
-<cdparam x="44" y="294" />
-<sizeparam width="159" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="42" y="348" />
+<sizeparam width="332" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="198" minY="0" maxY="109" />
-<infoparam name="TGComponent" value="AVATAR Design::PTC" />
+<cdrectangleparam minX="0" maxX="25" minY="0" maxY="109" />
+<infoparam name="TGComponent" value="AVATAR Design::DrivingPowerReductionStrategy" />
<TGConnectingPoint num="0" id="6140" />
<TGConnectingPoint num="1" id="6141" />
<TGConnectingPoint num="2" id="6142" />
@@ -13863,16 +13890,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6146" />
<TGConnectingPoint num="7" id="6147" />
<extraparam>
-<info value="AVATAR Design::PTC" taskName="PTC" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::DrivingPowerReductionStrategy" taskName="DrivingPowerReductionStrategy" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6157" >
<father id="6182" num="1" />
-<cdparam x="42" y="348" />
-<sizeparam width="332" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="44" y="294" />
+<sizeparam width="159" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="25" minY="0" maxY="109" />
-<infoparam name="TGComponent" value="AVATAR Design::DrivingPowerReductionStrategy" />
+<cdrectangleparam minX="0" maxX="198" minY="0" maxY="109" />
+<infoparam name="TGComponent" value="AVATAR Design::PTC" />
<TGConnectingPoint num="0" id="6149" />
<TGConnectingPoint num="1" id="6150" />
<TGConnectingPoint num="2" id="6151" />
@@ -13882,7 +13909,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6155" />
<TGConnectingPoint num="7" id="6156" />
<extraparam>
-<info value="AVATAR Design::DrivingPowerReductionStrategy" taskName="DrivingPowerReductionStrategy" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::PTC" taskName="PTC" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
@@ -13923,11 +13950,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="5352" id="6191" >
<father id="6234" num="0" />
-<cdparam x="977" y="327" />
-<sizeparam width="161" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="978" y="420" />
+<sizeparam width="251" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="189" minY="0" maxY="149" />
-<infoparam name="TGComponent" value="AVATAR Design::BCU" />
+<cdrectangleparam minX="0" maxX="99" minY="0" maxY="149" />
+<infoparam name="TGComponent" value="AVATAR Design::BrakeManagement" />
<TGConnectingPoint num="0" id="6183" />
<TGConnectingPoint num="1" id="6184" />
<TGConnectingPoint num="2" id="6185" />
@@ -13937,7 +13964,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6189" />
<TGConnectingPoint num="7" id="6190" />
<extraparam>
-<info value="AVATAR Design::BCU" taskName="BCU" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::BrakeManagement" taskName="BrakeManagement" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6200" >
@@ -13961,11 +13988,11 @@ Otherwise, the most far away
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6209" >
<father id="6234" num="2" />
-<cdparam x="978" y="420" />
-<sizeparam width="251" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="977" y="327" />
+<sizeparam width="161" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="99" minY="0" maxY="149" />
-<infoparam name="TGComponent" value="AVATAR Design::BrakeManagement" />
+<cdrectangleparam minX="0" maxX="189" minY="0" maxY="149" />
+<infoparam name="TGComponent" value="AVATAR Design::BCU" />
<TGConnectingPoint num="0" id="6201" />
<TGConnectingPoint num="1" id="6202" />
<TGConnectingPoint num="2" id="6203" />
@@ -13975,7 +14002,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6207" />
<TGConnectingPoint num="7" id="6208" />
<extraparam>
-<info value="AVATAR Design::BrakeManagement" taskName="BrakeManagement" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::BCU" taskName="BCU" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
@@ -14016,11 +14043,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="5352" id="6243" >
<father id="6313" num="0" />
-<cdparam x="496" y="53" />
-<sizeparam width="199" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="498" y="275" />
+<sizeparam width="261" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="130" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::TestBench" />
+<cdrectangleparam minX="0" maxX="68" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::EmergencySimulator" />
<TGConnectingPoint num="0" id="6235" />
<TGConnectingPoint num="1" id="6236" />
<TGConnectingPoint num="2" id="6237" />
@@ -14030,16 +14057,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6241" />
<TGConnectingPoint num="7" id="6242" />
<extraparam>
-<info value="AVATAR Design::TestBench" taskName="TestBench" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::EmergencySimulator" taskName="EmergencySimulator" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6252" >
<father id="6313" num="1" />
-<cdparam x="497" y="99" />
-<sizeparam width="218" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="498" y="232" />
+<sizeparam width="264" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="111" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::SpeedSensor" />
+<cdrectangleparam minX="0" maxX="65" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::CarPositionSimulator" />
<TGConnectingPoint num="0" id="6244" />
<TGConnectingPoint num="1" id="6245" />
<TGConnectingPoint num="2" id="6246" />
@@ -14049,16 +14076,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6250" />
<TGConnectingPoint num="7" id="6251" />
<extraparam>
-<info value="AVATAR Design::SpeedSensor" taskName="SpeedSensor" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::CarPositionSimulator" taskName="CarPositionSimulator" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6261" >
<father id="6313" num="2" />
-<cdparam x="497" y="188" />
-<sizeparam width="204" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="497" y="145" />
+<sizeparam width="216" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="125" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::GPSSensor" />
+<cdrectangleparam minX="0" maxX="113" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::RadarSensor" />
<TGConnectingPoint num="0" id="6253" />
<TGConnectingPoint num="1" id="6254" />
<TGConnectingPoint num="2" id="6255" />
@@ -14068,16 +14095,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6259" />
<TGConnectingPoint num="7" id="6260" />
<extraparam>
-<info value="AVATAR Design::GPSSensor" taskName="GPSSensor" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::RadarSensor" taskName="RadarSensor" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6270" >
<father id="6313" num="3" />
-<cdparam x="497" y="145" />
-<sizeparam width="216" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="497" y="188" />
+<sizeparam width="204" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="113" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::RadarSensor" />
+<cdrectangleparam minX="0" maxX="125" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::GPSSensor" />
<TGConnectingPoint num="0" id="6262" />
<TGConnectingPoint num="1" id="6263" />
<TGConnectingPoint num="2" id="6264" />
@@ -14087,16 +14114,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6268" />
<TGConnectingPoint num="7" id="6269" />
<extraparam>
-<info value="AVATAR Design::RadarSensor" taskName="RadarSensor" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::GPSSensor" taskName="GPSSensor" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6279" >
<father id="6313" num="4" />
-<cdparam x="498" y="232" />
-<sizeparam width="264" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="497" y="99" />
+<sizeparam width="218" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="65" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::CarPositionSimulator" />
+<cdrectangleparam minX="0" maxX="111" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::SpeedSensor" />
<TGConnectingPoint num="0" id="6271" />
<TGConnectingPoint num="1" id="6272" />
<TGConnectingPoint num="2" id="6273" />
@@ -14106,16 +14133,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6277" />
<TGConnectingPoint num="7" id="6278" />
<extraparam>
-<info value="AVATAR Design::CarPositionSimulator" taskName="CarPositionSimulator" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::SpeedSensor" taskName="SpeedSensor" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="6288" >
<father id="6313" num="5" />
-<cdparam x="498" y="275" />
-<sizeparam width="261" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="496" y="53" />
+<sizeparam width="199" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="68" minY="0" maxY="271" />
-<infoparam name="TGComponent" value="AVATAR Design::EmergencySimulator" />
+<cdrectangleparam minX="0" maxX="130" minY="0" maxY="271" />
+<infoparam name="TGComponent" value="AVATAR Design::TestBench" />
<TGConnectingPoint num="0" id="6280" />
<TGConnectingPoint num="1" id="6281" />
<TGConnectingPoint num="2" id="6282" />
@@ -14125,7 +14152,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6286" />
<TGConnectingPoint num="7" id="6287" />
<extraparam>
-<info value="AVATAR Design::EmergencySimulator" taskName="EmergencySimulator" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::TestBench" taskName="TestBench" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
@@ -14166,11 +14193,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="5362" id="6322" >
<father id="6383" num="0" />
-<cdparam x="685" y="685" />
-<sizeparam width="335" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="684" y="539" />
+<sizeparam width="361" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="123" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="NeighbourhoodTableManagement/out sendTable" />
+<cdrectangleparam minX="0" maxX="97" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="CorrectnessChecking/out toPlausibityCheckMessage" />
<TGConnectingPoint num="0" id="6314" />
<TGConnectingPoint num="1" id="6315" />
<TGConnectingPoint num="2" id="6316" />
@@ -14180,16 +14207,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6320" />
<TGConnectingPoint num="7" id="6321" />
<extraparam>
-<info value="NeighbourhoodTableManagement/out sendTable" channelName="NeighbourhoodTableManagement/out sendTable(int currentPosition, NodeList list) #--# PlausibilityCheck/in getNodeList(NodeList list)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="CorrectnessChecking/out toPlausibityCheckMessage" channelName="CorrectnessChecking/out toPlausibityCheckMessage(int id, int position) #--# PlausibilityCheck/in getEmergencyMessageToVerify(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6331" >
<father id="6383" num="1" />
-<cdparam x="684" y="593" />
-<sizeparam width="416" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="684" y="634" />
+<sizeparam width="410" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="42" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="DSRSC_Management/in broadcastEmergencyBrakingMessage" />
+<cdrectangleparam minX="0" maxX="48" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="DSRSC_Management/out forwardEmergencyBrakingMessage" />
<TGConnectingPoint num="0" id="6323" />
<TGConnectingPoint num="1" id="6324" />
<TGConnectingPoint num="2" id="6325" />
@@ -14199,7 +14226,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6329" />
<TGConnectingPoint num="7" id="6330" />
<extraparam>
-<info value="DSRSC_Management/in broadcastEmergencyBrakingMessage" channelName="DSRSC_Management/in broadcastEmergencyBrakingMessage(int id, int position) #--# DangerAvoidanceStrategy/out forwardEmergency(int myID, int currentPosition)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DSRSC_Management/out forwardEmergencyBrakingMessage" channelName="DSRSC_Management/out forwardEmergencyBrakingMessage(int id, int position) #--# CorrectnessChecking/in getEmergencyBrakingMessage(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6340" >
@@ -14223,11 +14250,11 @@ Otherwise, the most far away
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6349" >
<father id="6383" num="3" />
-<cdparam x="684" y="634" />
-<sizeparam width="410" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="684" y="593" />
+<sizeparam width="416" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="48" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="DSRSC_Management/out forwardEmergencyBrakingMessage" />
+<cdrectangleparam minX="0" maxX="42" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="DSRSC_Management/in broadcastEmergencyBrakingMessage" />
<TGConnectingPoint num="0" id="6341" />
<TGConnectingPoint num="1" id="6342" />
<TGConnectingPoint num="2" id="6343" />
@@ -14237,16 +14264,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6347" />
<TGConnectingPoint num="7" id="6348" />
<extraparam>
-<info value="DSRSC_Management/out forwardEmergencyBrakingMessage" channelName="DSRSC_Management/out forwardEmergencyBrakingMessage(int id, int position) #--# CorrectnessChecking/in getEmergencyBrakingMessage(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DSRSC_Management/in broadcastEmergencyBrakingMessage" channelName="DSRSC_Management/in broadcastEmergencyBrakingMessage(int id, int position) #--# DangerAvoidanceStrategy/out forwardEmergency(int myID, int currentPosition)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6358" >
<father id="6383" num="4" />
-<cdparam x="684" y="539" />
-<sizeparam width="361" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="685" y="685" />
+<sizeparam width="335" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="97" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="CorrectnessChecking/out toPlausibityCheckMessage" />
+<cdrectangleparam minX="0" maxX="123" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="NeighbourhoodTableManagement/out sendTable" />
<TGConnectingPoint num="0" id="6350" />
<TGConnectingPoint num="1" id="6351" />
<TGConnectingPoint num="2" id="6352" />
@@ -14256,7 +14283,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6356" />
<TGConnectingPoint num="7" id="6357" />
<extraparam>
-<info value="CorrectnessChecking/out toPlausibityCheckMessage" channelName="CorrectnessChecking/out toPlausibityCheckMessage(int id, int position) #--# PlausibilityCheck/in getEmergencyMessageToVerify(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="NeighbourhoodTableManagement/out sendTable" channelName="NeighbourhoodTableManagement/out sendTable(int currentPosition, NodeList list) #--# PlausibilityCheck/in getNodeList(NodeList list)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
@@ -14297,11 +14324,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="5362" id="6392" >
<father id="6498" num="0" />
-<cdparam x="252" y="521" />
-<sizeparam width="301" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="252" y="591" />
+<sizeparam width="237" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="125" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="EmergencySimulator/out obstacleDetected" />
+<cdrectangleparam minX="0" maxX="189" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="RadarSensor/out obstacleAhead" />
<TGConnectingPoint num="0" id="6384" />
<TGConnectingPoint num="1" id="6385" />
<TGConnectingPoint num="2" id="6386" />
@@ -14311,16 +14338,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6390" />
<TGConnectingPoint num="7" id="6391" />
<extraparam>
-<info value="EmergencySimulator/out obstacleDetected" channelName="EmergencySimulator/out obstacleDetected(int id, int position) #--# DSRSC_Management/in obstacleDetected(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="RadarSensor/out obstacleAhead" channelName="RadarSensor/out obstacleAhead(int info) #--# ObjectListManagement/in isObstacleAhead(int info)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6401" >
<father id="6498" num="1" />
-<cdparam x="252" y="540" />
-<sizeparam width="261" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="251" y="657" />
+<sizeparam width="272" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="165" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="CarPositionSimulator/out carPosition" />
+<cdrectangleparam minX="0" maxX="154" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="PlausibilityCheck/in getInfoOnObstacle" />
<TGConnectingPoint num="0" id="6393" />
<TGConnectingPoint num="1" id="6394" />
<TGConnectingPoint num="2" id="6395" />
@@ -14330,16 +14357,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6399" />
<TGConnectingPoint num="7" id="6400" />
<extraparam>
-<info value="CarPositionSimulator/out carPosition" channelName="CarPositionSimulator/out carPosition(int id, int position) #--# DSRSC_Management/in carPosition(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="PlausibilityCheck/in getInfoOnObstacle" channelName="PlausibilityCheck/in getInfoOnObstacle(int obstacle) #--# ObjectListManagement/out getInfoOnObstacle(int info)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6410" >
<father id="6498" num="2" />
-<cdparam x="252" y="557" />
-<sizeparam width="201" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="252" y="574" />
+<sizeparam width="247" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="225" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="GPSSensor/out setPosition" />
+<cdrectangleparam minX="0" maxX="179" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="SpeedSensor/out updateOnSpeed" />
<TGConnectingPoint num="0" id="6402" />
<TGConnectingPoint num="1" id="6403" />
<TGConnectingPoint num="2" id="6404" />
@@ -14349,16 +14376,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6408" />
<TGConnectingPoint num="7" id="6409" />
<extraparam>
-<info value="GPSSensor/out setPosition" channelName="GPSSensor/out setPosition(int currentPosition) #--# NeighbourhoodTableManagement/in setPosition(int currentPosition)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="SpeedSensor/out updateOnSpeed" channelName="SpeedSensor/out updateOnSpeed(int speed) #--# VehiculeDynamicsManagement/in updateOnSpeed(int speed)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6419" >
<father id="6498" num="3" />
-<cdparam x="251" y="706" />
-<sizeparam width="308" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="251" y="636" />
+<sizeparam width="256" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="118" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="DangerAvoidanceStrategy/out reducePower" />
+<cdrectangleparam minX="0" maxX="170" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="PlausibilityCheck/in getInfoOnSpeed" />
<TGConnectingPoint num="0" id="6411" />
<TGConnectingPoint num="1" id="6412" />
<TGConnectingPoint num="2" id="6413" />
@@ -14368,16 +14395,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6417" />
<TGConnectingPoint num="7" id="6418" />
<extraparam>
-<info value="DangerAvoidanceStrategy/out reducePower" channelName="DangerAvoidanceStrategy/out reducePower(int value) #--# DrivingPowerReductionStrategy/in getReducePowerOrder(int value)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="PlausibilityCheck/in getInfoOnSpeed" channelName="PlausibilityCheck/in getInfoOnSpeed(int speed) #--# VehiculeDynamicsManagement/out getInfoOnSpeed(int speed)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6428" >
<father id="6498" num="4" />
-<cdparam x="251" y="723" />
-<sizeparam width="301" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="251" y="740" />
+<sizeparam width="252" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="125" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="DangerAvoidanceStrategy/out brakePower" />
+<cdrectangleparam minX="0" maxX="174" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="DangerAvoidanceStrategy/in brake" />
<TGConnectingPoint num="0" id="6420" />
<TGConnectingPoint num="1" id="6421" />
<TGConnectingPoint num="2" id="6422" />
@@ -14387,16 +14414,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6426" />
<TGConnectingPoint num="7" id="6427" />
<extraparam>
-<info value="DangerAvoidanceStrategy/out brakePower" channelName="DangerAvoidanceStrategy/out brakePower(int value) #--# BrakeManagement/in brake(int value)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DangerAvoidanceStrategy/in brake" channelName="DangerAvoidanceStrategy/in brake(int speed, int currentPosition, int position) #--# PlausibilityCheck/out brake(int speed, int currentPosition, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6437" >
<father id="6498" num="5" />
-<cdparam x="251" y="740" />
-<sizeparam width="252" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="251" y="723" />
+<sizeparam width="301" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="174" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="DangerAvoidanceStrategy/in brake" />
+<cdrectangleparam minX="0" maxX="125" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="DangerAvoidanceStrategy/out brakePower" />
<TGConnectingPoint num="0" id="6429" />
<TGConnectingPoint num="1" id="6430" />
<TGConnectingPoint num="2" id="6431" />
@@ -14406,16 +14433,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6435" />
<TGConnectingPoint num="7" id="6436" />
<extraparam>
-<info value="DangerAvoidanceStrategy/in brake" channelName="DangerAvoidanceStrategy/in brake(int speed, int currentPosition, int position) #--# PlausibilityCheck/out brake(int speed, int currentPosition, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DangerAvoidanceStrategy/out brakePower" channelName="DangerAvoidanceStrategy/out brakePower(int value) #--# BrakeManagement/in brake(int value)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6446" >
<father id="6498" num="6" />
-<cdparam x="251" y="636" />
-<sizeparam width="256" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="251" y="706" />
+<sizeparam width="308" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="170" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="PlausibilityCheck/in getInfoOnSpeed" />
+<cdrectangleparam minX="0" maxX="118" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="DangerAvoidanceStrategy/out reducePower" />
<TGConnectingPoint num="0" id="6438" />
<TGConnectingPoint num="1" id="6439" />
<TGConnectingPoint num="2" id="6440" />
@@ -14425,16 +14452,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6444" />
<TGConnectingPoint num="7" id="6445" />
<extraparam>
-<info value="PlausibilityCheck/in getInfoOnSpeed" channelName="PlausibilityCheck/in getInfoOnSpeed(int speed) #--# VehiculeDynamicsManagement/out getInfoOnSpeed(int speed)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DangerAvoidanceStrategy/out reducePower" channelName="DangerAvoidanceStrategy/out reducePower(int value) #--# DrivingPowerReductionStrategy/in getReducePowerOrder(int value)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6455" >
<father id="6498" num="7" />
-<cdparam x="252" y="574" />
-<sizeparam width="247" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="252" y="557" />
+<sizeparam width="201" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="179" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="SpeedSensor/out updateOnSpeed" />
+<cdrectangleparam minX="0" maxX="225" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="GPSSensor/out setPosition" />
<TGConnectingPoint num="0" id="6447" />
<TGConnectingPoint num="1" id="6448" />
<TGConnectingPoint num="2" id="6449" />
@@ -14444,16 +14471,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6453" />
<TGConnectingPoint num="7" id="6454" />
<extraparam>
-<info value="SpeedSensor/out updateOnSpeed" channelName="SpeedSensor/out updateOnSpeed(int speed) #--# VehiculeDynamicsManagement/in updateOnSpeed(int speed)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="GPSSensor/out setPosition" channelName="GPSSensor/out setPosition(int currentPosition) #--# NeighbourhoodTableManagement/in setPosition(int currentPosition)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6464" >
<father id="6498" num="8" />
-<cdparam x="251" y="657" />
-<sizeparam width="272" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="252" y="540" />
+<sizeparam width="261" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="154" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="PlausibilityCheck/in getInfoOnObstacle" />
+<cdrectangleparam minX="0" maxX="165" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="CarPositionSimulator/out carPosition" />
<TGConnectingPoint num="0" id="6456" />
<TGConnectingPoint num="1" id="6457" />
<TGConnectingPoint num="2" id="6458" />
@@ -14463,16 +14490,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6462" />
<TGConnectingPoint num="7" id="6463" />
<extraparam>
-<info value="PlausibilityCheck/in getInfoOnObstacle" channelName="PlausibilityCheck/in getInfoOnObstacle(int obstacle) #--# ObjectListManagement/out getInfoOnObstacle(int info)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="CarPositionSimulator/out carPosition" channelName="CarPositionSimulator/out carPosition(int id, int position) #--# DSRSC_Management/in carPosition(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="6473" >
<father id="6498" num="9" />
-<cdparam x="252" y="591" />
-<sizeparam width="237" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="252" y="521" />
+<sizeparam width="301" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="189" minY="0" maxY="275" />
-<infoparam name="TGComponent" value="RadarSensor/out obstacleAhead" />
+<cdrectangleparam minX="0" maxX="125" minY="0" maxY="275" />
+<infoparam name="TGComponent" value="EmergencySimulator/out obstacleDetected" />
<TGConnectingPoint num="0" id="6465" />
<TGConnectingPoint num="1" id="6466" />
<TGConnectingPoint num="2" id="6467" />
@@ -14482,7 +14509,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="6471" />
<TGConnectingPoint num="7" id="6472" />
<extraparam>
-<info value="RadarSensor/out obstacleAhead" channelName="RadarSensor/out obstacleAhead(int info) #--# ObjectListManagement/in isObstacleAhead(int info)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="EmergencySimulator/out obstacleDetected" channelName="EmergencySimulator/out obstacleDetected(int id, int position) #--# DSRSC_Management/in obstacleDetected(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
diff --git a/modeling/miniAsynchronousDeploy.xml b/modeling/miniAsynchronousDeploy.xml
index dec139e0a4a5bca2cc327a20fc8ab143b570c0f5..c26017473a5a718178bdf94caa0fa51c12b29854 100644
--- a/modeling/miniAsynchronousDeploy.xml
+++ b/modeling/miniAsynchronousDeploy.xml
@@ -618,7 +618,7 @@
</COMPONENT>
<SUBCOMPONENT type="5352" id="299" >
<father id="324" num="0" />
-<cdparam x="604" y="143" />
+<cdparam x="604" y="119" />
<sizeparam width="175" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="75" minY="0" maxY="160" />
@@ -673,7 +673,7 @@
</COMPONENT>
<SUBCOMPONENT type="5352" id="333" >
<father id="358" num="0" />
-<cdparam x="172" y="185" />
+<cdparam x="172" y="134" />
<sizeparam width="176" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="74" minY="0" maxY="160" />
@@ -730,7 +730,7 @@
<P2 x="435" y="337" id="244" />
<AutomaticDrawing data="true" />
<extraparam>
-<spy value="true" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="5350" id="363" >
@@ -741,7 +741,7 @@
<P2 x="435" y="312" id="241" />
<AutomaticDrawing data="true" />
<extraparam>
-<spy value="true" />
+<spy value="false" />
</extraparam>
</CONNECTOR>
diff --git a/src/ddtranslatorSoclib/AvatarTTY.java b/src/ddtranslatorSoclib/AvatarTTY.java
index 4fa2c62fb7644137e1e19763d079e1e5c37f7028..358542ed9b569fd4928bac085a3566ee3b650571 100755
--- a/src/ddtranslatorSoclib/AvatarTTY.java
+++ b/src/ddtranslatorSoclib/AvatarTTY.java
@@ -10,10 +10,10 @@ public class AvatarTTY extends AvatarComponent {
private int index = 0;
private String ttyName;
- private int no_tty;
+ public int no_tty;
private int no_target;
private int no_cluster;
-//DG 4.4. we add a field cluster_index, for the time where a cluster can have more tahn one TTY
+ //add a field cluster_index, a cluster can have more than one TTY
public AvatarTTY(String _ttyName, int _index, int _no_tty, int _no_cluster){
index = _index;
ttyName = _ttyName;
diff --git a/src/ddtranslatorSoclib/toSoclib/TasksAndMainGenerator.java b/src/ddtranslatorSoclib/toSoclib/TasksAndMainGenerator.java
index f0c8e304dbcaa70c352811262417ca007f260a85..4c27bd15c787e77e67385bba957e7ad9bbaf4371 100755
--- a/src/ddtranslatorSoclib/toSoclib/TasksAndMainGenerator.java
+++ b/src/ddtranslatorSoclib/toSoclib/TasksAndMainGenerator.java
@@ -1,3 +1,4 @@
+
/**Copyright or (C) or Copr. GET / ENST, Telecom-Paris, Ludovic Apvrille
*
* ludovic.apvrille AT enst.fr
@@ -162,7 +163,6 @@ public class TasksAndMainGenerator {
public void makeMainMutex() {
// Create a main mutex
- //mainFile.appendToHCode("/* Main mutex */" + CR);
mainFile.appendToBeforeMainCode("/* Main mutex */" + CR);
mainFile.appendToHCode("extern pthread_mutex_t __mainMutex;" + CR + CR);
@@ -171,15 +171,12 @@ public class TasksAndMainGenerator {
mainFile.appendToBeforeMainCode("pthread_attr_t *attr_t;" + CR );
mainFile.appendToBeforeMainCode("pthread_mutex_t __mainMutex;" + CR2 );
- //the address of mwmr segments is currently hard coded for powerPC; will be changed later
-
- mainFile.appendToBeforeMainCode("#define MWMRADDR 0xB0200000" + CR );
- mainFile.appendToBeforeMainCode("#define LOCKSADDR 0xC0200000" + CR );
-
int d=0;
for(AvatarRelation ar: avspec.getRelations()) {
- mainFile.appendToBeforeMainCode("#define CHANNEL"+d+" __attribute__((section(\"section_channel"+d+"\")))" + CR ); //DG 3.5.
+ mainFile.appendToBeforeMainCode("#define CHANNEL"+d+" __attribute__((section(\"section_channel"+d+"\")))" + CR );
+
+ mainFile.appendToBeforeMainCode("#define LOCK"+d+" __attribute__((section(\"section_lock"+d+"\")))" + CR );//one lock per channel
d++;
}
@@ -187,6 +184,9 @@ public class TasksAndMainGenerator {
mainFile.appendToBeforeMainCode("#define base(arg) arg" + CR2 );
mainFile.appendToBeforeMainCode("typedef struct mwmr_s mwmr_t;" + CR2);
+
+
+
mainFile.appendToMainCode("void *ptr;" + CR);
mainFile.appendToMainCode("pthread_barrier_init(&barrier,NULL, NB_PROC);" +CR);
mainFile.appendToMainCode("pthread_attr_t *attr_t = malloc(sizeof(pthread_attr_t));" +CR);
@@ -209,37 +209,28 @@ public class TasksAndMainGenerator {
mainFile.appendToBeforeMainCode("syncchannel __" +getChannelName(ar, i) + ";" + CR);
mainFile.appendToMainCode("__" + getChannelName(ar, i) + ".inname =\"" + ar.getInSignal(i).getName() + "\";" + CR);
mainFile.appendToMainCode("__" +getChannelName(ar, i) + ".outname =\"" + ar.getOutSignal(i).getName() + "\";" + CR);
- mainFile.appendToMainCode("__" + getChannelName(ar, i) + ".mwmr_fifo = &" + getChannelName(ar, i) + ";" + CR);
-
- mainFile.appendToBeforeMainCode("uint32_t *const "+ getChannelName(ar, i)+"_lock= LOCKSADDR+0x"+(j*20) +";" + CR); //DG 9.5. i-> j
- mainFile.appendToBeforeMainCode("struct mwmr_status_s "+ getChannelName(ar, i) +"_status CHANNEL"+j+" = MWMR_STATUS_INITIALIZER(1, 1);" + CR); //DG 9.5. j-> i
- // mainFile.appendToBeforeMainCode("uint8_t "+getChannelName(ar, i) +"_data[32*2];" + CR);
+ mainFile.appendToMainCode("__" + getChannelName(ar, i) + ".mwmr_fifo = &" + getChannelName(ar, i) + ";" + CR);//DG 28.06. enleve &
+
+ /* DG 5.7.2016 force init because mutekh initializer does not work*/
+ mainFile.appendToMainCode(getChannelName(ar, i) + ".status =&"+ getChannelName(ar, i)+"_status;" + CR);
+
+ mainFile.appendToMainCode(getChannelName(ar, i)+".status->lock=0;" + CR);
+ mainFile.appendToMainCode(getChannelName(ar, i)+".status->rptr=0;" + CR);
+ mainFile.appendToMainCode(getChannelName(ar, i)+".status->usage=0;" + CR);
+ mainFile.appendToMainCode(getChannelName(ar, i) + ".status =&"+ getChannelName(ar, i)+"_status->wptr=0;" + CR);
+
+ mainFile.appendToBeforeMainCode("uint32_t const "+ getChannelName(ar, i)+"_lock= LOCK"+j+";" + CR); //DG 01.07. enleve *
+
+ mainFile.appendToBeforeMainCode("struct mwmr_status_s "+ getChannelName(ar, i) +"_status CHANNEL"+j+" = MWMR_STATUS_INITIALIZER(1, 1);" + CR);
//synchronous channels are depth 1
- mainFile.appendToBeforeMainCode("uint8_t "+getChannelName(ar, i) +"_data[32] CHANNEL"+j+";" + CR);//DG 12.05.
- mainFile.appendToBeforeMainCode("struct mwmr_s "+getChannelName(ar, i) +" CHANNEL"+i+" = MWMR_INITIALIZER(1, 1, "+getChannelName(ar, i)+"_data,&"+getChannelName(ar, i)+"_status,\""+getChannelName(ar, i)+"\","+getChannelName(ar, i)+"_lock);" + CR2);//DG 9.5. j->i
+ mainFile.appendToBeforeMainCode("uint8_t "+getChannelName(ar, i) +"_data[32] CHANNEL"+j+";" + CR);
+ mainFile.appendToBeforeMainCode("struct mwmr_s "+getChannelName(ar, i) +" CHANNEL"+i+" = MWMR_INITIALIZER(1, 1, "+getChannelName(ar, i)+"_data,&"+getChannelName(ar, i)+"_status,\""+getChannelName(ar, i)+"\",&"+getChannelName(ar, i)+"_lock);" + CR2);
j++;
}
}
}
}
- /* if (!ar.isAsynchronous()) {
- for(i=0; i<ar.nbOfSignals(); i++) {
- mainFile.appendToHCode("extern syncchannel __" + getChannelName(ar, i) + ";" + CR);
- mainFile.appendToBeforeMainCode("syncchannel __" + getChannelName(ar, i) + ";" + CR);
- mainFile.appendToMainCode("__" + getChannelName(ar, i) + ".inname =\"" + ar.getInSignal(i).getName() + "\";" + CR);
- mainFile.appendToMainCode("__" + getChannelName(ar, i) + ".outname =\"" + ar.getOutSignal(i).getName() + "\";" + CR);
-
- if (ar.isBroadcast()) {
- mainFile.appendToMainCode("setBroadcast(&__" + getChannelName(ar, i) + ", true);" + CR);
- }
- }
- }
- }
- channel_counter = i/
- //mainFile.appendToHCode("pthread_mutex_t mainMutex;" + CR);
- }*/
-
public void makeAsynchronousChannels() {
if (avspec.ASynchronousExist()){
// Create a synchronous channel per relation/signal
@@ -262,22 +253,31 @@ public class TasksAndMainGenerator {
}
mainFile.appendToMainCode("__" + getChannelName(ar, i) + ".maxNbOfMessages = " + ar.getSizeOfFIFO() + ";" + CR);
- mainFile.appendToMainCode("__" + getChannelName(ar, i) + ".mwmr_fifo = &" + getChannelName(ar, i) + ";" + CR);
+ mainFile.appendToMainCode("__" + getChannelName(ar, i) + ".mwmr_fifo = &" + getChannelName(ar, i) + ";" + CR);//DG 28.06. enleve &
+
+ /* DG 5.7.2016 force init because mutekh initializer does not work*/
+ mainFile.appendToMainCode(getChannelName(ar, i) + ".status =&"+ getChannelName(ar, i)+"_status;" + CR);
+
+ mainFile.appendToMainCode(getChannelName(ar, i) +".status->lock=0;" + CR);
+ mainFile.appendToMainCode(getChannelName(ar, i)+".status->rptr=0;" + CR);
+ mainFile.appendToMainCode(getChannelName(ar, i)+".status->usage=0;" + CR);
+ mainFile.appendToMainCode(getChannelName(ar, i)+".status->wptr=0;" + CR);
+
+
+
+ mainFile.appendToBeforeMainCode("uint32_t const "+ getChannelName(ar, i)+"_lock LOCK"+j+";" + CR);
+
+ //parameter <depth> should ultimately be generated; width is fixed as long as data is not explicitly modeled
+ mainFile.appendToBeforeMainCode("struct mwmr_status_s "+ getChannelName(ar, i) +"_status CHANNEL"+i+"= MWMR_STATUS_INITIALIZER(1, 1);" + CR);
-
- mainFile.appendToBeforeMainCode("uint32_t *const "+ getChannelName(ar, i)+"_lock= LOCKSADDR+0x"+(j*20) +";" + CR); //DG 9.5. i->j
- //DG parameter <depth> should ultimately be generated; width is fixed as long as data is not explicitly modeled
- mainFile.appendToBeforeMainCode("struct mwmr_status_s "+ getChannelName(ar, i) +"_status CHANNEL"+i+"= MWMR_STATUS_INITIALIZER(1, 1);" + CR); //DG 9.5. j->i
- mainFile.appendToBeforeMainCode("uint8_t "+getChannelName(ar, i) +"_data[32*2];" + CR);
- mainFile.appendToBeforeMainCode("struct mwmr_s "+getChannelName(ar, i) + " CHANNEL"+i+"= MWMR_INITIALIZER(1, 1, "+getChannelName(ar, i)+"_data,&"+getChannelName(ar, i)+"_status,\""+getChannelName(ar, i)+"\","+getChannelName(ar, i)+"_lock);" + CR2);//DG 9.5. j->i
+ mainFile.appendToBeforeMainCode("uint8_t "+getChannelName(ar, i) +"_data[32] CHANNEL"+j+";" + CR);
+ mainFile.appendToBeforeMainCode("struct mwmr_s "+getChannelName(ar, i) + " CHANNEL"+i+"= MWMR_INITIALIZER(1, 1, "+getChannelName(ar, i)+"_data,&"+getChannelName(ar, i)+"_status,\""+getChannelName(ar, i)+"\",&"+getChannelName(ar, i)+"_lock);" + CR2);
j++;
}
}
}
}
- //mainFile.appendToHCode("pthread_mutex_t mainMutex;" + CR);
}
-
public int FindCPUidFromTask(AvatarBlock block){
LinkedList<AvatarTask> tasks = avddspec.getAllMappedTask();
@@ -297,10 +297,8 @@ public class TasksAndMainGenerator {
public void makeTask(AvatarBlock block , int cpuId) {
TaskFileSoclib taskFile = new TaskFileSoclib(block.getName(),cpuId);
-
//taskFile.addToHeaderCode("#include \"main.h\"" + CR);
//taskFile.addToMainCode("#include \"" + block.getName() + ".h\"");
-
if (includeUserCode) {
String tmp = block.getGlobalCode();
if (tmp != null) {
@@ -338,7 +336,7 @@ public class TasksAndMainGenerator {
public void defineAllSignal(AvatarBlock _block, TaskFileSoclib _taskFile) {
for (AvatarSignal as: _block.getSignals()) {
- //DG 22.09. avoid name clashes cf "open" as a signal name
+
_taskFile.addToMainCode( "static uint32_t _" + as.getName() + ";" + CR);
}
_taskFile.addToMainCode(CR);
@@ -497,7 +495,7 @@ public class TasksAndMainGenerator {
AvatarSignal as = aaos.getSignal();
AvatarRelation ar = avspec.getAvatarRelationWithSignal(as);
- //DG 2.5.
+
//if(ar.isAsynchronous()){
ret2+= CR + "struct mwmr_s *" + getChannelName(ar, as);
//}
@@ -544,10 +542,9 @@ public class TasksAndMainGenerator {
String ret="";
int m=0;
int i =0;
- //int cpt = AccountAllSignal (_block);
+
String []canal= new String[100];
- //String []canalNonDouble= new String[100];
-
+
String block_Name = _block.getName() ;
for(AvatarStateMachineElement asme: asm.getListOfElements()) {
@@ -577,14 +574,8 @@ public class TasksAndMainGenerator {
int i;
String s;
AvatarStateMachine asm = _block.getStateMachine();
- //DG 21.09. if block contains no asynchronous channels
- // temporarily desactivated
- //if(_block.getSignals().isEmpty()){
- // s = "void *mainFunc__" + _block.getName() + "(void *arg)";
- //}
- //else{
- s = "void *mainFunc__" + _block.getName() + "(struct mwmr_s *channels_"+ _block.getName() +"[])";
- // }
+
+ s = "void *mainFunc__" + _block.getName() + "(struct mwmr_s *channels_"+ _block.getName() +"[])";
String sh = "extern " + s + ";" + CR;
s+= "{" + CR;
@@ -595,7 +586,7 @@ public class TasksAndMainGenerator {
s+= CR + "int __currentState = STATE__START__STATE;" + CR;
int nbOfMaxParams = _block.getMaxNbOfParams();
- //DG retabli
+
for(i=0; i<_block.getMaxNbOfMultipleBranches(); i++) {
s+= UNUSED_ATTR + " request __req" + i + ";" + CR;
s+= UNUSED_ATTR + "int *__params" + i + "[" + nbOfMaxParams + "];" + CR;
@@ -607,18 +598,14 @@ public class TasksAndMainGenerator {
//s+= CR + "char * __myname = (char *)arg;" + CR;
s+= CR + "char * __myname = \"" + _block.getName() + "\";"+ CR;//DG 7.7.
-
// s+= CR + "char * __myname;"+ CR;
-
s+= CR + "pthread_cond_init(&__myCond, NULL);" + CR;
s+= CR + "fillListOfRequests(&__list, __myname, &__myCond, &__mainMutex);" + CR;
s+= "//printf(\"my name = %s\\n\", __myname);" + CR;
-
-
-
+
s+= CR + "/* Main loop on states */" + CR;
s+= "while(__currentState != STATE__STOP__STATE) {" + CR;
@@ -715,7 +702,6 @@ public class TasksAndMainGenerator {
if (_asme instanceof AvatarState) {
- //DG 29.03.
int cpuid = FindCPUidFromTask(_block);
// ret += "printf(\"tracing cycles --- block: "+_block.getName()+" cpu: %d cycle count: %d \\n\","+ cpuid+", cpu_cycle_count());"+CR;
if (!firstCall) {
@@ -735,7 +721,6 @@ public class TasksAndMainGenerator {
// Complex case of states -> several nexts
// Put in list all
-
// 1) Only immediatly executable transitions
for(i=0; i<_asme.nbOfNexts(); i++) {
if (_asme.getNext(i) instanceof AvatarTransition) {
@@ -1003,16 +988,19 @@ public class TasksAndMainGenerator {
for(i=0; i<ar.nbOfSignals() ; i++) {
// if(((ar.block1.getName()==taskFile.getName())||(ar.block2.getName()==taskFile.getName()))&&(ar.isAsynchronous())){ //DG 2.5.
+
+ //DG 5.7.2016 is it correct to declare one channels array per couple f communicationg tasks? Attention doubly named channels!
+
if(((ar.block1.getName()==taskFile.getName())||(ar.block2.getName()==taskFile.getName()))){
channelString+="channels_array_"+ taskFile.getName() +"["+j+"]=&"+getChannelName(ar, i)+";" + CR;
- cptchannels_array ++;
+ cptchannels_array ++;
j++;
}
}
}
}
//skip this line if there are no channels associated
-
+ //DG 5.7.2016 is it correct to declare one channels array per couple f communicationg tasks? Attention doubly named channels!
if(!(cptchannels_array==0)){
mainFile.appendToMainCode("struct mwmr_s *channels_array_"+ taskFile.getName() +"["+cptchannels_array+"];"+CR);
mainFile.appendToMainCode(channelString+CR);
diff --git a/src/ddtranslatorSoclib/toTopCell/Code.java b/src/ddtranslatorSoclib/toTopCell/Code.java
index 1520b65e3d4f9067953e1b0328be36a6ec89ce32..2f7db2a8153eccba7303d1e18f2432f8f41f42be 100755
--- a/src/ddtranslatorSoclib/toTopCell/Code.java
+++ b/src/ddtranslatorSoclib/toTopCell/Code.java
@@ -57,13 +57,13 @@ public class Code {
"template <class Iss>" + CR +
"INIT_TOOLS(initialize_tools){" + CR +
- "Iss::setBoostrapCpuId(0);" + CR +
+ //"Iss::setBoostrapCpuId(0);" + CR + // ppc
"/* Only processor 0 starts execution on reset */" + CR +
"#if defined(CONFIG_GDB_SERVER)" + CR +
"ISS_NEST(Iss)::set_loader(ldr);" + CR +
"#endif" + CR +
"#if defined(CONFIG_SOCLIB_MEMCHECK)" +CR +
- " common::IssMemchecker<Iss>::init(maptab, ldr, \"vci_multi_tty,vci_xicu,vci_block_device,vci_fd_acccess,vci_ethernet,vci_fdt_rom,vci_rttimer\");" + CR +
+ " common::IssMemchecker<Iss>::init(maptab, ldr, \"vci_multi_tty0,vci_xicu,vci_block_device,vci_fd_acccess,vci_ethernet,vci_fdt_rom,vci_rttimer\");" + CR +
"#endif" + CR +
"}" +CR2 ;
diff --git a/src/ddtranslatorSoclib/toTopCell/Declaration.java b/src/ddtranslatorSoclib/toTopCell/Declaration.java
index 4602d39567025c7de655732875d9bac605f7f33f..6c56a248bb12611c1c731ff4077d27bdd5aef784 100755
--- a/src/ddtranslatorSoclib/toTopCell/Declaration.java
+++ b/src/ddtranslatorSoclib/toTopCell/Declaration.java
@@ -126,14 +126,20 @@ else{
// There can be an arbitrary number of RAMS (at least one, RAM0 is distinguished) and TTY
- if(nb_clusters==0){
- declaration += "caba::VciRam<vci_param>mwmr_ram(\"mwmr_ram\",IntTab("+(TopCellGenerator.avatardd.getNb_target()+3)+"),maptab);" + CR2;
- declaration += "caba::VciRam<vci_param>mwmrd_ram(\"mwmrd_ram\", IntTab("+(TopCellGenerator.avatardd.getNb_target()+4)+"),maptab);" + CR2;
-}
if(nb_clusters==0){
+ int i=0;
for (AvatarTTY tty : TopCellGenerator.avatardd.getAllTTY()){
- declaration += "caba::VciMultiTty<vci_param> " + tty.getTTYName()+ "(\"" + tty.getTTYName()+ "\", IntTab(" + tty.getNo_target()+ "), maptab, \"vci_multi_tty"+"\", NULL);"+ CR;}
+ declaration += "caba::VciMultiTty<vci_param> " + tty.getTTYName()+ "(\"" + tty.getTTYName()+ "\", IntTab(" + tty.getNo_target()+ "), maptab, \"vci_multi_tty"+i+"\", NULL);"+ CR;
+ i++;
+}
+
+ //target address depends on number of TTYs
+ if(nb_clusters==0){
+ declaration += "caba::VciRam<vci_param>mwmr_ram(\"mwmr_ram\",IntTab("+(TopCellGenerator.avatardd.getNb_target()+3+i)+"),maptab);" + CR2;
+ declaration += "caba::VciRam<vci_param>mwmrd_ram(\"mwmrd_ram\", IntTab("+(TopCellGenerator.avatardd.getNb_target()+4+i)+"),maptab);" + CR2;
+}
+
for (AvatarRAM ram : TopCellGenerator.avatardd.getAllRAM())
if(ram.getNo_ram()==0){
@@ -145,8 +151,10 @@ else{
}
}
else{
+ int i=0;
for (AvatarTTY tty : TopCellGenerator.avatardd.getAllTTY()){
- declaration += "caba::VciMultiTty<vci_param> " + tty.getTTYName()+ "(\"" + tty.getTTYName()+ "\", IntTab("+ tty.getNo_cluster()+"," + tty.getNo_target()+ "), maptab, \"vci_multi_tty"+"\", NULL);"+ CR;}
+ declaration += "caba::VciMultiTty<vci_param> " + tty.getTTYName()+ "(\"" + tty.getTTYName()+ "\", IntTab("+ tty.getNo_cluster()+"," + tty.getNo_target()+ "), maptab, \"vci_multi_tty"+i+"\", NULL);"+ CR;
+ i++;}
for (AvatarRAM ram : TopCellGenerator.avatardd.getAllRAM())
declaration += "soclib::caba::VciRam<vci_param>" + ram.getMemoryName()+ "(\"" + ram.getMemoryName()+ "\"" + ", IntTab("+ram.getNo_cluster()+","
@@ -265,7 +273,7 @@ if(nb_clusters==0){
}
bus.setNbOfAttachedInitiators(1);
- bus.setnbOfAttachedTargets(6);
+ bus.setnbOfAttachedTargets(6);
}
for (AvatarVgmn vgmn : TopCellGenerator.avatardd.getAllVgmn()) {
diff --git a/src/ddtranslatorSoclib/toTopCell/Deployinfo.java b/src/ddtranslatorSoclib/toTopCell/Deployinfo.java
index f35aeb188a5b83b3cf9e70581da046e30814bf35..88988789d58c7c321e9ca3e4b2a748e2ce2f7529 100755
--- a/src/ddtranslatorSoclib/toTopCell/Deployinfo.java
+++ b/src/ddtranslatorSoclib/toTopCell/Deployinfo.java
@@ -81,9 +81,19 @@ public class Deployinfo {
for (AvatarChannel channel : ram.getChannels()) {
deployinfo_map = deployinfo_map +"\n .channel"+i+" : { \\" + CR;
deployinfo_map = deployinfo_map + "*(section_channel"+i+ ")\\"+ CR;
- i++;
+
deployinfo_map=deployinfo_map+ "} > uram"+ram.getNo_ram()+"\\"+ CR;
}
+ //DG ajoute 19.05. explicit mapping of locks
+
+ for (AvatarChannel channel : ram.getChannels()) {
+ deployinfo_map = deployinfo_map +"\n .lock"+i+" : { \\" + CR;
+ deployinfo_map = deployinfo_map + "*(section_lock"+i+ ")\\"+ CR;
+ // deployinfo_map=deployinfo_map+ "} > vci_locks\\"+ CR;
+ deployinfo_map=deployinfo_map+ "} > uram0\\"+ CR;//DG 27.06. no ramlocks
+ i++;
+ }
+
}
}
return deployinfo_map;
diff --git a/src/ddtranslatorSoclib/toTopCell/MappingTable.java b/src/ddtranslatorSoclib/toTopCell/MappingTable.java
index 882022556d81171d47d779a7c2d9d81e638ade6f..b6b919a8289dca852664436d6efd6a15c1689bd3 100755
--- a/src/ddtranslatorSoclib/toTopCell/MappingTable.java
+++ b/src/ddtranslatorSoclib/toTopCell/MappingTable.java
@@ -17,7 +17,7 @@ public class MappingTable {
private static String mapping;
public static String getMappingTable() {
-
+ int l=0;
int nb_clusters=TopCellGenerator.avatardd.getAllCrossbar().size();
if(nb_clusters == 0){
@@ -62,15 +62,15 @@ public class MappingTable {
/* here we have a loop over the CHANNEL segments specified in the deployment diagram and we calculate their addresses in a loop; more intelligent algorithms will be proposed later */
-int j=0; int k=0; int l=0;
+int j=0; int k=0;
if(TopCellGenerator.avatardd.getAllCrossbar().size()==0){
for (AvatarRAM ram : TopCellGenerator.avatardd.getAllRAM()) {
if(ram.getNo_ram() ==0){
- ram.setNo_target(2);
- mapping += "maptab.add(Segment(\"cram" + ram.getNo_ram() + "\", 0x" +(ram.getNo_ram()+1)+ "0000000, 0x00100000, IntTab("+(ram.getNo_target()+2)+"), false));" + CR;
- mapping += "maptab.add(Segment(\"uram" + ram.getNo_ram() + "\", 0x" +(ram.getNo_ram()+1)+ "0200000, 0x00100000, IntTab("+(ram.getNo_target()+2)+"), false));" + CR;
+ ram.setNo_target(2);//in the following assign target number 2
+ mapping += "maptab.add(Segment(\"cram" + ram.getNo_ram() + "\", 0x" +(ram.getNo_ram()+1)+ "0000000, 0x00100000, IntTab("+(ram.getNo_target())+"), false));" + CR;
+ mapping += "maptab.add(Segment(\"uram" + ram.getNo_ram() + "\", 0x" +(ram.getNo_ram()+1)+ "0200000, 0x00100000, IntTab("+(ram.getNo_target())+"), false));" + CR;
}
else{
ram.setNo_target(7+j);
@@ -79,15 +79,17 @@ int j=0; int k=0; int l=0;
j++;
}
}
-
+ int m=0;
for (AvatarTTY tty : TopCellGenerator.avatardd.getAllTTY()) {
/* we calculate the target number of one or several (multi-) ttys which come after the j rams and the 7 compulsory targets */
- tty.setNo_target(7+j+k);
- k++;
+ tty.setNo_target(7+j);
/* we use a simple formula for calculating the TTY address in case of multiple (multi-) ttys */
- mapping += "maptab.add(Segment(\"vci_multi_tty\" , 0xd"+tty.getNo_tty()+"200000, 0x00000010, IntTab(" +tty.getNo_target() +"), false));" + CR;
- j++;
- l=tty.getNo_target();
+ /* attention this will not work for more than 10 TTYs */
+ mapping += "maptab.add(Segment(\"vci_multi_tty"+m+"\" , 0xd"+tty.getNo_tty()+"200000, 0x00000010, IntTab(" +tty.getNo_target() +"), false));" + CR;
+ // mapping += "maptab.add(Segment(\"vci_multi_tty"+m+"\" , 0xe"+(m+1)+"200000, 0x00000010, IntTab(" +tty.getNo_target() +"), false));" + CR;
+
+ j++;m++;
+ l=tty.getNo_target();
}
}
@@ -110,21 +112,21 @@ int j=0; int k=0; int l=0;
int m=0;
for (AvatarTTY tty : TopCellGenerator.avatardd.getAllTTY()) {
/* we calculate the target number of one or several (multi-) ttys which come after the j rams and the 7 compulsory targets */
- tty.setNo_target(7+j+k);
- k++;
+ tty.setNo_target(7+j);
/* we use a simple formula for calculating the TTY address in case of multiple (multi-) ttys */
/* only one tty per cluster currently! */
- mapping += "maptab.add(Segment(\"vci_multi_tty\" , 0xd"+tty.getNo_tty()+"200000, 0x00000010, IntTab("+m+","+tty.getNo_target() +"), false));" + CR;
+ // mapping += "maptab.add(Segment(\"vci_multi_tty\" , 0xd"+tty.getNo_tty()+"200000, 0x00000010, IntTab("+m+","+tty.getNo_target() +"), false));" + CR;
+ mapping += "maptab.add(Segment(\"vci_multi_tty"+m+"\", 0xe"+(m+1)+"200000, 0x00000010, IntTab("+m+","+tty.getNo_target() +"), false));" + CR;
j++; m++;
- l=tty.getNo_target();
+ l=tty.getNo_target();
}
}
mapping = mapping + "maptab.add(Segment(\"vci_fd_access\", 0xd4200000, 0x00000100, IntTab("+(l+1)+"), false));" + CR;
mapping = mapping + "maptab.add(Segment(\"vci_ethernet\", 0xd5000000, 0x00000020, IntTab("+(l+2)+"), false));" + CR;
mapping = mapping + "maptab.add(Segment(\"vci_block_device\", 0xd1200000, 0x00000020, IntTab("+(l+3)+"), false));" + CR2;
- mapping = mapping + "maptab.add(Segment(\"vci_locks\", 0xC0200000, 0x00000100, IntTab("+(l+4)+"), false));" + CR2;//DG 4.12. for coprocessor wrapper
-mapping = mapping + "maptab.add(Segment(\"mwmr_ram\", 0xA0200000, 0x00001000, IntTab("+(l+5)+"), false));" + CR2;//DG 4.12. for coprocessor wrapper
+ mapping = mapping + "maptab.add(Segment(\"vci_locks\", 0xC0200000, 0x00000100, IntTab("+(l+4)+"), false));" + CR2;
+mapping = mapping + "maptab.add(Segment(\"mwmr_ram\", 0xA0200000, 0x00001000, IntTab("+(l+5)+"), false));" + CR2;
mapping = mapping + "maptab.add(Segment(\"mwmrd_ram\", 0xB0200000, 0x00003000, IntTab("+(l+6)+"), false));" + CR2;//DG 4.12.
}
@@ -153,15 +155,12 @@ mapping = mapping + "maptab.add(Segment(\"mwmrd_ram\", 0xB0200000, 0x00003000,
mapping = mapping + "maptab.add(Segment(\"vci_fd_access\", 0xd4200000, 0x00000100, IntTab(0,7), false));" + CR;
mapping = mapping + "maptab.add(Segment(\"vci_ethernet\", 0xd5000000, 0x00000020, IntTab(0,8), false));" + CR;
mapping = mapping + "maptab.add(Segment(\"vci_block_device\", 0xd1200000, 0x00000020, IntTab(0,9), false));" + CR2;
-
- //DG 4.4. deal with mapping of channels: has to be revised
- //Attention: also ldscript becomes more complicated
-
+
int j=0; int c;
for (AvatarChannel channel : TopCellGenerator.avatardd.getAllMappedChannels()) {
//we need to know on which cluster the channel is mapped
- //DG 5.4. calcul pas encore correct, il faut identifier compbien de canaux il y a par cluster, ou proceder par RAM et identifier les canaux mappe dessus puis incrementer si plusieurs canaux sur la meme ram
+ //DG 5.4. calcul pas encore correct pour cluster, il faut identifier combien de canaux il y a par cluster, ou proceder par RAM et identifier les canaux mappe dessus puis incrementer si plusieurs canaux sur la meme ram
mapping += "maptab.add(Segment(\"channel" + j+ "\", 0x" + channel.getNo_cluster() + "f000000, 0x00100000, IntTab("+channel.getNo_cluster()+","+channel.getRAMNo()+"), false));" + CR;
j++;
@@ -181,11 +180,14 @@ mapping = mapping + "maptab.add(Segment(\"mwmrd_ram\", 0xB0200000, 0x00003000,
}
//one tty per cluster
+ int i=0;
for (AvatarTTY tty : TopCellGenerator.avatardd.getAllTTY()) {
c=tty.getIndex();
tty.setNo_target(5);
- mapping += "maptab.add(Segment(\"vci_multi_tty"+tty.getIndex()+"\" , 0xd"+tty.getIndex()+"0200000, 0x00000010, IntTab("+tty.getIndex()+",5), false));" + CR;
+ // mapping += "maptab.add(Segment(\"vci_multi_tty"+tty.getIndex()+"\" , 0xd"+tty.getIndex()+"0200000, 0x00000010, IntTab("+tty.getIndex()+",5), false));" + CR;
+ mapping += "maptab.add(Segment(\"vci_multi_tty"+i+"\" , 0xd"+tty.getIndex()+"0200000, 0x00000010, IntTab("+tty.getIndex()+",5), false));" + CR;
+ i++;
}
}
diff --git a/src/ddtranslatorSoclib/toTopCell/NetList.java b/src/ddtranslatorSoclib/toTopCell/NetList.java
index 7cbf89c14c3e26a5cf6c86ae600123c72550d8f2..078a34451223ef1087292b9eef8b109f84b59090 100755
--- a/src/ddtranslatorSoclib/toTopCell/NetList.java
+++ b/src/ddtranslatorSoclib/toTopCell/NetList.java
@@ -10,11 +10,12 @@ public class NetList {
public static final String CR = "\n";
public static final String CR2 = "\n\n";
private static final String NAME_RST = "signal_resetn";
+ private static boolean tracing;
- public static String getNetlist(String icn) {
+ public static String getNetlist(String icn, boolean _tracing) {
int nb_clusters=TopCellGenerator.avatardd.getAllCrossbar().size();
boolean trace_caba=true; //tracing is enabled in cycle accurate mode
-
+ tracing = _tracing;
String netlist;
netlist = CR2 + "//------------------------------Netlist---------------------------------" + CR2;
@@ -194,11 +195,9 @@ netlist = netlist + "// RAM netlist" + CR2;
//netlist = netlist +"mwmr_ram"+i+".p_irq[0](signal_xicu_irq[0]);" + CR2;
}
}
-
-
- for (AvatarTTY tty : TopCellGenerator.avatardd.getAllTTY()){
+
if(nb_clusters==0){
- /* we can have several TTYs and each is associated to the fdtrom, for the moment limit to one (multi-) TTY */
+ /* we can have several TTYs and each is associated to the fdtrom */
if(icn=="vgmn"){
netlist = netlist + "vgmn.p_to_target["+(TopCellGenerator.avatardd.getNb_target())+"](signal_vci_vcifdaccesst);" + CR;
@@ -226,40 +225,50 @@ netlist = netlist + "// RAM netlist" + CR2;
+6+"](signal_vci_ethernett);" + CR; netlist = netlist + "vgsb.p_to_target["+//TopCellGenerator.avatardd.getAllCrossbar().size()
+7+"](signal_vci_bdt);" + CR;
}
-}
- netlist = netlist + "vcifdtrom.begin_device_node(\"vci_multi_tty\",\"soclib:vci_multi_tty\");" + CR2;
+ }
+ //netlist = netlist + "vcifdtrom.begin_device_node(\"vci_multi_tty\",\"soclib:vci_multi_tty\");" + CR2;
netlist = netlist + "vcifdtrom.add_property(\"interrupts\", 0);" + CR2;
netlist = netlist + "vcifdtrom.end_node();;" + CR2;
netlist = netlist + "// TTY netlist" + CR2;
+
+ int i=0;
+ for (AvatarTTY tty : TopCellGenerator.avatardd.getAllTTY()){
netlist = netlist + tty.getTTYName()+".p_clk(signal_clk);" + CR;
netlist = netlist + tty.getTTYName()+".p_resetn(signal_resetn);" + CR;
- netlist = netlist + tty.getTTYName()+".p_vci(signal_vci_tty"+tty.getNo_tty()+");" + CR2;
+ netlist = netlist + tty.getTTYName()+".p_vci(signal_vci_tty"+i+");" + CR2;
+
+int no_irq_tty=0;
if(nb_clusters==0){
+
if(icn=="vgmn"){
- netlist = netlist + "vgmn.p_to_target["+tty.getNo_target()+"](signal_vci_tty"+tty.getNo_tty()+");" + CR2;
- netlist = netlist + tty.getTTYName()+".p_irq[0](signal_xicu_irq[0]);" + CR2;
+ netlist = netlist + "vcifdtrom.begin_device_node(\"vci_multi_tty"+i+"\",\"soclib:vci_multi_tty"+i+"\");" + CR2;
+ netlist = netlist + "vgmn.p_to_target["+tty.getNo_target()+"](signal_vci_tty"+i+");" + CR2;
+ netlist = netlist + tty.getTTYName()+".p_irq[0](signal_xicu_irq["+no_irq_tty+"]);" + CR2;
}else{
- netlist = netlist + "vgsb.p_to_target["+tty.getNo_target()+"](signal_vci_tty"+tty.getNo_tty()+");" + CR2;
- netlist = netlist + tty.getTTYName()+".p_irq[0](signal_xicu_irq[0]);" + CR2; }
+netlist = netlist + "vcifdtrom.begin_device_node(\"vci_multi_tty"+i+"\",\"soclib:vci_multi_tty"+tty.getNo_tty()+"\");" + CR2;
+ netlist = netlist + "vgsb.p_to_target["+tty.getNo_target()+"](signal_vci_tty"+i+");" + CR2;
+ netlist = netlist + tty.getTTYName()+".p_irq[0](signal_xicu_irq["+no_irq_tty+"]);" + CR2; }
}
//we have a clustered architecture: identify local crossbar
- else{ int i;
+ else{
for(i=0;i<nb_clusters;i++){
netlist = netlist + "local_crossbar"+i+".p_to_target["+tty.getNo_target()+"](signal_vci_tty"+i+");" + CR2;
- //DG 4.4. recalculate irq addresses! Assumption 5 devices per cluster
+ //DG 4.4. recalculate irq addresses! Hypothesis 5 devices per cluster
netlist = netlist + tty.getTTYName()+".p_irq[0](signal_xicu_irq["+(tty.getNo_cluster()*5)+"]);" + CR2;
}
- }
+ }
+ i++;
+ no_irq_tty+=6;//if there is more than one tty, irq >5
}
netlist = netlist + "{" + CR2;
netlist = netlist + " vcifdtrom.begin_node(\"aliases\");" + CR;
netlist = netlist + " vcifdtrom.add_property(\"timer\", vcifdtrom.get_device_name(\"vci_rttimer\") + \"[0]\");" + CR;
- netlist = netlist + " vcifdtrom.add_property(\"console\", vcifdtrom.get_device_name(\"vci_multi_tty\") + \"[0]\");" + CR;
+ netlist = netlist + " vcifdtrom.add_property(\"console\", vcifdtrom.get_device_name(\"vci_multi_tty0\") + \"[0]\");" + CR;
netlist = netlist + " vcifdtrom.end_node();" + CR;
netlist = netlist + "}" + CR2;
@@ -302,7 +311,7 @@ netlist = netlist + "// RAM netlist" + CR2;
//not all interfaces are of interest; non-clustered version
- int i,j;
+ int j;
/*if the channel is monitored, add it to the list */
@@ -358,6 +367,7 @@ netlist = netlist + "// RAM netlist" + CR2;
}
}
+ if (tracing){
//RAM are monitored in trace file if marked trace option 3
netlist += "sc_trace_file *tf;" + CR;
netlist += "tf=sc_create_vcd_trace_file(\"mytrace\");" + CR;
@@ -405,14 +415,16 @@ for(i=0;i<TopCellGenerator.avatardd.getNb_init();i++){
netlist += "sc_trace(tf,signal_vci_vciram"+ram.getNo_ram()+",\"Memory"+ram.getNo_ram()+"\");" + CR;
//}
}
-
+ }
netlist = netlist + " sc_core::sc_start(sc_core::sc_time(0, sc_core::SC_NS));" + CR;
netlist = netlist + " signal_resetn = false;" + CR;
netlist = netlist + " sc_core::sc_start(sc_core::sc_time(1, sc_core::SC_NS));" + CR;
netlist = netlist + " signal_resetn = true;" + CR;
netlist = netlist + " sc_core::sc_start();" + CR;
+ if(tracing){
netlist += "sc_close_vcd_trace_file(tf);" + CR;
+ }
netlist = netlist + CR + " return EXIT_SUCCESS;"+ CR;
netlist = netlist +"}" + CR;
return netlist;
diff --git a/src/ddtranslatorSoclib/toTopCell/Signal.java b/src/ddtranslatorSoclib/toTopCell/Signal.java
index de68a5f2279e6c44476cb77ccdd21091593c8cbb..392b30a995e1b2e865a5d40decf9576f13434095 100755
--- a/src/ddtranslatorSoclib/toTopCell/Signal.java
+++ b/src/ddtranslatorSoclib/toTopCell/Signal.java
@@ -43,9 +43,14 @@ signal = signal +"caba::VciSignals<vci_param> signal_vci_mwmrd_ram(\"signal_vci_
if(TopCellGenerator.avatardd.getAllCrossbar().size()==0){
for (AvatarRAM ram : TopCellGenerator.avatardd.getAllRAM())
signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_vciram" + ram.getNo_ram()
- + "(\"signal_vci_vciram" + ram.getNo_ram() + "\");" + CR2;
- for (AvatarTTY tty : TopCellGenerator.avatardd.getAllTTY())
- signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_tty"+tty.getNo_tty()+"(\"signal_vci_tty"+tty.getNo_tty()+"\");" + CR2;
+ + "(\"signal_vci_vciram" + ram.getNo_ram() + "\");" + CR2;
+ int i = 0;
+
+ for (AvatarTTY tty : TopCellGenerator.avatardd.getAllTTY()){
+ //signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_tty"+tty.getNo_tty()+"(\"signal_vci_tty"+tty.getNo_tty()+"\");" + CR2;
+signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_tty"+i+"(\"signal_vci_tty"+i+"\");" + CR2;
+i++;
+ }
signal = signal + " sc_core::sc_signal<bool> signal_xicu_irq[xicu_n_irq];" + CR2;
System.out.print("number of processors : " + TopCellGenerator.avatardd.getNbCPU()+"\n");
@@ -54,9 +59,13 @@ if(TopCellGenerator.avatardd.getAllCrossbar().size()==0){
else{
for (AvatarRAM ram : TopCellGenerator.avatardd.getAllRAM())
signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_vciram" + ram.getNo_ram()
- + "(\"signal_vci_vciram" + ram.getNo_ram() + "\");" + CR2;
- for (AvatarTTY tty : TopCellGenerator.avatardd.getAllTTY())
- signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_tty"+tty.getNo_tty()+"(\"signal_vci_tty"+tty.getNo_tty()+"\");" + CR2;
+ + "(\"signal_vci_vciram" + ram.getNo_ram() + "\");" + CR2; int i=0;
+ for (AvatarTTY tty : TopCellGenerator.avatardd.getAllTTY()){
+ // signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_tty"+tty.getNo_tty()+"(\"signal_vci_tty"+tty.getNo_tty()+"\");" + CR2;
+signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_tty"+i+"(\"signal_vci_tty"+i+"\");" + CR2;
+ i++;
+ }
+
signal = signal + " sc_core::sc_signal<bool> signal_xicu_irq[xicu_n_irq];" + CR2;
//System.out.print("number of processors : " + TopCellGenerator.avatardd.getNbCPU()+"\n");
System.out.print("number of clusters : " + TopCellGenerator.avatardd.getNbClusters()+"\n");
diff --git a/src/ddtranslatorSoclib/toTopCell/TopCellGenerator.java b/src/ddtranslatorSoclib/toTopCell/TopCellGenerator.java
index db8c3fc5ea3a975f37c1f6e9395a750d743b51f5..4db573fd489bdb5e8469ec19578c5b4bd106bdd4 100755
--- a/src/ddtranslatorSoclib/toTopCell/TopCellGenerator.java
+++ b/src/ddtranslatorSoclib/toTopCell/TopCellGenerator.java
@@ -42,9 +42,10 @@ public class TopCellGenerator
public final String TYPEDEF = "typedef";
private final static String GENERATED_PATH = "generated_topcell" + File.separator;
-
- public TopCellGenerator(AvatarddSpecification dd){
+ private boolean tracing;
+ public TopCellGenerator(AvatarddSpecification dd, boolean _tracing){
avatardd = dd;
+ tracing=_tracing;
}
public String generateTopCell() {
@@ -87,7 +88,7 @@ public class TopCellGenerator
Loader.getLoader() +
Declaration.getDeclarations() +
Signal.getSignal() +
- NetList.getNetlist(icn) +
+ NetList.getNetlist(icn,tracing) +
Simulation.getSimulation();
return (top);
}
diff --git a/src/ui/window/JDialogAvatarddExecutableCodeGeneration.java b/src/ui/window/JDialogAvatarddExecutableCodeGeneration.java
index 64b0a4509ce824c8ebaeddabe2465c2cc411ce94..894cf5a5ec62490e5abeb66d3c0e14c63a45d87f 100755
--- a/src/ui/window/JDialogAvatarddExecutableCodeGeneration.java
+++ b/src/ui/window/JDialogAvatarddExecutableCodeGeneration.java
@@ -528,7 +528,7 @@ public class JDialogAvatarddExecutableCodeGeneration extends javax.swing.JFrame
} else {
System.err.println("**AVATAR TOPCELL found");
- TopCellGenerator topCellGenerator = new TopCellGenerator(avddspec);
+ TopCellGenerator topCellGenerator = new TopCellGenerator(avddspec, tracemode.isSelected());
testGo();
jta.append("Generation of TopCell executable code: done\n");
System.err.println("**get Text "+code2.getText());
@@ -603,7 +603,7 @@ public class JDialogAvatarddExecutableCodeGeneration extends javax.swing.JFrame
System.err.println("AVATAR TOPCELL found");
}
- TopCellGenerator topCellGenerator = new TopCellGenerator(avddspec);
+ TopCellGenerator topCellGenerator = new TopCellGenerator(avddspec, tracemode.isSelected());
testGo();
jta.append("Generation of TopCell executable code: done\n");