From 8cf435c469bfd4827c3b6a5a13bc535f169c62ec Mon Sep 17 00:00:00 2001
From: Ludovic Apvrille <ludovic.apvrille@telecom-paris.fr>
Date: Fri, 3 May 2024 15:47:47 +0200
Subject: [PATCH] Adding Diplodocus model for the platoon
---
modeling/WSec/wsec_diplodocus.xml | 61384 ++++++++++++++++++++++++++++
1 file changed, 61384 insertions(+)
create mode 100644 modeling/WSec/wsec_diplodocus.xml
diff --git a/modeling/WSec/wsec_diplodocus.xml b/modeling/WSec/wsec_diplodocus.xml
new file mode 100644
index 0000000000..623109b085
--- /dev/null
+++ b/modeling/WSec/wsec_diplodocus.xml
@@ -0,0 +1,61384 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<TURTLEGMODELING version="3.0 beta" ANIMATE_INTERACTIVE_SIMULATION="true" ACTIVATE_PENALTIES="true" UPDATE_INFORMATION_DIPLO_SIM="false" ANIMATE_WITH_INFO_DIPLO_SIM="true" OPEN_DIAG_DIPLO_SIM="false" LAST_SELECTED_MAIN_TAB="3" LAST_SELECTED_SUB_TAB="0">
+
+<Modeling type="Diplodocus Methodology" nameTab="DIPLODOCUS_Methodology" >
+<DiplodocusMethodologyDiagramPanel name="DIPLODOCUS_Methodology" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="6003" id="5" index="0" uid="06a3a576-801f-4f6b-9021-08d10e4c0a6c" >
+<cdparam x="50" y="150" />
+<sizeparam width="200" height="120" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="TGComponent" value="Requirements" />
+<new d="false" />
+<TGConnectingPoint num="0" id="1" />
+<TGConnectingPoint num="1" id="2" />
+<TGConnectingPoint num="2" id="3" />
+<TGConnectingPoint num="3" id="4" />
+</COMPONENT>
+
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+<cdparam x="600" y="100" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="TGComponent" value="Com. Patterns" />
+<new d="false" />
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+<TGConnectingPoint num="1" id="8" />
+<TGConnectingPoint num="2" id="9" />
+<TGConnectingPoint num="3" id="10" />
+</COMPONENT>
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+<father id="11" num="0" />
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+<cdrectangleparam minX="605" maxX="605" minY="140" maxY="140" />
+<infoparam name="value " value="DMA_transfer" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="TGComponent" value="Mapping" />
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+<TGConnectingPoint num="4" id="20" />
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+
+</DiplodocusMethodologyDiagramPanel>
+
+</Modeling>
+
+
+
+
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+<TGConnectingPoint num="0" id="452" />
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+<Line value="2. sending lane keeping control data to activate trajectory controller" />
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+<hidden value="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoEBC(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="569" />
+<TGConnectingPoint num="1" id="570" />
+<extraparam>
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+<COMPONENT type="1016" id="579" index="9" uid="46d55c6a-7e32-400e-afc2-c0e3f9baffb4" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<TGConnectingPoint num="0" id="573" />
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+<TGConnectingPoint num="2" id="575" />
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+<hidden value="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<enabled value="true" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="35" maxX="50" minY="10" maxY="28" />
+<infoparam name="guard 2" value="[(leader_message_type == 1) or (leader_message_type == 11) or (leader_message_type == 12)]" />
+<new d="false" />
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+<extraparam>
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+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="843" index="4" uid="bd738c13-60e6-4b09-a383-a636ff922255" >
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+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newLeaderSocketData(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="844" />
+<TGConnectingPoint num="1" id="845" />
+<extraparam>
+<Data eventName="newLeaderSocketData" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="849" index="6" uid="e0aa8b21-de18-4054-8a10-8d549f957b28" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromLSocToSoc(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="847" />
+<TGConnectingPoint num="1" id="848" />
+<extraparam>
+<Data channelName="fromLSocToSoc" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="851" index="7" uid="53c59f6a-5fb6-42d5-8ace-934bdfcfe1c9" >
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="850" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="sequence" value="null" />
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+<TGConnectingPoint num="2" id="855" />
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+<TGConnectingPoint num="4" id="857" />
+<TGConnectingPoint num="5" id="858" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="852" index="23" uid="10a91373-1cd9-4c23-b645-3a505cd2a84a" >
+<father id="859" num="0" />
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+<infoparam name="Sequence information" value=">>" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="This simplistic socket activity diagram is to refine
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+<new d="false" />
+<TGConnectingPoint num="0" id="860" />
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+<TGConnectingPoint num="6" id="866" />
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+<TGConnectingPoint num="14" id="874" />
+<TGConnectingPoint num="15" id="875" />
+<extraparam>
+<Line value="This simplistic socket activity diagram is to refine" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="878" index="10" uid="5f4a6c31-adec-4a3f-a5fe-923b0211ed3c" >
+<cdparam x="418" y="155" />
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="879" />
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+<TGConnectingPoint num="2" id="881" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="886" index="14" uid="2c113af3-1c00-4c23-bf44-8928db4d9d1e" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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+</CONNECTOR>
+<CONNECTOR type="115" id="889" index="17" uid="58853783-17e9-482c-885b-43c542708e42" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<infoparam name="connector" value="null" />
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+<new d="false" />
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<P2 x="214" y="383" id="850" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="893" index="21" uid="056870c5-f567-4a25-ab12-629fe54c4bbe" >
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+<infoparam name="connector" value="null" />
+<P1 x="428" y="60" id="883" />
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+<AutomaticDrawing data="true" />
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+<CONNECTOR type="115" id="894" index="22" uid="619e3fff-0af1-4f81-92f8-fdbdec4af767" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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+<AutomaticDrawing data="true" />
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+</CONNECTOR>
+
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+
+<TMLActivityDiagramPanel name="EBController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="301" id="911" index="0" uid="b2fed985-65d7-47b5-bcad-4d9f442a932b" >
+<cdparam x="772" y="356" />
+<sizeparam width="266" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
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+<extraparam>
+<Line value="Sending updated rover speed value (0)" />
+<Line value="to SpeedFeedback component" />
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+</COMPONENT>
+
+<COMPONENT type="301" id="928" index="1" uid="77f15006-5980-499a-8a18-ce1a5e5794e5" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<extraparam>
+<Line value="Sending EB command to DC motors actuators" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Receiving EB order from
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+<new d="false" />
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+<TGConnectingPoint num="15" id="944" />
+<extraparam>
+<Line value="Receiving EB order from" />
+<Line value="AutonomousDriving component" />
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+</COMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newFeedbackEB()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="946" />
+<TGConnectingPoint num="1" id="947" />
+<extraparam>
+<Data eventName="newFeedbackEB" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="950" index="4" uid="59bcb8f9-3117-4398-9e63-7353ffd6661f" >
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoSF(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="951" />
+<TGConnectingPoint num="1" id="952" />
+<extraparam>
+<Data channelName="fromEBCtoSF" nbOfSamples="1" secPattern="" isAttacker="No" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newEBCommand()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="956" />
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+<extraparam>
+<Data eventName="newEBCommand" nbOfParams="5" />
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+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoMO(1)" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+- rover speed
+- gap
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+<hidden value="false" />
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+<TGConnectingPoint num="1" id="1247" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="1249" />
+<TGConnectingPoint num="1" id="1250" />
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+<TGConnectingPoint num="1" id="1264" />
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+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<hidden value="false" />
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+<infoparam name="action state" value="first_loop = false" />
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+<TGConnectingPoint num="1" id="1309" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromSFtoDT(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="1311" />
+<TGConnectingPoint num="1" id="1312" />
+<extraparam>
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+<infoparam name="Primitive port" value="Channel fromSocToAD" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2723" />
+<extraparam>
+<Prop commName="fromSocToAD" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
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+<cdrectangleparam minX="-13" maxX="388" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Channel fromADtoSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2725" />
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+<Prop commName="fromADtoSoc" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
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+<cdrectangleparam minX="-13" maxX="388" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Event newSocketData" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2727" />
+<extraparam>
+<Prop commName="newSocketData" commType="1" origin="true" finite="true" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
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+<cdrectangleparam minX="-13" maxX="388" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Event newLeaderSocketData" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2729" />
+<extraparam>
+<Prop commName="newLeaderSocketData" commType="1" origin="false" finite="true" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
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+<infoparam name="Primitive port" value="Channel fromLSocToSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2731" />
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+<Prop commName="fromLSocToSoc" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="true" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
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+<cdrectangleparam minX="-13" maxX="388" minY="-13" maxY="150" />
+<infoparam name="Primitive port" value="Channel fromSocToLSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2733" />
+<extraparam>
+<Prop commName="fromSocToLSoc" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
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+<hidden value="false" />
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+<infoparam name="Primitive component" value="SensorsAcquisition" />
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+<TGConnectingPoint num="6" id="2752" />
+<TGConnectingPoint num="7" id="2753" />
+<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
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+<hidden value="false" />
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+<infoparam name="Primitive port" value="Channel fromSAtoDT" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2744" />
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+<Prop commName="fromSAtoDT" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
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+
+</TMLComponentTaskDiagramPanel>
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+<TMLActivityDiagramPanel name="AutonomousDriving" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000007" >
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
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+<TGConnectingPoint num="2" id="2759" />
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In case of platoon information update message:
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+2. sending lane keeping control data to activate trajectory controller
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+<new d="false" />
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+<extraparam>
+<Line value="In case of platoon information update message:" />
+<Line value="1. sending speed control data to activate speed controller" />
+<Line value="2. sending lane keeping control data to activate trajectory controller" />
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Sending update message to leader
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+<TGConnectingPoint num="15" id="2793" />
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+<Line value="Sending update message to leader" />
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In case of emergency break (EB) message,
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+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2795" />
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+<TGConnectingPoint num="15" id="2810" />
+<extraparam>
+<Line value="In case of emergency break (EB) message," />
+<Line value="sending EB order to activate EB controller" />
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Receiving leader message
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+<new d="false" />
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+<TGConnectingPoint num="14" id="2826" />
+<TGConnectingPoint num="15" id="2827" />
+<extraparam>
+<Line value="Receiving leader message" />
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+<COMPONENT type="301" id="2845" index="6" uid="57469c20-b995-4cc9-9654-d0e7ccd93392" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Receiving sensor data
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+<new d="false" />
+<TGConnectingPoint num="0" id="2829" />
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+<TGConnectingPoint num="13" id="2842" />
+<TGConnectingPoint num="14" id="2843" />
+<TGConnectingPoint num="15" id="2844" />
+<extraparam>
+<Line value="Receiving sensor data" />
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+</COMPONENT>
+
+<COMPONENT type="1013" id="2849" index="7" uid="061be48e-9472-4aab-9c27-a19960829170" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2847" />
+<TGConnectingPoint num="1" id="2848" />
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+<father id="2849" num="0" />
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+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="26" minY="10" maxY="26" />
+<infoparam name="value of the delay" value="1" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1006" id="2852" index="8" uid="3ffd803a-478a-465e-9752-21312b88da19" >
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+<sizeparam width="137" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoEBC(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2850" />
+<TGConnectingPoint num="1" id="2851" />
+<extraparam>
+<Data channelName="fromADtoEBC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1016" id="2860" index="9" uid="46d55c6a-7e32-400e-afc2-c0e3f9baffb4" >
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+<sizeparam width="150" height="5" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2854" />
+<TGConnectingPoint num="1" id="2855" />
+<TGConnectingPoint num="2" id="2856" />
+<TGConnectingPoint num="3" id="2857" />
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+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="150" minY="7" maxY="0" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
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+<COMPONENT type="1012" id="2868" index="10" uid="32823728-02c2-4169-8509-dfa6fce25200" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="2864" />
+<TGConnectingPoint num="1" id="2865" />
+<TGConnectingPoint num="2" id="2866" />
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+(Attack 1, see deliverable D5.2)
+2: the attacker injects a false speed value
+with a small increase w.r.t. the real value
+(Attack 2, see deliverable D5.2)
+4 : the attacker injects a false emergency
+brake message
+(Attack 4, see deliverable D5.2)
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+<Line value="message" />
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+<Param index="0" value="leader_message_type" />
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+<CONNECTOR type="115" id="3185" index="21" uid="056870c5-f567-4a25-ab12-629fe54c4bbe" >
+<cdparam x="428" y="60" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="428" y="60" id="3176" />
+<P2 x="428" y="85" id="3172" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="3186" index="22" uid="619e3fff-0af1-4f81-92f8-fdbdec4af767" >
+<cdparam x="428" y="115" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="428" y="115" id="3174" />
+<P2 x="428" y="150" id="3170" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="3187" index="23" uid="d9e668aa-9f1d-495b-a81f-322ae041456b" >
+<cdparam x="564" y="185" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="185" id="3149" />
+<P2 x="564" y="261" id="3107" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="3188" index="24" uid="0a113c00-4074-4a37-9d9e-eec6cc312e73" >
+<cdparam x="564" y="311" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="311" id="3108" />
+<P2 x="564" y="340" id="3140" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="EBController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="301" id="3205" index="0" uid="b2fed985-65d7-47b5-bcad-4d9f442a932b" >
+<cdparam x="778" y="372" />
+<sizeparam width="266" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending updated rover speed value (0)
+to SpeedFeedback component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3189" />
+<TGConnectingPoint num="1" id="3190" />
+<TGConnectingPoint num="2" id="3191" />
+<TGConnectingPoint num="3" id="3192" />
+<TGConnectingPoint num="4" id="3193" />
+<TGConnectingPoint num="5" id="3194" />
+<TGConnectingPoint num="6" id="3195" />
+<TGConnectingPoint num="7" id="3196" />
+<TGConnectingPoint num="8" id="3197" />
+<TGConnectingPoint num="9" id="3198" />
+<TGConnectingPoint num="10" id="3199" />
+<TGConnectingPoint num="11" id="3200" />
+<TGConnectingPoint num="12" id="3201" />
+<TGConnectingPoint num="13" id="3202" />
+<TGConnectingPoint num="14" id="3203" />
+<TGConnectingPoint num="15" id="3204" />
+<extraparam>
+<Line value="Sending updated rover speed value (0)" />
+<Line value="to SpeedFeedback component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="3222" index="1" uid="77f15006-5980-499a-8a18-ce1a5e5794e5" >
+<cdparam x="426" y="454" />
+<sizeparam width="307" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending EB command to DC motors actuators
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3206" />
+<TGConnectingPoint num="1" id="3207" />
+<TGConnectingPoint num="2" id="3208" />
+<TGConnectingPoint num="3" id="3209" />
+<TGConnectingPoint num="4" id="3210" />
+<TGConnectingPoint num="5" id="3211" />
+<TGConnectingPoint num="6" id="3212" />
+<TGConnectingPoint num="7" id="3213" />
+<TGConnectingPoint num="8" id="3214" />
+<TGConnectingPoint num="9" id="3215" />
+<TGConnectingPoint num="10" id="3216" />
+<TGConnectingPoint num="11" id="3217" />
+<TGConnectingPoint num="12" id="3218" />
+<TGConnectingPoint num="13" id="3219" />
+<TGConnectingPoint num="14" id="3220" />
+<TGConnectingPoint num="15" id="3221" />
+<extraparam>
+<Line value="Sending EB command to DC motors actuators" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="3239" index="2" uid="16968ae2-0875-4576-a8cb-1292c3b97e86" >
+<cdparam x="165" y="277" />
+<sizeparam width="216" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Receiving EB order from
+AutonomousDriving component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3223" />
+<TGConnectingPoint num="1" id="3224" />
+<TGConnectingPoint num="2" id="3225" />
+<TGConnectingPoint num="3" id="3226" />
+<TGConnectingPoint num="4" id="3227" />
+<TGConnectingPoint num="5" id="3228" />
+<TGConnectingPoint num="6" id="3229" />
+<TGConnectingPoint num="7" id="3230" />
+<TGConnectingPoint num="8" id="3231" />
+<TGConnectingPoint num="9" id="3232" />
+<TGConnectingPoint num="10" id="3233" />
+<TGConnectingPoint num="11" id="3234" />
+<TGConnectingPoint num="12" id="3235" />
+<TGConnectingPoint num="13" id="3236" />
+<TGConnectingPoint num="14" id="3237" />
+<TGConnectingPoint num="15" id="3238" />
+<extraparam>
+<Line value="Receiving EB order from" />
+<Line value="AutonomousDriving component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="3242" index="3" uid="797a320b-59bb-4f3b-92fe-b2aaa9836533" >
+<cdparam x="668" y="314" />
+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newFeedbackEB()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3240" />
+<TGConnectingPoint num="1" id="3241" />
+<extraparam>
+<Data eventName="newFeedbackEB" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="3244" index="4" uid="59bcb8f9-3117-4398-9e63-7353ffd6661f" >
+<cdparam x="729" y="374" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3243" />
+</COMPONENT>
+
+<COMPONENT type="1006" id="3247" index="5" uid="e3660966-aea9-465f-8668-528801198554" >
+<cdparam x="675" y="250" />
+<sizeparam width="128" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoSF(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3245" />
+<TGConnectingPoint num="1" id="3246" />
+<extraparam>
+<Data channelName="fromEBCtoSF" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="3249" index="6" uid="79c3cfea-5ddc-419a-afe8-e30b2df6daf7" >
+<cdparam x="558" y="421" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3248" />
+</COMPONENT>
+
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+<cdparam x="497" y="354" />
+<sizeparam width="143" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newEBCommand()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3250" />
+<TGConnectingPoint num="1" id="3251" />
+<extraparam>
+<Data eventName="newEBCommand" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="3255" index="8" uid="075715c2-1a68-424c-8456-3fb77ce8c62a" >
+<cdparam x="502" y="275" />
+<sizeparam width="132" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoMO(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3253" />
+<TGConnectingPoint num="1" id="3254" />
+<extraparam>
+<Data channelName="fromEBCtoMO" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="3257" index="9" uid="a6c1c7d5-d2fc-488a-a2eb-ffcbf132fab7" >
+<cdparam x="418" y="330" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3256" />
+</COMPONENT>
+
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+<cdparam x="361" y="248" />
+<sizeparam width="134" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="read channel" value="fromADtoEBC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="3258" />
+<TGConnectingPoint num="1" id="3259" />
+<extraparam>
+<Data channelName="fromADtoEBC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1016" id="3268" index="11" uid="efe47682-c3db-41d0-bfd4-8684847296c4" >
+<cdparam x="493" y="182" />
+<sizeparam width="150" height="5" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3262" />
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+<TGConnectingPoint num="2" id="3264" />
+<TGConnectingPoint num="3" id="3265" />
+<TGConnectingPoint num="4" id="3266" />
+<TGConnectingPoint num="5" id="3267" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="3261" index="26" uid="f4947795-4a81-4177-943b-80cf092a3d38" >
+<father id="3268" num="0" />
+<cdparam x="647" y="189" />
+<sizeparam width="20" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="154" minY="7" maxY="7" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1001" id="3270" index="12" uid="5f4a6c31-adec-4a3f-a5fe-923b0211ed3c" >
+<cdparam x="374" y="156" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3269" />
+</COMPONENT>
+
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+<cdparam x="335" y="91" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3271" />
+<TGConnectingPoint num="1" id="3272" />
+<TGConnectingPoint num="2" id="3273" />
+</COMPONENT>
+
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+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3275" />
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+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<new d="false" />
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+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
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+<cdparam x="384" y="61" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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+<new d="false" />
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+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="SpeedController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000002" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Reception of speed control data :
+- previous rover speed
+- rover speed
+- gap
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3288" />
+<TGConnectingPoint num="1" id="3289" />
+<TGConnectingPoint num="2" id="3290" />
+<TGConnectingPoint num="3" id="3291" />
+<TGConnectingPoint num="4" id="3292" />
+<TGConnectingPoint num="5" id="3293" />
+<TGConnectingPoint num="6" id="3294" />
+<TGConnectingPoint num="7" id="3295" />
+<TGConnectingPoint num="8" id="3296" />
+<TGConnectingPoint num="9" id="3297" />
+<TGConnectingPoint num="10" id="3298" />
+<TGConnectingPoint num="11" id="3299" />
+<TGConnectingPoint num="12" id="3300" />
+<TGConnectingPoint num="13" id="3301" />
+<TGConnectingPoint num="14" id="3302" />
+<TGConnectingPoint num="15" id="3303" />
+<extraparam>
+<Line value="Reception of speed control data :" />
+<Line value="- previous rover speed" />
+<Line value="- rover speed" />
+<Line value="- gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="3307" index="1" uid="b7892a47-9940-48f1-bb2c-d421293e92e8" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newFeedbackSC()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3305" />
+<TGConnectingPoint num="1" id="3306" />
+<extraparam>
+<Data eventName="newFeedbackSC" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="301" id="3324" index="2" uid="69f85efc-53a9-4c19-80bf-91ad47c7c528" >
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+2. speed_error_i = speed_error_i + speed_error
+3. speed_error_d = speed_error - speed_error_backup
+4. speed_error_backup = speed_error
+
+II. PID calculation (EXECI 5)
+1. 3 multiplications
+2. 2 additions
+straight_power = max( 0, min( max_power, (Kp*speed_error + Ki*speed_error_i + Kd*speed_error_d) )
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+
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+<Line value="II. PID calculation (EXECI 5)" />
+<Line value="1. 3 multiplications" />
+<Line value="2. 2 additions" />
+<Line value="straight_power = max( 0, min( max_power, (Kp*speed_error + Ki*speed_error_i + Kd*speed_error_d) )" />
+<Line value="" />
+<Line value="" />
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+<Line value="(left motor power and right motor power)" />
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+<new d="false" />
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+<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
+<infoparam name="value of the delay" value="11" />
+<new d="false" />
+</SUBCOMPONENT>
+
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+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newMotorPower()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="3331" />
+<TGConnectingPoint num="1" id="3332" />
+<extraparam>
+<Data eventName="newMotorPower" nbOfParams="5" />
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+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="3334" />
+<TGConnectingPoint num="1" id="3335" />
+<extraparam>
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+</COMPONENT>
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+<TGConnectingPoint num="0" id="3337" />
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+
+I. Error calculation (EXECI 67) :
+1. trajectory_error calculation (EXECI 64, arbitrarily chosen)
+(this error is calculated on the basis on the yaw
+and lateral errors, and rover speed. The algorithm
+and its complexity need to be studied in order to
+refine the model)
+2. trajectory_error_i = trajectory_error_i + trajectory_error
+3. trajectory_error_d = trajectory_error - trajectory_error_backup
+4. trajectory_error_backup = trajectory_error
+
+II. PID calculation (EXECI 5)
+1. 3 multiplications
+2. 2 additions
+steering_angle = max( min_angle, min( max_angle, (Kp*trajectory_error + Ki*trajectory_error_i + Kd*trajectory_error_d) )
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+<new d="false" />
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+<TGConnectingPoint num="2" id="3380" />
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+<TGConnectingPoint num="15" id="3393" />
+<extraparam>
+<Line value="This EXECI depicts the complexity of the" />
+<Line value="following actions :" />
+<Line value="" />
+<Line value="I. Error calculation (EXECI 67) :" />
+<Line value="1. trajectory_error calculation (EXECI 64, arbitrarily chosen)" />
+<Line value="(this error is calculated on the basis on the yaw" />
+<Line value="and lateral errors, and rover speed. The algorithm" />
+<Line value="and its complexity need to be studied in order to" />
+<Line value="refine the model)" />
+<Line value="2. trajectory_error_i = trajectory_error_i + trajectory_error" />
+<Line value="3. trajectory_error_d = trajectory_error - trajectory_error_backup" />
+<Line value="4. trajectory_error_backup = trajectory_error" />
+<Line value="" />
+<Line value="II. PID calculation (EXECI 5)" />
+<Line value="1. 3 multiplications" />
+<Line value="2. 2 additions" />
+<Line value="steering_angle = max( min_angle, min( max_angle, (Kp*trajectory_error + Ki*trajectory_error_i + Kd*trajectory_error_d) )" />
+</extraparam>
+</COMPONENT>
+
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+- rover speed
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+<Line value="- Camera data (at least yaw and lateral errors," />
+<Line value="see Design of Lane Keeping Algorithm of Autonomous Vehicle, Toro, 2016)" />
+<Line value="- rover speed" />
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+</TMLActivityDiagramPanel>
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+1 division
+1 addition
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+
+rover_speed = power*K
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+<TGConnectingPoint num="0" id="3621" />
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+<Line value="from motor power" />
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+<Line value="rover_speed = power*K" />
+</extraparam>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Variable update
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+<extraparam>
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+</extraparam>
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+</extraparam>
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+<mappingInfo CPname="DMA_transfer" instanceName="DMAController1" architectureUnit="BCM2837_DMA" />
+<mappingInfo CPname="DMA_transfer" instanceName="TransferInstance2" architectureUnit="WiFi_Bridge, WiFi_Bus, Raspberry_Bus, BCM2837_Bridge, BCM2837_Bus" />
+<mappingInfo CPname="DMA_transfer" instanceName="TransferInstance3" architectureUnit="BCM2837_Bus" />
+<mappingInfo CPname="DMA_transfer" instanceName="TransferInstance1" architectureUnit="WiFi_Bridge, WiFi_Bus, Raspberry_Bus, BCM2837_Bridge, BCM2837_Bus" />
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+<mappedAttributes type="int" name="counter" value="1" />
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+<info stereotype="BUS-RR" nodeName="WiFi_Bus" />
+<attributes byteDataSize="32" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="0" referenceAttack="null" />
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+<extraparam>
+<info stereotype="MEMORY" nodeName="Leader_RAM" />
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+<extraparam>
+<info value="PlatoonMAC" referenceKeyName="PlatoonMAC" priority="5" typeName="key" />
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+<info stereotype="CPURRPB" nodeName="Leader_CPU" />
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+<info stereotype="CP" nodeName="SensorstoSoC" cpMEC="Memory Copy" transferType1="0" transferType2="0" />
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+<mappingInfo CPname="DMA_transfer" instanceName="SrcStorageInstance1" architectureUnit="SensorSet_Memory" />
+<mappingInfo CPname="DMA_transfer" instanceName="CPUController1" architectureUnit="SensorSet_MC" />
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+<mappingInfo CPname="DMA_transfer" instanceName="DMAController1" architectureUnit="BCM2837_DMA" />
+<mappingInfo CPname="DMA_transfer" instanceName="TransferInstance3" architectureUnit="BCM2837_Bus" />
+<mappingInfo CPname="DMA_transfer" instanceName="TransferInstance2" architectureUnit="Raspberry_Bus, BCM2837_Bridge, BCM2837_Bus, SensorSet_Bus, SensorSet_Bridge" />
+<mappingInfo CPname="DMA_transfer" instanceName="TransferInstance1" architectureUnit="Raspberry_Bus, BCM2837_Bridge, BCM2837_Bus, SensorSet_Bus, SensorSet_Bridge" />
+<mappingInfo CPname="DMA_transfer" instanceName="TransferInstance4" architectureUnit="Raspberry_Bus, BCM2837_Bridge, BCM2837_Bus, SensorSet_Bus, SensorSet_Bridge" />
+<mappedAttributes type="int" name="size" value="32" />
+<mappedAttributes type="int" name="counter" value="2" />
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+<info value="MAC::fromSAtoDT" communicationName="fromSAtoDT" referenceCommunicationName="MAC" mappedElements="" priority="0" typeName="channel" />
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+
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+<hidden value="false" />
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="305" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Event newLeaderSocketData" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5099" />
+<extraparam>
+<Prop commName="newLeaderSocketData" commType="1" origin="true" finite="true" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
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+</SUBCOMPONENT>
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="305" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Channel fromSocToLSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5101" />
+<extraparam>
+<Prop commName="fromSocToLSoc" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
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+<COMPONENT type="1202" id="5132" index="44" uid="f039bf1b-286f-4389-8104-0c7f8f4ef2b7" >
+<cdparam x="1003" y="448" />
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+<hidden value="false" />
+<cdrectangleparam minX="16" maxX="4504" minY="16" maxY="1999" />
+<infoparam name="Primitive component" value="Socket" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5124" />
+<TGConnectingPoint num="1" id="5125" />
+<TGConnectingPoint num="2" id="5126" />
+<TGConnectingPoint num="3" id="5127" />
+<TGConnectingPoint num="4" id="5128" />
+<TGConnectingPoint num="5" id="5129" />
+<TGConnectingPoint num="6" id="5130" />
+<TGConnectingPoint num="7" id="5131" />
+<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
+<Attribute access="2" id="leader_message_type" value="" type="0" typeOther="" />
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="1203" id="5113" index="104" uid="fce8d9ae-6134-4c23-a3d8-d5036565d691" >
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+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="311" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Channel fromSocToLSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5112" />
+<extraparam>
+<Prop commName="fromSocToLSoc" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
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+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
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+<father id="5132" num="1" />
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="311" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Channel fromLSocToSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5114" />
+<extraparam>
+<Prop commName="fromLSocToSoc" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="true" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
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+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="5117" index="106" uid="26b61746-800d-4f7b-a17d-725ce5851087" >
+<father id="5132" num="2" />
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="311" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Event newLeaderSocketData" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5116" />
+<extraparam>
+<Prop commName="newLeaderSocketData" commType="1" origin="false" finite="true" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
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+<father id="5132" num="3" />
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="311" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Event newSocketData" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5118" />
+<extraparam>
+<Prop commName="newSocketData" commType="1" origin="true" finite="true" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
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+</SUBCOMPONENT>
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+<father id="5132" num="4" />
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="311" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Channel fromSocToCPC" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5120" />
+<extraparam>
+<Prop commName="fromSocToCPC" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
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+<Type type="0" typeOther="" />
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+<father id="5132" num="5" />
+<cdparam x="1290" y="569" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="311" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Channel fromADtoSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5122" />
+<extraparam>
+<Prop commName="fromADtoSoc" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
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+<sizeparam width="223" height="120" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="16" maxX="4504" minY="16" maxY="1999" />
+<infoparam name="Primitive component" value="SensorsAcquisition" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5135" />
+<TGConnectingPoint num="1" id="5136" />
+<TGConnectingPoint num="2" id="5137" />
+<TGConnectingPoint num="3" id="5138" />
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+<TGConnectingPoint num="5" id="5140" />
+<TGConnectingPoint num="6" id="5141" />
+<TGConnectingPoint num="7" id="5142" />
+<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="1203" id="5134" index="110" uid="1a22bcd1-76c4-4c11-972f-874a547f8a57" >
+<father id="5143" num="0" />
+<cdparam x="226" y="869" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="213" minY="-10" maxY="110" />
+<infoparam name="Primitive port" value="Channel fromSAtoDT" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5133" />
+<extraparam>
+<Prop commName="fromSAtoDT" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
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+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
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+</SUBCOMPONENT>
+
+
+</TMLComponentTaskDiagramPanel>
+
+<TMLActivityDiagramPanel name="AutonomousDriving" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000007" >
+<COMPONENT type="301" id="5160" index="0" uid="03c5a1e9-896b-4389-85a3-90c83cd294f4" >
+<cdparam x="871" y="604" />
+<sizeparam width="451" height="39" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In case of platoon information update message:
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+2. sending lane keeping control data to activate trajectory controller
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5144" />
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+<TGConnectingPoint num="13" id="5157" />
+<TGConnectingPoint num="14" id="5158" />
+<TGConnectingPoint num="15" id="5159" />
+<extraparam>
+<Line value="In case of platoon information update message:" />
+<Line value="1. sending speed control data to activate speed controller" />
+<Line value="2. sending lane keeping control data to activate trajectory controller" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="5177" index="1" uid="e2c136d0-5359-43dc-bec6-fe8d50ca71d3" >
+<cdparam x="991" y="410" />
+<sizeparam width="242" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Sending update message to leader
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5161" />
+<TGConnectingPoint num="1" id="5162" />
+<TGConnectingPoint num="2" id="5163" />
+<TGConnectingPoint num="3" id="5164" />
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+<TGConnectingPoint num="5" id="5166" />
+<TGConnectingPoint num="6" id="5167" />
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+<TGConnectingPoint num="9" id="5170" />
+<TGConnectingPoint num="10" id="5171" />
+<TGConnectingPoint num="11" id="5172" />
+<TGConnectingPoint num="12" id="5173" />
+<TGConnectingPoint num="13" id="5174" />
+<TGConnectingPoint num="14" id="5175" />
+<TGConnectingPoint num="15" id="5176" />
+<extraparam>
+<Line value="Sending update message to leader" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="5194" index="2" uid="129cebdf-cbca-46f6-93e0-4fca93c67991" >
+<cdparam x="86" y="631" />
+<sizeparam width="289" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In case of emergency break (EB) message,
+sending EB order to activate EB controller
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5178" />
+<TGConnectingPoint num="1" id="5179" />
+<TGConnectingPoint num="2" id="5180" />
+<TGConnectingPoint num="3" id="5181" />
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+<TGConnectingPoint num="5" id="5183" />
+<TGConnectingPoint num="6" id="5184" />
+<TGConnectingPoint num="7" id="5185" />
+<TGConnectingPoint num="8" id="5186" />
+<TGConnectingPoint num="9" id="5187" />
+<TGConnectingPoint num="10" id="5188" />
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+<TGConnectingPoint num="12" id="5190" />
+<TGConnectingPoint num="13" id="5191" />
+<TGConnectingPoint num="14" id="5192" />
+<TGConnectingPoint num="15" id="5193" />
+<extraparam>
+<Line value="In case of emergency break (EB) message," />
+<Line value="sending EB order to activate EB controller" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="5211" index="3" uid="4dd07157-7cbe-4513-ad07-206958dfe630" >
+<cdparam x="608" y="351" />
+<sizeparam width="184" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Receiving leader message
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5195" />
+<TGConnectingPoint num="1" id="5196" />
+<TGConnectingPoint num="2" id="5197" />
+<TGConnectingPoint num="3" id="5198" />
+<TGConnectingPoint num="4" id="5199" />
+<TGConnectingPoint num="5" id="5200" />
+<TGConnectingPoint num="6" id="5201" />
+<TGConnectingPoint num="7" id="5202" />
+<TGConnectingPoint num="8" id="5203" />
+<TGConnectingPoint num="9" id="5204" />
+<TGConnectingPoint num="10" id="5205" />
+<TGConnectingPoint num="11" id="5206" />
+<TGConnectingPoint num="12" id="5207" />
+<TGConnectingPoint num="13" id="5208" />
+<TGConnectingPoint num="14" id="5209" />
+<TGConnectingPoint num="15" id="5210" />
+<extraparam>
+<Line value="Receiving leader message" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="5228" index="4" uid="57469c20-b995-4cc9-9654-d0e7ccd93392" >
+<cdparam x="39" y="372" />
+<sizeparam width="159" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Receiving sensor data
+" />
+<new d="false" />
+<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="Receiving sensor data" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1013" id="5232" index="5" uid="061be48e-9472-4aab-9c27-a19960829170" >
+<cdparam x="568" y="437" />
+<sizeparam width="10" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5230" />
+<TGConnectingPoint num="1" id="5231" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="5229" index="42" uid="df9faa1c-027d-4e24-8a4a-d19f2453bec7" >
+<father id="5232" num="0" />
+<cdparam x="583" y="457" />
+<sizeparam width="10" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="26" minY="10" maxY="26" />
+<infoparam name="value of the delay" value="1" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1006" id="5235" index="6" uid="3ffd803a-478a-465e-9752-21312b88da19" >
+<cdparam x="321" y="607" />
+<sizeparam width="137" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoEBC(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5233" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Attacker mode
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+(Attack 1, see deliverable D5.2)
+2: the attacker injects a false speed value
+with a small increase w.r.t. the real value
+(Attack 2, see deliverable D5.2)
+4 : the attacker injects a false emergency
+brake message
+(Attack 4, see deliverable D5.2)
+5 : the attacker blocks emergency brake
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+<Line value="messages (Attack 5, see deliverable D5.2)" />
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+<Line value="message" />
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+<TGConnectingPoint num="1" id="5381" />
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+<Param index="0" value="leader_message_type" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<cdparam x="537" y="80" />
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+<new d="false" />
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+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="Countermeasure_PlausibilityCheck" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000007" >
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+<enabled value="true" />
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+<TGConnectingPoint num="1" id="5570" />
+<TGConnectingPoint num="2" id="5571" />
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+<hidden value="false" />
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+<new d="false" />
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+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5577" />
+<TGConnectingPoint num="1" id="5578" />
+</COMPONENT>
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+<infoparam name="value of the delay" value="17" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="5583" />
+<TGConnectingPoint num="1" id="5584" />
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+<TGConnectingPoint num="3" id="5586" />
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="-75" maxX="-12" minY="10" maxY="31" />
+<infoparam name="guard 1" value="[leader_message_type == 11]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5581" index="44" uid="12c1c1e9-293c-42c4-9c3d-1c73bdd97eef" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="35" maxX="50" minY="10" maxY="31" />
+<infoparam name="guard 2" value="[else]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5582" index="45" uid="22a1a908-c588-496f-a075-9f90a5bb5327" >
+<father id="5587" num="2" />
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+<hidden value="false" />
+<cdrectangleparam minX="20" maxX="35" minY="45" maxY="62" />
+<infoparam name="guard 3" value="[ ]" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5591" />
+<TGConnectingPoint num="1" id="5592" />
+<TGConnectingPoint num="2" id="5593" />
+<TGConnectingPoint num="3" id="5594" />
+</COMPONENT>
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+<father id="5595" num="0" />
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+<sizeparam width="476" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="-75" maxX="-16" minY="10" maxY="32" />
+<infoparam name="guard 1" value="[(not(leader_message_type == 1)) and (not(leader_message_type == 11))]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5589" index="47" uid="db4da7f4-464c-4bea-aecb-563a92447ef0" >
+<father id="5595" num="1" />
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+<sizeparam width="36" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="35" maxX="53" minY="10" maxY="32" />
+<infoparam name="guard 2" value="[else]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="5590" index="48" uid="8ae66e42-58a8-4d58-a8c8-7865a9c65f79" >
+<father id="5595" num="2" />
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+<sizeparam width="14" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="20" maxX="38" minY="45" maxY="66" />
+<infoparam name="guard 3" value="[ ]" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="301" id="5612" index="5" uid="9276715c-d4e9-4f99-ab4a-af9aed8ef269" >
+<cdparam x="328" y="761" />
+<sizeparam width="323" height="39" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="If attack 1 is carried out, the countermeasure
+is triggered and sends the last legitimate speed
+value to AutonomousDriving component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5596" />
+<TGConnectingPoint num="1" id="5597" />
+<TGConnectingPoint num="2" id="5598" />
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+<TGConnectingPoint num="14" id="5610" />
+<TGConnectingPoint num="15" id="5611" />
+<extraparam>
+<Line value="If attack 1 is carried out, the countermeasure" />
+<Line value="is triggered and sends the last legitimate speed" />
+<Line value="value to AutonomousDriving component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="5629" index="6" uid="1197a7d2-65d9-47e2-9ee3-4d0f6dc0b1f8" >
+<cdparam x="576" y="410" />
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Plausibility check (EXECI 17) :
+
+3 additions (3*1 cycles)
+1 division (12 cycles)
+
+2 multiplications (2 cycles)
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5613" />
+<TGConnectingPoint num="1" id="5614" />
+<TGConnectingPoint num="2" id="5615" />
+<TGConnectingPoint num="3" id="5616" />
+<TGConnectingPoint num="4" id="5617" />
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+<TGConnectingPoint num="9" id="5622" />
+<TGConnectingPoint num="10" id="5623" />
+<TGConnectingPoint num="11" id="5624" />
+<TGConnectingPoint num="12" id="5625" />
+<TGConnectingPoint num="13" id="5626" />
+<TGConnectingPoint num="14" id="5627" />
+<TGConnectingPoint num="15" id="5628" />
+<extraparam>
+<Line value="Plausibility check (EXECI 17) :" />
+<Line value="" />
+<Line value="3 additions (3*1 cycles)" />
+<Line value="1 division (12 cycles)" />
+<Line value="" />
+<Line value="2 multiplications (2 cycles)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="5631" index="7" uid="96ad662a-5490-45ea-be20-fd4168be4d3f" >
+<cdparam x="747" y="956" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5630" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="5634" index="8" uid="85378265-d5db-49a4-8c71-aaed3fd4cb2a" >
+<cdparam x="607" y="887" />
+<sizeparam width="300" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newLeaderMessage(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5632" />
+<TGConnectingPoint num="1" id="5633" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="5637" index="9" uid="3a318f25-c398-4f9c-b0b7-2968f5b82360" >
+<cdparam x="689" y="815" />
+<sizeparam width="138" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromCPCtoAD(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5635" />
+<TGConnectingPoint num="1" id="5636" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="5639" index="10" uid="dcfb088e-8d87-40cb-834a-3279e5fa1777" >
+<cdparam x="515" y="535" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5638" />
+</COMPONENT>
+
+<COMPONENT type="1001" id="5641" index="11" uid="2931671c-ae14-449e-80cf-eb7c6e2990fa" >
+<cdparam x="1042" y="902" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5640" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="5644" index="12" uid="495a8838-44f4-452d-a9f9-c7ed366db66f" >
+<cdparam x="888" y="835" />
+<sizeparam width="326" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newLeaderMessage(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5642" />
+<TGConnectingPoint num="1" id="5643" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="5647" index="13" uid="23ab6b2a-08c8-475c-a13d-e6e49762edfe" >
+<cdparam x="982" y="773" />
+<sizeparam width="139" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromCPCtoAD(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5645" />
+<TGConnectingPoint num="1" id="5646" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1009" id="5650" index="14" uid="c8f0ad98-ca75-413d-9171-40c1f542014d" >
+<cdparam x="298" y="191" />
+<sizeparam width="147" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="read channel" value="fromSocToCPC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="5648" />
+<TGConnectingPoint num="1" id="5649" />
+<extraparam>
+<Data channelName="fromSocToCPC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1010" id="5653" index="15" uid="282d5031-afca-450c-949b-24460be9dc45" >
+<cdparam x="232" y="128" />
+<sizeparam width="278" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="wait event" value="newSocketData(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="5651" />
+<TGConnectingPoint num="1" id="5652" />
+<extraparam>
+<Data eventName="newSocketData" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="5655" index="16" uid="2931671c-ae14-449e-80cf-eb7c6e2990fa" >
+<cdparam x="238" y="481" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5654" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="5658" index="17" uid="495a8838-44f4-452d-a9f9-c7ed366db66f" >
+<cdparam x="85" y="419" />
+<sizeparam width="326" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newLeaderMessage(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5656" />
+<TGConnectingPoint num="1" id="5657" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="5661" index="18" uid="23ab6b2a-08c8-475c-a13d-e6e49762edfe" >
+<cdparam x="179" y="365" />
+<sizeparam width="139" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromCPCtoAD(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5659" />
+<TGConnectingPoint num="1" id="5660" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5662" />
+</COMPONENT>
+
+<COMPONENT type="1020" id="5667" index="20" uid="18f2bb4c-a015-4a3d-bfdb-dec4b63de206" >
+<cdparam x="157" y="60" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5664" />
+<TGConnectingPoint num="1" id="5665" />
+<TGConnectingPoint num="2" id="5666" />
+</COMPONENT>
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+<COMPONENT type="1000" id="5669" index="21" uid="993308b2-adcf-4943-b546-8d870828d1e0" >
+<cdparam x="199" y="10" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5668" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="5670" index="22" uid="0e3195ae-ab39-4d3f-9eb7-0de584f8d434" >
+<cdparam x="757" y="793" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="757" y="793" id="5566" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5671" index="23" uid="a2594daa-5501-4ed2-bf43-fc09e7dd8930" >
+<cdparam x="526" y="464" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="526" y="464" id="5578" />
+<P2 x="525" y="530" id="5638" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5672" index="24" uid="52f0e6a3-cc45-40e8-855a-7b919691d9e8" >
+<cdparam x="255" y="74" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="255" y="74" id="5665" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5673" index="25" uid="88c7b950-f96c-4071-be74-87b4ae3b758a" >
+<cdparam x="332" y="267" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="332" y="266" id="5592" />
+<P2 x="248" y="360" id="5659" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5674" index="26" uid="ef062131-b893-495a-ada7-6c44550ef99e" >
+<cdparam x="412" y="267" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="412" y="266" id="5593" />
+<P2 x="526" y="347" id="5569" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5675" index="27" uid="fb6966ee-0c21-4bad-94fd-3dc5079efb08" >
+<cdparam x="574" y="351" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="575" y="352" id="5574" />
+<P2 x="888" y="678" id="5583" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5676" index="28" uid="fde103c0-3d32-4fbd-a8ed-2dc163b70aac" >
+<cdparam x="847" y="699" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="848" y="698" id="5584" />
+<P2 x="757" y="763" id="5565" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5677" index="29" uid="02121c12-28ce-41f0-9f4d-4afffb76c1ec" >
+<cdparam x="574" y="351" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="526" y="352" id="5572" />
+<P2 x="526" y="424" id="5577" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5678" index="30" uid="55922792-b637-4dc9-9ca9-dba62cb1a00f" >
+<cdparam x="373" y="152" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="371" y="153" id="5652" />
+<P2 x="371" y="186" id="5648" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5679" index="31" uid="cacfbcd2-e3c8-494a-b49f-feeb8cb18d3a" >
+<cdparam x="1050" y="798" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="1051" y="798" id="5646" />
+<P2 x="1051" y="830" id="5642" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5680" index="32" uid="abe70da7-f9d8-4514-8270-93cecd27e167" >
+<cdparam x="1050" y="861" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="1051" y="860" id="5643" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<CONNECTOR type="115" id="5681" index="33" uid="8ab65da8-28cc-488e-824e-59e0ffb3e19b" >
+<cdparam x="792" y="697" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="928" y="698" id="5585" />
+<P2 x="1051" y="768" id="5645" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5682" index="34" uid="3a973279-9027-4b18-b38c-34706d2ba1bd" >
+<cdparam x="757" y="841" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="758" y="840" id="5636" />
+<P2 x="757" y="882" id="5632" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5683" index="35" uid="bbaabbd2-ba27-44e2-86d3-08b1d102feb5" >
+<cdparam x="757" y="911" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="757" y="912" id="5633" />
+<P2 x="757" y="951" id="5630" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5684" index="36" uid="b11f6bd5-10ae-43d5-84bb-b69e4beca7fa" >
+<cdparam x="373" y="216" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5685" index="37" uid="cacfbcd2-e3c8-494a-b49f-feeb8cb18d3a" >
+<cdparam x="439" y="414" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="248" y="390" id="5660" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5686" index="38" uid="abe70da7-f9d8-4514-8270-93cecd27e167" >
+<cdparam x="439" y="476" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="248" y="444" id="5657" />
+<P2 x="248" y="476" id="5654" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5687" index="39" uid="056870c5-f567-4a25-ab12-629fe54c4bbe" >
+<cdparam x="206" y="30" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="206" y="30" id="5668" />
+<P2 x="206" y="55" id="5664" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="5688" index="40" uid="619e3fff-0af1-4f81-92f8-fdbdec4af767" >
+<cdparam x="206" y="85" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="206" y="85" id="5666" />
+<P2 x="206" y="120" id="5662" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="EBController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="301" id="5705" index="0" uid="b2fed985-65d7-47b5-bcad-4d9f442a932b" >
+<cdparam x="778" y="372" />
+<sizeparam width="266" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending updated rover speed value (0)
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+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5689" />
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+<TGConnectingPoint num="12" id="5701" />
+<TGConnectingPoint num="13" id="5702" />
+<TGConnectingPoint num="14" id="5703" />
+<TGConnectingPoint num="15" id="5704" />
+<extraparam>
+<Line value="Sending updated rover speed value (0)" />
+<Line value="to SpeedFeedback component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="5722" index="1" uid="77f15006-5980-499a-8a18-ce1a5e5794e5" >
+<cdparam x="426" y="454" />
+<sizeparam width="307" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending EB command to DC motors actuators
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+<new d="false" />
+<TGConnectingPoint num="0" id="5706" />
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+<TGConnectingPoint num="3" id="5709" />
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+<TGConnectingPoint num="5" id="5711" />
+<TGConnectingPoint num="6" id="5712" />
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+<TGConnectingPoint num="9" id="5715" />
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+<TGConnectingPoint num="12" id="5718" />
+<TGConnectingPoint num="13" id="5719" />
+<TGConnectingPoint num="14" id="5720" />
+<TGConnectingPoint num="15" id="5721" />
+<extraparam>
+<Line value="Sending EB command to DC motors actuators" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="5739" index="2" uid="16968ae2-0875-4576-a8cb-1292c3b97e86" >
+<cdparam x="165" y="277" />
+<sizeparam width="216" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Receiving EB order from
+AutonomousDriving component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5723" />
+<TGConnectingPoint num="1" id="5724" />
+<TGConnectingPoint num="2" id="5725" />
+<TGConnectingPoint num="3" id="5726" />
+<TGConnectingPoint num="4" id="5727" />
+<TGConnectingPoint num="5" id="5728" />
+<TGConnectingPoint num="6" id="5729" />
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+<TGConnectingPoint num="12" id="5735" />
+<TGConnectingPoint num="13" id="5736" />
+<TGConnectingPoint num="14" id="5737" />
+<TGConnectingPoint num="15" id="5738" />
+<extraparam>
+<Line value="Receiving EB order from" />
+<Line value="AutonomousDriving component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="5742" index="3" uid="797a320b-59bb-4f3b-92fe-b2aaa9836533" >
+<cdparam x="668" y="314" />
+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newFeedbackEB()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5740" />
+<TGConnectingPoint num="1" id="5741" />
+<extraparam>
+<Data eventName="newFeedbackEB" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="5744" index="4" uid="59bcb8f9-3117-4398-9e63-7353ffd6661f" >
+<cdparam x="729" y="374" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5743" />
+</COMPONENT>
+
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+<cdparam x="675" y="250" />
+<sizeparam width="128" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoSF(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5745" />
+<TGConnectingPoint num="1" id="5746" />
+<extraparam>
+<Data channelName="fromEBCtoSF" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="5748" />
+</COMPONENT>
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+<cdparam x="497" y="354" />
+<sizeparam width="143" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newEBCommand()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5750" />
+<TGConnectingPoint num="1" id="5751" />
+<extraparam>
+<Data eventName="newEBCommand" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="5755" index="8" uid="075715c2-1a68-424c-8456-3fb77ce8c62a" >
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+<sizeparam width="132" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoMO(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5753" />
+<TGConnectingPoint num="1" id="5754" />
+<extraparam>
+<Data channelName="fromEBCtoMO" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="5757" index="9" uid="a6c1c7d5-d2fc-488a-a2eb-ffcbf132fab7" >
+<cdparam x="418" y="330" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="5756" />
+</COMPONENT>
+
+<COMPONENT type="1009" id="5760" index="10" uid="f429fc38-622f-4701-8f40-e25730f393c8" >
+<cdparam x="361" y="248" />
+<sizeparam width="134" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="read channel" value="fromADtoEBC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="5758" />
+<TGConnectingPoint num="1" id="5759" />
+<extraparam>
+<Data channelName="fromADtoEBC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
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+- rover speed
+- gap
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+2. 2 additions
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="for ever loop" value="Loop for ever" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7582" />
+<TGConnectingPoint num="1" id="7583" />
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Sending gap measurement to
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+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7585" />
+<TGConnectingPoint num="1" id="7586" />
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+<TGConnectingPoint num="13" id="7598" />
+<TGConnectingPoint num="14" id="7599" />
+<TGConnectingPoint num="15" id="7600" />
+<extraparam>
+<Line value="Sending gap measurement to" />
+<Line value="PlausibilityCheck component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="7603" index="2" uid="16e4b272-fa9c-4375-9060-13fa6583920b" >
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7602" />
+</COMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoCPC(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7604" />
+<TGConnectingPoint num="1" id="7605" />
+<extraparam>
+<Data channelName="fromADtoCPC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In case of platoon information update message:
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+2. sending lane keeping control data to activate trajectory controller
+" />
+<new d="false" />
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+<TGConnectingPoint num="14" id="7621" />
+<TGConnectingPoint num="15" id="7622" />
+<extraparam>
+<Line value="In case of platoon information update message:" />
+<Line value="1. sending speed control data to activate speed controller" />
+<Line value="2. sending lane keeping control data to activate trajectory controller" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="7640" index="5" uid="e2c136d0-5359-43dc-bec6-fe8d50ca71d3" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Sending update message to leader
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7624" />
+<TGConnectingPoint num="1" id="7625" />
+<TGConnectingPoint num="2" id="7626" />
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+<TGConnectingPoint num="12" id="7636" />
+<TGConnectingPoint num="13" id="7637" />
+<TGConnectingPoint num="14" id="7638" />
+<TGConnectingPoint num="15" id="7639" />
+<extraparam>
+<Line value="Sending update message to leader" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="7657" index="6" uid="129cebdf-cbca-46f6-93e0-4fca93c67991" >
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+<sizeparam width="289" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In case of emergency break (EB) message,
+sending EB order to activate EB controller
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7641" />
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+<TGConnectingPoint num="14" id="7655" />
+<TGConnectingPoint num="15" id="7656" />
+<extraparam>
+<Line value="In case of emergency break (EB) message," />
+<Line value="sending EB order to activate EB controller" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="7674" index="7" uid="4dd07157-7cbe-4513-ad07-206958dfe630" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Receiving leader message
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+<new d="false" />
+<TGConnectingPoint num="0" id="7658" />
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+<TGConnectingPoint num="14" id="7672" />
+<TGConnectingPoint num="15" id="7673" />
+<extraparam>
+<Line value="Receiving leader message" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Receiving sensor data
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+<new d="false" />
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+<TGConnectingPoint num="14" id="7689" />
+<TGConnectingPoint num="15" id="7690" />
+<extraparam>
+<Line value="Receiving sensor data" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7693" />
+<TGConnectingPoint num="1" id="7694" />
+</COMPONENT>
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+<father id="7695" num="0" />
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+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="26" minY="10" maxY="26" />
+<infoparam name="value of the delay" value="1" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoEBC(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7696" />
+<TGConnectingPoint num="1" id="7697" />
+<extraparam>
+<Data channelName="fromADtoEBC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1016" id="7706" index="11" uid="46d55c6a-7e32-400e-afc2-c0e3f9baffb4" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7700" />
+<TGConnectingPoint num="1" id="7701" />
+<TGConnectingPoint num="2" id="7702" />
+<TGConnectingPoint num="3" id="7703" />
+<TGConnectingPoint num="4" id="7704" />
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+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="150" minY="7" maxY="0" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7710" />
+<TGConnectingPoint num="1" id="7711" />
+<TGConnectingPoint num="2" id="7712" />
+<TGConnectingPoint num="3" id="7713" />
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="-75" maxX="-12" minY="10" maxY="28" />
+<infoparam name="guard 1" value="[leader_message_type == 0]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="7708" index="49" uid="849d838c-edde-44cc-9c50-b448eb753dab" >
+<father id="7714" num="1" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="35" maxX="50" minY="10" maxY="28" />
+<infoparam name="guard 2" value="[(leader_message_type == 1) or (leader_message_type == 11) or (leader_message_type == 12)]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="7709" index="50" uid="57e42e8e-30ea-4da9-a919-2cee0c80a4ae" >
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+<hidden value="false" />
+<cdrectangleparam minX="20" maxX="35" minY="45" maxY="62" />
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+<new d="false" />
+</SUBCOMPONENT>
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+<hidden value="false" />
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+<new d="false" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoSoc(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7717" />
+<TGConnectingPoint num="1" id="7718" />
+<extraparam>
+<Data channelName="fromADtoSoc" nbOfSamples="1" secPattern="" isAttacker="No" />
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+</COMPONENT>
+
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+<hidden value="false" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="7720" />
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+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoTC(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7722" />
+<TGConnectingPoint num="1" id="7723" />
+<extraparam>
+<Data channelName="fromADtoTC" nbOfSamples="1" secPattern="" isAttacker="No" />
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+</COMPONENT>
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+<hidden value="false" />
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+<hidden value="false" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoSC(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7727" />
+<TGConnectingPoint num="1" id="7728" />
+<extraparam>
+<Data channelName="fromADtoSC" nbOfSamples="1" secPattern="" isAttacker="No" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="read channel" value="fromCPCtoAD(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="7732" />
+<TGConnectingPoint num="1" id="7733" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
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+</COMPONENT>
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+<new d="false" />
+<TGConnectingPoint num="0" id="7800" />
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+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="injection(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7802" />
+<TGConnectingPoint num="1" id="7803" />
+<extraparam>
+<Data eventName="injection" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
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+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="action state" value="leader_message_type = 1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7805" />
+<TGConnectingPoint num="1" id="7806" />
+</COMPONENT>
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="action state" value="leader_message_type = 0" />
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+<TGConnectingPoint num="0" id="7808" />
+<TGConnectingPoint num="1" id="7809" />
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+<infoparam name="action state" value="leader_message_type = 12" />
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+<TGConnectingPoint num="1" id="7812" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="action state" value="leader_message_type = 11" />
+<new d="false" />
+<TGConnectingPoint num="0" id="7814" />
+<TGConnectingPoint num="1" id="7815" />
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+<TGConnectingPoint num="0" id="7817" />
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+<TGConnectingPoint num="0" id="7819" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<TGConnectingPoint num="0" id="7821" />
+</COMPONENT>
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Attacker mode
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+(Attack 1, see deliverable D5.2)
+2: the attacker injects a false speed value
+with a small increase w.r.t. the real value
+(Attack 2, see deliverable D5.2)
+4 : the attacker injects a false emergency
+brake message
+(Attack 4, see deliverable D5.2)
+5 : the attacker blocks emergency brake
+messages (Attack 5, see deliverable D5.2)
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+<Line value="5 : the attacker blocks emergency brake" />
+<Line value="messages (Attack 5, see deliverable D5.2)" />
+<Line value="and injects a platoon information update" />
+<Line value="message" />
+</extraparam>
+</COMPONENT>
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+<TGConnectingPoint num="0" id="7840" />
+<TGConnectingPoint num="1" id="7841" />
+<extraparam>
+<Data eventName="interception" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
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+<sizeparam width="36" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="35" maxX="53" minY="10" maxY="32" />
+<infoparam name="guard 2" value="[else]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="8053" index="50" uid="8ae66e42-58a8-4d58-a8c8-7865a9c65f79" >
+<father id="8058" num="2" />
+<cdparam x="395" y="376" />
+<sizeparam width="14" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="20" maxX="38" minY="45" maxY="66" />
+<infoparam name="guard 3" value="[ ]" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="301" id="8075" index="6" uid="9276715c-d4e9-4f99-ab4a-af9aed8ef269" >
+<cdparam x="281" y="733" />
+<sizeparam width="380" height="111" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="If attack 2 is carried out, the countermeasure
+is triggered and sends the an emergency brake
+message to AutonomousDriving component if the
+gap measurement is smaller than a given threshold.
+
+Then, depending on the gap value, leader_message_type
+can be equal to 0 or 1. In this model, we keep it
+equal to 1 since our aim is to evaluate the performance
+of the countermeasure rather than its exact behavior.
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8059" />
+<TGConnectingPoint num="1" id="8060" />
+<TGConnectingPoint num="2" id="8061" />
+<TGConnectingPoint num="3" id="8062" />
+<TGConnectingPoint num="4" id="8063" />
+<TGConnectingPoint num="5" id="8064" />
+<TGConnectingPoint num="6" id="8065" />
+<TGConnectingPoint num="7" id="8066" />
+<TGConnectingPoint num="8" id="8067" />
+<TGConnectingPoint num="9" id="8068" />
+<TGConnectingPoint num="10" id="8069" />
+<TGConnectingPoint num="11" id="8070" />
+<TGConnectingPoint num="12" id="8071" />
+<TGConnectingPoint num="13" id="8072" />
+<TGConnectingPoint num="14" id="8073" />
+<TGConnectingPoint num="15" id="8074" />
+<extraparam>
+<Line value="If attack 2 is carried out, the countermeasure" />
+<Line value="is triggered and sends the an emergency brake" />
+<Line value="message to AutonomousDriving component if the" />
+<Line value="gap measurement is smaller than a given threshold." />
+<Line value="" />
+<Line value="Then, depending on the gap value, leader_message_type" />
+<Line value="can be equal to 0 or 1. In this model, we keep it" />
+<Line value="equal to 1 since our aim is to evaluate the performance" />
+<Line value="of the countermeasure rather than its exact behavior." />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="8092" index="7" uid="1197a7d2-65d9-47e2-9ee3-4d0f6dc0b1f8" >
+<cdparam x="556" y="463" />
+<sizeparam width="194" height="63" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Plausibility check (EXECI 1) :
+
+1 comparison
+
+gap < 20
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8076" />
+<TGConnectingPoint num="1" id="8077" />
+<TGConnectingPoint num="2" id="8078" />
+<TGConnectingPoint num="3" id="8079" />
+<TGConnectingPoint num="4" id="8080" />
+<TGConnectingPoint num="5" id="8081" />
+<TGConnectingPoint num="6" id="8082" />
+<TGConnectingPoint num="7" id="8083" />
+<TGConnectingPoint num="8" id="8084" />
+<TGConnectingPoint num="9" id="8085" />
+<TGConnectingPoint num="10" id="8086" />
+<TGConnectingPoint num="11" id="8087" />
+<TGConnectingPoint num="12" id="8088" />
+<TGConnectingPoint num="13" id="8089" />
+<TGConnectingPoint num="14" id="8090" />
+<TGConnectingPoint num="15" id="8091" />
+<extraparam>
+<Line value="Plausibility check (EXECI 1) :" />
+<Line value="" />
+<Line value="1 comparison" />
+<Line value="" />
+<Line value="gap < 20" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="8094" index="8" uid="96ad662a-5490-45ea-be20-fd4168be4d3f" >
+<cdparam x="753" y="977" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8093" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="8097" index="9" uid="85378265-d5db-49a4-8c71-aaed3fd4cb2a" >
+<cdparam x="613" y="902" />
+<sizeparam width="300" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newLeaderMessage(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8095" />
+<TGConnectingPoint num="1" id="8096" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="8100" index="10" uid="3a318f25-c398-4f9c-b0b7-2968f5b82360" >
+<cdparam x="695" y="836" />
+<sizeparam width="138" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromCPCtoAD(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8098" />
+<TGConnectingPoint num="1" id="8099" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="8102" index="11" uid="dcfb088e-8d87-40cb-834a-3279e5fa1777" >
+<cdparam x="515" y="594" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8101" />
+</COMPONENT>
+
+<COMPONENT type="1001" id="8104" index="12" uid="2931671c-ae14-449e-80cf-eb7c6e2990fa" >
+<cdparam x="1042" y="902" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8103" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="8107" index="13" uid="495a8838-44f4-452d-a9f9-c7ed366db66f" >
+<cdparam x="888" y="835" />
+<sizeparam width="326" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newLeaderMessage(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8105" />
+<TGConnectingPoint num="1" id="8106" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="8110" index="14" uid="23ab6b2a-08c8-475c-a13d-e6e49762edfe" >
+<cdparam x="982" y="773" />
+<sizeparam width="139" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromCPCtoAD(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8108" />
+<TGConnectingPoint num="1" id="8109" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1009" id="8113" index="15" uid="c8f0ad98-ca75-413d-9171-40c1f542014d" >
+<cdparam x="298" y="174" />
+<sizeparam width="147" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="read channel" value="fromSocToCPC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="8111" />
+<TGConnectingPoint num="1" id="8112" />
+<extraparam>
+<Data channelName="fromSocToCPC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1010" id="8116" index="16" uid="282d5031-afca-450c-949b-24460be9dc45" >
+<cdparam x="232" y="128" />
+<sizeparam width="278" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="wait event" value="newSocketData(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="8114" />
+<TGConnectingPoint num="1" id="8115" />
+<extraparam>
+<Data eventName="newSocketData" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="8118" index="17" uid="2931671c-ae14-449e-80cf-eb7c6e2990fa" >
+<cdparam x="238" y="540" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8117" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="8121" index="18" uid="495a8838-44f4-452d-a9f9-c7ed366db66f" >
+<cdparam x="85" y="478" />
+<sizeparam width="326" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newLeaderMessage(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8119" />
+<TGConnectingPoint num="1" id="8120" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="8124" index="19" uid="23ab6b2a-08c8-475c-a13d-e6e49762edfe" >
+<cdparam x="179" y="424" />
+<sizeparam width="139" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromCPCtoAD(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8122" />
+<TGConnectingPoint num="1" id="8123" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="8126" index="20" uid="5f4a6c31-adec-4a3f-a5fe-923b0211ed3c" >
+<cdparam x="196" y="125" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8125" />
+</COMPONENT>
+
+<COMPONENT type="1020" id="8130" index="21" uid="18f2bb4c-a015-4a3d-bfdb-dec4b63de206" >
+<cdparam x="157" y="60" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8127" />
+<TGConnectingPoint num="1" id="8128" />
+<TGConnectingPoint num="2" id="8129" />
+</COMPONENT>
+
+<COMPONENT type="1000" id="8132" index="22" uid="993308b2-adcf-4943-b546-8d870828d1e0" >
+<cdparam x="199" y="10" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8131" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="8133" index="23" uid="dd957f92-6fbb-47a6-a5bf-f4acfe2602f0" >
+<cdparam x="769" y="797" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="764" y="794" id="8026" />
+<P2 x="764" y="831" id="8098" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8134" index="24" uid="d38cba37-3793-43d0-997a-efb372f7d831" >
+<cdparam x="371" y="293" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="371" y="265" id="8029" />
+<P2 x="372" y="305" id="8054" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8135" index="25" uid="a2594daa-5501-4ed2-bf43-fc09e7dd8930" >
+<cdparam x="526" y="523" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="526" y="523" id="8041" />
+<P2 x="525" y="589" id="8101" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8136" index="26" uid="52f0e6a3-cc45-40e8-855a-7b919691d9e8" >
+<cdparam x="255" y="74" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="255" y="74" id="8128" />
+<P2 x="371" y="123" id="8114" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8137" index="27" uid="88c7b950-f96c-4071-be74-87b4ae3b758a" >
+<cdparam x="332" y="326" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="332" y="325" id="8055" />
+<P2 x="248" y="419" id="8122" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8138" index="28" uid="ef062131-b893-495a-ada7-6c44550ef99e" >
+<cdparam x="412" y="326" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="412" y="325" id="8056" />
+<P2 x="526" y="406" id="8032" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8139" index="29" uid="fb6966ee-0c21-4bad-94fd-3dc5079efb08" >
+<cdparam x="574" y="351" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="575" y="411" id="8037" />
+<P2 x="888" y="678" id="8046" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8140" index="30" uid="fde103c0-3d32-4fbd-a8ed-2dc163b70aac" >
+<cdparam x="847" y="769" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="848" y="698" id="8047" />
+<P2 x="764" y="764" id="8025" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8141" index="31" uid="02121c12-28ce-41f0-9f4d-4afffb76c1ec" >
+<cdparam x="574" y="410" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="526" y="411" id="8035" />
+<P2 x="526" y="483" id="8040" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8142" index="32" uid="55922792-b637-4dc9-9ca9-dba62cb1a00f" >
+<cdparam x="373" y="152" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="371" y="153" id="8115" />
+<P2 x="371" y="169" id="8111" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8143" index="33" uid="cacfbcd2-e3c8-494a-b49f-feeb8cb18d3a" >
+<cdparam x="1050" y="798" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="1051" y="798" id="8109" />
+<P2 x="1051" y="830" id="8105" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8144" index="34" uid="abe70da7-f9d8-4514-8270-93cecd27e167" >
+<cdparam x="1050" y="861" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="1051" y="860" id="8106" />
+<P2 x="1052" y="897" id="8103" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8145" index="35" uid="8ab65da8-28cc-488e-824e-59e0ffb3e19b" >
+<cdparam x="792" y="697" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="928" y="698" id="8048" />
+<P2 x="1051" y="768" id="8108" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8146" index="36" uid="3a973279-9027-4b18-b38c-34706d2ba1bd" >
+<cdparam x="763" y="862" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="764" y="861" id="8099" />
+<P2 x="763" y="897" id="8095" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8147" index="37" uid="bbaabbd2-ba27-44e2-86d3-08b1d102feb5" >
+<cdparam x="763" y="932" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="763" y="927" id="8096" />
+<P2 x="763" y="972" id="8093" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8148" index="38" uid="b11f6bd5-10ae-43d5-84bb-b69e4beca7fa" >
+<cdparam x="373" y="216" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="371" y="199" id="8112" />
+<P2 x="371" y="235" id="8028" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8149" index="39" uid="cacfbcd2-e3c8-494a-b49f-feeb8cb18d3a" >
+<cdparam x="439" y="473" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="248" y="449" id="8123" />
+<P2 x="248" y="473" id="8119" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8150" index="40" uid="abe70da7-f9d8-4514-8270-93cecd27e167" >
+<cdparam x="439" y="535" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="248" y="503" id="8120" />
+<P2 x="248" y="535" id="8117" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8151" index="41" uid="056870c5-f567-4a25-ab12-629fe54c4bbe" >
+<cdparam x="206" y="30" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="206" y="30" id="8131" />
+<P2 x="206" y="55" id="8127" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="8152" index="42" uid="619e3fff-0af1-4f81-92f8-fdbdec4af767" >
+<cdparam x="206" y="85" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="206" y="85" id="8129" />
+<P2 x="206" y="120" id="8125" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="EBController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="301" id="8169" index="0" uid="b2fed985-65d7-47b5-bcad-4d9f442a932b" >
+<cdparam x="778" y="372" />
+<sizeparam width="266" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending updated rover speed value (0)
+to SpeedFeedback component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8153" />
+<TGConnectingPoint num="1" id="8154" />
+<TGConnectingPoint num="2" id="8155" />
+<TGConnectingPoint num="3" id="8156" />
+<TGConnectingPoint num="4" id="8157" />
+<TGConnectingPoint num="5" id="8158" />
+<TGConnectingPoint num="6" id="8159" />
+<TGConnectingPoint num="7" id="8160" />
+<TGConnectingPoint num="8" id="8161" />
+<TGConnectingPoint num="9" id="8162" />
+<TGConnectingPoint num="10" id="8163" />
+<TGConnectingPoint num="11" id="8164" />
+<TGConnectingPoint num="12" id="8165" />
+<TGConnectingPoint num="13" id="8166" />
+<TGConnectingPoint num="14" id="8167" />
+<TGConnectingPoint num="15" id="8168" />
+<extraparam>
+<Line value="Sending updated rover speed value (0)" />
+<Line value="to SpeedFeedback component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="8186" index="1" uid="77f15006-5980-499a-8a18-ce1a5e5794e5" >
+<cdparam x="426" y="454" />
+<sizeparam width="307" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending EB command to DC motors actuators
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8170" />
+<TGConnectingPoint num="1" id="8171" />
+<TGConnectingPoint num="2" id="8172" />
+<TGConnectingPoint num="3" id="8173" />
+<TGConnectingPoint num="4" id="8174" />
+<TGConnectingPoint num="5" id="8175" />
+<TGConnectingPoint num="6" id="8176" />
+<TGConnectingPoint num="7" id="8177" />
+<TGConnectingPoint num="8" id="8178" />
+<TGConnectingPoint num="9" id="8179" />
+<TGConnectingPoint num="10" id="8180" />
+<TGConnectingPoint num="11" id="8181" />
+<TGConnectingPoint num="12" id="8182" />
+<TGConnectingPoint num="13" id="8183" />
+<TGConnectingPoint num="14" id="8184" />
+<TGConnectingPoint num="15" id="8185" />
+<extraparam>
+<Line value="Sending EB command to DC motors actuators" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="8203" index="2" uid="16968ae2-0875-4576-a8cb-1292c3b97e86" >
+<cdparam x="165" y="277" />
+<sizeparam width="216" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Receiving EB order from
+AutonomousDriving component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8187" />
+<TGConnectingPoint num="1" id="8188" />
+<TGConnectingPoint num="2" id="8189" />
+<TGConnectingPoint num="3" id="8190" />
+<TGConnectingPoint num="4" id="8191" />
+<TGConnectingPoint num="5" id="8192" />
+<TGConnectingPoint num="6" id="8193" />
+<TGConnectingPoint num="7" id="8194" />
+<TGConnectingPoint num="8" id="8195" />
+<TGConnectingPoint num="9" id="8196" />
+<TGConnectingPoint num="10" id="8197" />
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+<TGConnectingPoint num="12" id="8199" />
+<TGConnectingPoint num="13" id="8200" />
+<TGConnectingPoint num="14" id="8201" />
+<TGConnectingPoint num="15" id="8202" />
+<extraparam>
+<Line value="Receiving EB order from" />
+<Line value="AutonomousDriving component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="8206" index="3" uid="797a320b-59bb-4f3b-92fe-b2aaa9836533" >
+<cdparam x="668" y="314" />
+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newFeedbackEB()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8204" />
+<TGConnectingPoint num="1" id="8205" />
+<extraparam>
+<Data eventName="newFeedbackEB" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="8208" index="4" uid="59bcb8f9-3117-4398-9e63-7353ffd6661f" >
+<cdparam x="729" y="374" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8207" />
+</COMPONENT>
+
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+<cdparam x="675" y="250" />
+<sizeparam width="128" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoSF(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8209" />
+<TGConnectingPoint num="1" id="8210" />
+<extraparam>
+<Data channelName="fromEBCtoSF" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="8213" index="6" uid="79c3cfea-5ddc-419a-afe8-e30b2df6daf7" >
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8212" />
+</COMPONENT>
+
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+<cdparam x="497" y="354" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newEBCommand()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8214" />
+<TGConnectingPoint num="1" id="8215" />
+<extraparam>
+<Data eventName="newEBCommand" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="8219" index="8" uid="075715c2-1a68-424c-8456-3fb77ce8c62a" >
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+<sizeparam width="132" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoMO(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8217" />
+<TGConnectingPoint num="1" id="8218" />
+<extraparam>
+<Data channelName="fromEBCtoMO" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="8221" index="9" uid="a6c1c7d5-d2fc-488a-a2eb-ffcbf132fab7" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8220" />
+</COMPONENT>
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+<sizeparam width="134" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="read channel" value="fromADtoEBC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="8222" />
+<TGConnectingPoint num="1" id="8223" />
+<extraparam>
+<Data channelName="fromADtoEBC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1016" id="8232" index="11" uid="efe47682-c3db-41d0-bfd4-8684847296c4" >
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+<sizeparam width="150" height="5" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8226" />
+<TGConnectingPoint num="1" id="8227" />
+<TGConnectingPoint num="2" id="8228" />
+<TGConnectingPoint num="3" id="8229" />
+<TGConnectingPoint num="4" id="8230" />
+<TGConnectingPoint num="5" id="8231" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="8225" index="26" uid="f4947795-4a81-4177-943b-80cf092a3d38" >
+<father id="8232" num="0" />
+<cdparam x="647" y="189" />
+<sizeparam width="20" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="154" minY="7" maxY="7" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8233" />
+</COMPONENT>
+
+<COMPONENT type="1020" id="8238" index="13" uid="18f2bb4c-a015-4a3d-bfdb-dec4b63de206" >
+<cdparam x="403" y="89" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8235" />
+<TGConnectingPoint num="1" id="8236" />
+<TGConnectingPoint num="2" id="8237" />
+</COMPONENT>
+
+<COMPONENT type="1000" id="8240" index="14" uid="993308b2-adcf-4943-b546-8d870828d1e0" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="8239" />
+</COMPONENT>
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<AutomaticDrawing data="true" />
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+<AutomaticDrawing data="true" />
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+</TMLActivityDiagramPanel>
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+- rover speed
+- gap
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+<new d="false" />
+<TGConnectingPoint num="0" id="10014" />
+<TGConnectingPoint num="1" id="10015" />
+<TGConnectingPoint num="2" id="10016" />
+<TGConnectingPoint num="3" id="10017" />
+<TGConnectingPoint num="4" id="10018" />
+<TGConnectingPoint num="5" id="10019" />
+<TGConnectingPoint num="6" id="10020" />
+<TGConnectingPoint num="7" id="10021" />
+<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
+<Attribute access="2" id="leader_message_type" value="" type="0" typeOther="" />
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="1203" id="10009" index="104" uid="807d0d9d-e19d-4afd-8494-d673f2617a29" >
+<father id="10022" num="0" />
+<cdparam x="1137" y="216" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="305" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Channel fromLSocToSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10008" />
+<extraparam>
+<Prop commName="fromLSocToSoc" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="10011" index="105" uid="d81a37b9-46e4-4c6a-9428-504b318e21c5" >
+<father id="10022" num="1" />
+<cdparam x="1005" y="216" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="305" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Event newLeaderSocketData" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10010" />
+<extraparam>
+<Prop commName="newLeaderSocketData" commType="1" origin="true" finite="true" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="10013" index="106" uid="a0765022-9e64-451a-bb0b-14d631528de3" >
+<father id="10022" num="2" />
+<cdparam x="1268" y="216" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="305" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Channel fromSocToLSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10012" />
+<extraparam>
+<Prop commName="fromSocToLSoc" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="1202" id="10043" index="45" uid="f039bf1b-286f-4389-8104-0c7f8f4ef2b7" >
+<cdparam x="1002" y="355" />
+<sizeparam width="321" height="131" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="16" maxX="4504" minY="16" maxY="1999" />
+<infoparam name="Primitive component" value="Socket" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10035" />
+<TGConnectingPoint num="1" id="10036" />
+<TGConnectingPoint num="2" id="10037" />
+<TGConnectingPoint num="3" id="10038" />
+<TGConnectingPoint num="4" id="10039" />
+<TGConnectingPoint num="5" id="10040" />
+<TGConnectingPoint num="6" id="10041" />
+<TGConnectingPoint num="7" id="10042" />
+<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
+<Attribute access="2" id="leader_message_type" value="" type="0" typeOther="" />
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="1203" id="10024" index="107" uid="fce8d9ae-6134-4c23-a3d8-d5036565d691" >
+<father id="10043" num="0" />
+<cdparam x="1268" y="345" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="311" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Channel fromSocToLSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10023" />
+<extraparam>
+<Prop commName="fromSocToLSoc" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="10026" index="108" uid="6c414320-e956-4eee-a577-d2d2fd6294a7" >
+<father id="10043" num="1" />
+<cdparam x="1137" y="345" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="311" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Channel fromLSocToSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10025" />
+<extraparam>
+<Prop commName="fromLSocToSoc" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="true" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="10028" index="109" uid="26b61746-800d-4f7b-a17d-725ce5851087" >
+<father id="10043" num="2" />
+<cdparam x="1005" y="345" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="311" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Event newLeaderSocketData" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10027" />
+<extraparam>
+<Prop commName="newLeaderSocketData" commType="1" origin="false" finite="true" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="10030" index="110" uid="d81a37b9-46e4-4c6a-9428-504b318e21c5" >
+<father id="10043" num="3" />
+<cdparam x="1006" y="476" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="311" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Event newSocketData" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10029" />
+<extraparam>
+<Prop commName="newSocketData" commType="1" origin="true" finite="true" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int16_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="1" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="10032" index="111" uid="807d0d9d-e19d-4afd-8494-d673f2617a29" >
+<father id="10043" num="4" />
+<cdparam x="1099" y="476" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="311" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Channel fromSocToCPC" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10031" />
+<extraparam>
+<Prop commName="fromSocToCPC" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1203" id="10034" index="112" uid="a0765022-9e64-451a-bb0b-14d631528de3" >
+<father id="10043" num="5" />
+<cdparam x="1289" y="476" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="311" minY="-10" maxY="121" />
+<infoparam name="Primitive port" value="Channel fromADtoSoc" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10033" />
+<extraparam>
+<Prop commName="fromADtoSoc" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="1202" id="10054" index="46" uid="98971654-05e5-4355-90bb-b7728b165cf8" >
+<cdparam x="13" y="813" />
+<sizeparam width="223" height="120" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="16" maxX="4504" minY="16" maxY="1999" />
+<infoparam name="Primitive component" value="SensorsAcquisition" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10046" />
+<TGConnectingPoint num="1" id="10047" />
+<TGConnectingPoint num="2" id="10048" />
+<TGConnectingPoint num="3" id="10049" />
+<TGConnectingPoint num="4" id="10050" />
+<TGConnectingPoint num="5" id="10051" />
+<TGConnectingPoint num="6" id="10052" />
+<TGConnectingPoint num="7" id="10053" />
+<extraparam>
+<Data isAttacker="No" daemon="false" periodic="false" periodValue="" unit="ms" Operation="" />
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="1203" id="10045" index="113" uid="1a22bcd1-76c4-4c11-972f-874a547f8a57" >
+<father id="10054" num="0" />
+<cdparam x="226" y="869" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="213" minY="-10" maxY="110" />
+<infoparam name="Primitive port" value="Channel fromSAtoDT" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10044" />
+<extraparam>
+<Prop commName="fromSAtoDT" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="int32_t" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="0" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+<Type type="0" typeOther="" />
+</extraparam>
+</SUBCOMPONENT>
+
+
+</TMLComponentTaskDiagramPanel>
+
+<TMLActivityDiagramPanel name="AutonomousDriving" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000007" >
+<COMPONENT type="301" id="10071" index="0" uid="fe8a311f-53b5-44d0-99df-34642f556559" >
+<cdparam x="799" y="517" />
+<sizeparam width="341" height="87" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Gap checking
+(gap < 20)
+See AVATAR model, EBPlausibilityCheck>Rover
+
+In this model, we consider that gap is always > 20
+since it is the worst case in terms of computational
+cost
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10055" />
+<TGConnectingPoint num="1" id="10056" />
+<TGConnectingPoint num="2" id="10057" />
+<TGConnectingPoint num="3" id="10058" />
+<TGConnectingPoint num="4" id="10059" />
+<TGConnectingPoint num="5" id="10060" />
+<TGConnectingPoint num="6" id="10061" />
+<TGConnectingPoint num="7" id="10062" />
+<TGConnectingPoint num="8" id="10063" />
+<TGConnectingPoint num="9" id="10064" />
+<TGConnectingPoint num="10" id="10065" />
+<TGConnectingPoint num="11" id="10066" />
+<TGConnectingPoint num="12" id="10067" />
+<TGConnectingPoint num="13" id="10068" />
+<TGConnectingPoint num="14" id="10069" />
+<TGConnectingPoint num="15" id="10070" />
+<extraparam>
+<Line value="Gap checking" />
+<Line value="(gap < 20)" />
+<Line value="See AVATAR model, EBPlausibilityCheck>Rover" />
+<Line value="" />
+<Line value="In this model, we consider that gap is always > 20" />
+<Line value="since it is the worst case in terms of computational" />
+<Line value="cost" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1013" id="10075" index="1" uid="5b01a257-aaa0-4c2c-ad58-752dc4b6e048" >
+<cdparam x="756" y="556" />
+<sizeparam width="10" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10073" />
+<TGConnectingPoint num="1" id="10074" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="10072" index="50" uid="f5d1378c-115d-4bd7-98d7-b79990a762d4" >
+<father id="10075" num="0" />
+<cdparam x="771" y="576" />
+<sizeparam width="10" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
+<infoparam name="value of the delay" value="1" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="301" id="10092" index="2" uid="8f13dbf0-ef32-4ed4-97b6-d441b5c1a79b" >
+<cdparam x="10" y="417" />
+<sizeparam width="207" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Sending gap measurement to
+PlausibilityCheck component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10076" />
+<TGConnectingPoint num="1" id="10077" />
+<TGConnectingPoint num="2" id="10078" />
+<TGConnectingPoint num="3" id="10079" />
+<TGConnectingPoint num="4" id="10080" />
+<TGConnectingPoint num="5" id="10081" />
+<TGConnectingPoint num="6" id="10082" />
+<TGConnectingPoint num="7" id="10083" />
+<TGConnectingPoint num="8" id="10084" />
+<TGConnectingPoint num="9" id="10085" />
+<TGConnectingPoint num="10" id="10086" />
+<TGConnectingPoint num="11" id="10087" />
+<TGConnectingPoint num="12" id="10088" />
+<TGConnectingPoint num="13" id="10089" />
+<TGConnectingPoint num="14" id="10090" />
+<TGConnectingPoint num="15" id="10091" />
+<extraparam>
+<Line value="Sending gap measurement to" />
+<Line value="PlausibilityCheck component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10094" index="3" uid="16e4b272-fa9c-4375-9060-13fa6583920b" >
+<cdparam x="279" y="493" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10093" />
+</COMPONENT>
+
+<COMPONENT type="1006" id="10097" index="4" uid="fe5f0cbc-2ebc-44d6-b792-dfdcaafe77ad" >
+<cdparam x="224" y="420" />
+<sizeparam width="130" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromADtoCPC(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10095" />
+<TGConnectingPoint num="1" id="10096" />
+<extraparam>
+<Data channelName="fromADtoCPC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="10114" index="5" uid="03c5a1e9-896b-4389-85a3-90c83cd294f4" >
+<cdparam x="884" y="621" />
+<sizeparam width="451" height="39" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In case of platoon information update message:
+1. sending speed control data to activate speed controller
+2. sending lane keeping control data to activate trajectory controller
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10098" />
+<TGConnectingPoint num="1" id="10099" />
+<TGConnectingPoint num="2" id="10100" />
+<TGConnectingPoint num="3" id="10101" />
+<TGConnectingPoint num="4" id="10102" />
+<TGConnectingPoint num="5" id="10103" />
+<TGConnectingPoint num="6" id="10104" />
+<TGConnectingPoint num="7" id="10105" />
+<TGConnectingPoint num="8" id="10106" />
+<TGConnectingPoint num="9" id="10107" />
+<TGConnectingPoint num="10" id="10108" />
+<TGConnectingPoint num="11" id="10109" />
+<TGConnectingPoint num="12" id="10110" />
+<TGConnectingPoint num="13" id="10111" />
+<TGConnectingPoint num="14" id="10112" />
+<TGConnectingPoint num="15" id="10113" />
+<extraparam>
+<Line value="In case of platoon information update message:" />
+<Line value="1. sending speed control data to activate speed controller" />
+<Line value="2. sending lane keeping control data to activate trajectory controller" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="10131" index="6" uid="e2c136d0-5359-43dc-bec6-fe8d50ca71d3" >
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Sending update message to leader
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10115" />
+<TGConnectingPoint num="1" id="10116" />
+<TGConnectingPoint num="2" id="10117" />
+<TGConnectingPoint num="3" id="10118" />
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+<TGConnectingPoint num="5" id="10120" />
+<TGConnectingPoint num="6" id="10121" />
+<TGConnectingPoint num="7" id="10122" />
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+<TGConnectingPoint num="9" id="10124" />
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+<TGConnectingPoint num="12" id="10127" />
+<TGConnectingPoint num="13" id="10128" />
+<TGConnectingPoint num="14" id="10129" />
+<TGConnectingPoint num="15" id="10130" />
+<extraparam>
+<Line value="Sending update message to leader" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+" />
+<new d="false" />
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+<TGConnectingPoint num="15" id="10147" />
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+<Line value="sending EB order to activate EB controller" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Receiving leader message
+" />
+<new d="false" />
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+<TGConnectingPoint num="15" id="10164" />
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+<Line value="Receiving leader message" />
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Receiving sensor data
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+<TGConnectingPoint num="14" id="10180" />
+<TGConnectingPoint num="15" id="10181" />
+<extraparam>
+<Line value="Receiving sensor data" />
+</extraparam>
+</COMPONENT>
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="26" minY="10" maxY="26" />
+<infoparam name="value of the delay" value="1" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="10187" />
+<TGConnectingPoint num="1" id="10188" />
+<extraparam>
+<Data channelName="fromADtoEBC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
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+<TGConnectingPoint num="2" id="10203" />
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+<hidden value="false" />
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+<hidden value="false" />
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+<cdrectangleparam minX="35" maxX="50" minY="10" maxY="28" />
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+<new d="false" />
+</SUBCOMPONENT>
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="10213" />
+<TGConnectingPoint num="1" id="10214" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="action state" value="leader_message_type = 12" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10308" />
+<TGConnectingPoint num="1" id="10309" />
+</COMPONENT>
+
+<COMPONENT type="1011" id="10313" index="9" uid="7401c30d-dfc7-4cc3-954e-412b57ae1df7" >
+<cdparam x="6" y="404" />
+<sizeparam width="181" height="20" minWidth="26" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="action state" value="leader_message_type = 11" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10311" />
+<TGConnectingPoint num="1" id="10312" />
+</COMPONENT>
+
+<COMPONENT type="1001" id="10315" index="10" uid="e1a8e900-4adb-4191-b1a1-b11cf5f10810" >
+<cdparam x="307" y="432" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10314" />
+</COMPONENT>
+
+<COMPONENT type="1001" id="10317" index="11" uid="1b24d55c-b55e-43b2-9d40-dff60116fec3" >
+<cdparam x="85" y="429" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10316" />
+</COMPONENT>
+
+<COMPONENT type="1001" id="10319" index="12" uid="3c3c9181-7325-4450-b43d-d1f99443830b" >
+<cdparam x="559" y="579" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10318" />
+</COMPONENT>
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+<cdparam x="9" y="10" />
+<sizeparam width="286" height="183" minWidth="7" minHeight="3" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Attacker mode
+-----------------------
+1: the attacker injects a false speed value
+with a strong increase w.r.t. the real value
+(Attack 1, see deliverable D5.2)
+2: the attacker injects a false speed value
+with a small increase w.r.t. the real value
+(Attack 2, see deliverable D5.2)
+4 : the attacker injects a false emergency
+brake message
+(Attack 4, see deliverable D5.2)
+5 : the attacker blocks emergency brake
+messages (Attack 5, see deliverable D5.2)
+and injects a platoon information update
+message
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10320" />
+<TGConnectingPoint num="1" id="10321" />
+<TGConnectingPoint num="2" id="10322" />
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+<TGConnectingPoint num="14" id="10334" />
+<TGConnectingPoint num="15" id="10335" />
+<extraparam>
+<Line value="Attacker mode" />
+<Line value="-----------------------" />
+<Line value="1: the attacker injects a false speed value" />
+<Line value="with a strong increase w.r.t. the real value" />
+<Line value="(Attack 1, see deliverable D5.2)" />
+<Line value="2: the attacker injects a false speed value" />
+<Line value="with a small increase w.r.t. the real value" />
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+<Line value="4 : the attacker injects a false emergency" />
+<Line value="brake message" />
+<Line value="(Attack 4, see deliverable D5.2)" />
+<Line value="5 : the attacker blocks emergency brake" />
+<Line value="messages (Attack 5, see deliverable D5.2)" />
+<Line value="and injects a platoon information update" />
+<Line value="message" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1010" id="10339" index="14" uid="ef43fdcb-1551-4a2a-9096-fff3ce21da37" >
+<cdparam x="464" y="154" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="wait event" value="interception(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="10337" />
+<TGConnectingPoint num="1" id="10338" />
+<extraparam>
+<Data eventName="interception" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
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+<cdparam x="429" y="539" />
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+<TGConnectingPoint num="0" id="10340" />
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+<cdparam x="478" y="117" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<TGConnectingPoint num="0" id="10348" />
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+<cdparam x="537" y="80" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<cdparam x="570" y="432" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="569" y="433" id="10293" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
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+<cdparam x="609" y="392" />
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+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<cdparam x="529" y="384" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="529" y="393" id="10291" />
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+<infoparam name="connector" value="null" />
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+<cdparam x="276" y="290" />
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+<infoparam name="connector" value="null" />
+<P1 x="278" y="290" id="10275" />
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+<cdparam x="315" y="329" />
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+<infoparam name="connector" value="null" />
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+<cdparam x="642" y="221" />
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+<infoparam name="connector" value="null" />
+<P1 x="641" y="222" id="10285" />
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+<infoparam name="connector" value="null" />
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+<infoparam name="connector" value="null" />
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+
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+
+<TMLActivityDiagramPanel name="Socket" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<infoparam name="value of the delay" value="1" />
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+<TGConnectingPoint num="1" id="10374" />
+<extraparam>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="read channel" value="fromLSocToSoc(1) " />
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+<TGConnectingPoint num="0" id="10376" />
+<TGConnectingPoint num="1" id="10377" />
+<breakpoint />
+<extraparam>
+<Data channelName="fromLSocToSoc" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="wait event" value="newLeaderSocketData(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="10379" />
+<TGConnectingPoint num="1" id="10380" />
+<extraparam>
+<Data eventName="newLeaderSocketData" nbOfParams="5" />
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+<Data channelName="fromLSocToSoc" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10478" index="7" uid="53c59f6a-5fb6-42d5-8ace-934bdfcfe1c9" >
+<cdparam x="204" y="388" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10477" />
+</COMPONENT>
+
+<COMPONENT type="1016" id="10486" index="8" uid="d0ae78f4-f3e1-4ab7-ba9c-3074a208baad" >
+<cdparam x="489" y="180" />
+<sizeparam width="150" height="5" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10480" />
+<TGConnectingPoint num="1" id="10481" />
+<TGConnectingPoint num="2" id="10482" />
+<TGConnectingPoint num="3" id="10483" />
+<TGConnectingPoint num="4" id="10484" />
+<TGConnectingPoint num="5" id="10485" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="10479" index="23" uid="10a91373-1cd9-4c23-b645-3a505cd2a84a" >
+<father id="10486" num="0" />
+<cdparam x="643" y="187" />
+<sizeparam width="20" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="154" minY="7" maxY="7" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="301" id="10503" index="9" uid="99b808be-43c2-4e98-bae3-8ae364f38251" >
+<cdparam x="62" y="61" />
+<sizeparam width="325" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="This simplistic socket activity diagram is to refine
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10487" />
+<TGConnectingPoint num="1" id="10488" />
+<TGConnectingPoint num="2" id="10489" />
+<TGConnectingPoint num="3" id="10490" />
+<TGConnectingPoint num="4" id="10491" />
+<TGConnectingPoint num="5" id="10492" />
+<TGConnectingPoint num="6" id="10493" />
+<TGConnectingPoint num="7" id="10494" />
+<TGConnectingPoint num="8" id="10495" />
+<TGConnectingPoint num="9" id="10496" />
+<TGConnectingPoint num="10" id="10497" />
+<TGConnectingPoint num="11" id="10498" />
+<TGConnectingPoint num="12" id="10499" />
+<TGConnectingPoint num="13" id="10500" />
+<TGConnectingPoint num="14" id="10501" />
+<TGConnectingPoint num="15" id="10502" />
+<extraparam>
+<Line value="This simplistic socket activity diagram is to refine" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10505" index="10" uid="5f4a6c31-adec-4a3f-a5fe-923b0211ed3c" >
+<cdparam x="464" y="149" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10504" />
+</COMPONENT>
+
+<COMPONENT type="1020" id="10509" index="11" uid="18f2bb4c-a015-4a3d-bfdb-dec4b63de206" >
+<cdparam x="425" y="84" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10506" />
+<TGConnectingPoint num="1" id="10507" />
+<TGConnectingPoint num="2" id="10508" />
+</COMPONENT>
+
+<COMPONENT type="1000" id="10511" index="12" uid="993308b2-adcf-4943-b546-8d870828d1e0" >
+<cdparam x="467" y="34" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10510" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="10512" index="13" uid="2ca4eb4f-3d39-49a4-9903-8cd491414983" >
+<cdparam x="523" y="98" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="523" y="98" id="10507" />
+<P2 x="564" y="180" id="10480" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10513" index="14" uid="8860d030-d6ac-4be7-9c21-e53c0daac204" >
+<cdparam x="514" y="185" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="514" y="185" id="10481" />
+<P2 x="214" y="328" id="10461" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10514" index="15" uid="583e37c6-08f6-46e4-804c-77fa7e851305" >
+<cdparam x="825" y="347" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="825" y="347" id="10467" />
+<P2 x="825" y="389" id="10464" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10515" index="16" uid="37d8e65f-cf3d-46be-bd84-a5b212e8d725" >
+<cdparam x="613" y="185" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="613" y="185" id="10485" />
+<P2 x="825" y="317" id="10466" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10516" index="17" uid="22b23f03-86b3-478c-bc5e-7a4cf54f554c" >
+<cdparam x="564" y="185" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="185" id="10483" />
+<P2 x="564" y="393" id="10474" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10517" index="18" uid="d573638a-1744-4b6a-9962-e11d8fc4327e" >
+<cdparam x="564" y="423" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="423" id="10475" />
+<P2 x="564" y="449" id="10471" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10518" index="19" uid="90e89cde-f091-42d1-9722-b3ad317d3a3e" >
+<cdparam x="564" y="479" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="564" y="479" id="10472" />
+<P2 x="564" y="513" id="10469" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10519" index="20" uid="74550472-de62-41b0-a76d-a1d53008fb87" >
+<cdparam x="220" y="364" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="214" y="358" id="10462" />
+<P2 x="214" y="383" id="10477" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10520" index="21" uid="056870c5-f567-4a25-ab12-629fe54c4bbe" >
+<cdparam x="474" y="54" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="474" y="54" id="10510" />
+<P2 x="474" y="79" id="10506" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10521" index="22" uid="619e3fff-0af1-4f81-92f8-fdbdec4af767" >
+<cdparam x="474" y="109" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="474" y="109" id="10508" />
+<P2 x="474" y="144" id="10504" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="Countermeasure_PlausibilityCheck" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000007" >
+<COMPONENT type="301" id="10538" index="0" uid="0a3699dc-4b0c-477e-9925-aed20a1c8de4" >
+<cdparam x="1104" y="728" />
+<sizeparam width="370" height="99" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="In this DIPLODOCUS model, we consider
+this plausibility check behavior only under
+an attack (thus, every emergency brake
+order is an illegitimate one and leader_message_type
+is changed to 1 and not kept to 0).
+Indeed, the worst case is terms of computational
+complexity is the SpeedController + TrajectoryController
+chain and not the EBController one.
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10522" />
+<TGConnectingPoint num="1" id="10523" />
+<TGConnectingPoint num="2" id="10524" />
+<TGConnectingPoint num="3" id="10525" />
+<TGConnectingPoint num="4" id="10526" />
+<TGConnectingPoint num="5" id="10527" />
+<TGConnectingPoint num="6" id="10528" />
+<TGConnectingPoint num="7" id="10529" />
+<TGConnectingPoint num="8" id="10530" />
+<TGConnectingPoint num="9" id="10531" />
+<TGConnectingPoint num="10" id="10532" />
+<TGConnectingPoint num="11" id="10533" />
+<TGConnectingPoint num="12" id="10534" />
+<TGConnectingPoint num="13" id="10535" />
+<TGConnectingPoint num="14" id="10536" />
+<TGConnectingPoint num="15" id="10537" />
+<extraparam>
+<Line value="In this DIPLODOCUS model, we consider" />
+<Line value="this plausibility check behavior only under" />
+<Line value="an attack (thus, every emergency brake" />
+<Line value="order is an illegitimate one and leader_message_type" />
+<Line value="is changed to 1 and not kept to 0)." />
+<Line value="Indeed, the worst case is terms of computational" />
+<Line value="complexity is the SpeedController + TrajectoryController" />
+<Line value="chain and not the EBController one." />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1011" id="10541" index="1" uid="c6e6dc0f-e348-4527-9dc6-68e7157c0a62" >
+<cdparam x="858" y="635" />
+<sizeparam width="172" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="action state" value="leader_message_type = 1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10539" />
+<TGConnectingPoint num="1" id="10540" />
+</COMPONENT>
+
+<COMPONENT type="1009" id="10544" index="2" uid="8420e19d-9151-4b84-b06e-2f0b79fdfc31" >
+<cdparam x="304" y="240" />
+<sizeparam width="134" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="read channel" value="fromADtoCPC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="10542" />
+<TGConnectingPoint num="1" id="10543" />
+<extraparam>
+<Data channelName="fromADtoCPC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1016" id="10552" index="3" uid="c0cc4020-6c70-486f-b753-849f36513458" >
+<cdparam x="451" y="406" />
+<sizeparam width="150" height="5" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10546" />
+<TGConnectingPoint num="1" id="10547" />
+<TGConnectingPoint num="2" id="10548" />
+<TGConnectingPoint num="3" id="10549" />
+<TGConnectingPoint num="4" id="10550" />
+<TGConnectingPoint num="5" id="10551" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="10545" index="36" uid="e84298ba-fd81-4cc3-a1c7-8ec5b712f17c" >
+<father id="10552" num="0" />
+<cdparam x="598" y="406" />
+<sizeparam width="20" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="147" minY="7" maxY="0" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1013" id="10556" index="4" uid="263d9600-a267-4906-8dd7-32c9f269252b" >
+<cdparam x="521" y="488" />
+<sizeparam width="10" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="execI" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10554" />
+<TGConnectingPoint num="1" id="10555" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="10553" index="37" uid="e622ecda-6747-4f3b-88dc-c5aebe12a4cd" >
+<father id="10556" num="0" />
+<cdparam x="537" y="508" />
+<sizeparam width="9" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="22" minY="10" maxY="22" />
+<infoparam name="value of the delay" value="7" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1012" id="10564" index="5" uid="f820b284-bd61-4e7b-87a2-c5a7df9af871" >
+<cdparam x="357" y="310" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="choice" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10560" />
+<TGConnectingPoint num="1" id="10561" />
+<TGConnectingPoint num="2" id="10562" />
+<TGConnectingPoint num="3" id="10563" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="10557" index="38" uid="c28912bb-e91b-4892-98e1-72c2caee6b46" >
+<father id="10564" num="0" />
+<cdparam x="282" y="342" />
+<sizeparam width="213" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="-75" maxX="-16" minY="10" maxY="32" />
+<infoparam name="guard 1" value="[not(leader_message_type == 0)]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="10558" index="39" uid="db4da7f4-464c-4bea-aecb-563a92447ef0" >
+<father id="10564" num="1" />
+<cdparam x="410" y="330" />
+<sizeparam width="36" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="35" maxX="53" minY="10" maxY="32" />
+<infoparam name="guard 2" value="[else]" />
+<new d="false" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="10559" index="40" uid="8ae66e42-58a8-4d58-a8c8-7865a9c65f79" >
+<father id="10564" num="2" />
+<cdparam x="395" y="376" />
+<sizeparam width="14" height="15" minWidth="9" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="20" maxX="38" minY="45" maxY="66" />
+<infoparam name="guard 3" value="[ ]" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="301" id="10581" index="6" uid="9276715c-d4e9-4f99-ab4a-af9aed8ef269" >
+<cdparam x="1040" y="580" />
+<sizeparam width="370" height="135" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="If an EB message is received, the countemeasure
+checks if there is a decrease in the three following
+consecutive gap values.
+If it is the case, an EB message is sent to the AD
+component. Else, a regular speed update message
+is sent with the last legitimate speed value.
+
+Depending on the gap values, leader_message_type
+can be equal to 0 or 1. In this model, we keep it
+equal to 1 since our aim is to evaluate the performance
+of the countermeasure rather than its exact behavior.
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10565" />
+<TGConnectingPoint num="1" id="10566" />
+<TGConnectingPoint num="2" id="10567" />
+<TGConnectingPoint num="3" id="10568" />
+<TGConnectingPoint num="4" id="10569" />
+<TGConnectingPoint num="5" id="10570" />
+<TGConnectingPoint num="6" id="10571" />
+<TGConnectingPoint num="7" id="10572" />
+<TGConnectingPoint num="8" id="10573" />
+<TGConnectingPoint num="9" id="10574" />
+<TGConnectingPoint num="10" id="10575" />
+<TGConnectingPoint num="11" id="10576" />
+<TGConnectingPoint num="12" id="10577" />
+<TGConnectingPoint num="13" id="10578" />
+<TGConnectingPoint num="14" id="10579" />
+<TGConnectingPoint num="15" id="10580" />
+<extraparam>
+<Line value="If an EB message is received, the countemeasure" />
+<Line value="checks if there is a decrease in the three following" />
+<Line value="consecutive gap values." />
+<Line value="If it is the case, an EB message is sent to the AD" />
+<Line value="component. Else, a regular speed update message" />
+<Line value="is sent with the last legitimate speed value." />
+<Line value="" />
+<Line value="Depending on the gap values, leader_message_type" />
+<Line value="can be equal to 0 or 1. In this model, we keep it" />
+<Line value="equal to 1 since our aim is to evaluate the performance" />
+<Line value="of the countermeasure rather than its exact behavior." />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="10598" index="7" uid="1197a7d2-65d9-47e2-9ee3-4d0f6dc0b1f8" >
+<cdparam x="554" y="456" />
+<sizeparam width="194" height="111" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Plausibility check (EXECI 7) :
+Worst case : 7 evaluations
+(gap > gapBackup
+n != 0
+n != 1
+n >= 2
+gap2 < gap1
+and
+gap1 < gap0)
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10582" />
+<TGConnectingPoint num="1" id="10583" />
+<TGConnectingPoint num="2" id="10584" />
+<TGConnectingPoint num="3" id="10585" />
+<TGConnectingPoint num="4" id="10586" />
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+<TGConnectingPoint num="6" id="10588" />
+<TGConnectingPoint num="7" id="10589" />
+<TGConnectingPoint num="8" id="10590" />
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+<TGConnectingPoint num="10" id="10592" />
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+<TGConnectingPoint num="13" id="10595" />
+<TGConnectingPoint num="14" id="10596" />
+<TGConnectingPoint num="15" id="10597" />
+<extraparam>
+<Line value="Plausibility check (EXECI 7) :" />
+<Line value="Worst case : 7 evaluations" />
+<Line value="(gap > gapBackup" />
+<Line value="n != 0" />
+<Line value="n != 1" />
+<Line value="n >= 2" />
+<Line value="gap2 < gap1" />
+<Line value="and" />
+<Line value="gap1 < gap0)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10600" index="8" uid="96ad662a-5490-45ea-be20-fd4168be4d3f" >
+<cdparam x="933" y="843" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10599" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="10603" index="9" uid="85378265-d5db-49a4-8c71-aaed3fd4cb2a" >
+<cdparam x="793" y="768" />
+<sizeparam width="300" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newLeaderMessage(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10601" />
+<TGConnectingPoint num="1" id="10602" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="10606" index="10" uid="3a318f25-c398-4f9c-b0b7-2968f5b82360" >
+<cdparam x="875" y="702" />
+<sizeparam width="138" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromCPCtoAD(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10604" />
+<TGConnectingPoint num="1" id="10605" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10608" index="11" uid="dcfb088e-8d87-40cb-834a-3279e5fa1777" >
+<cdparam x="515" y="594" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10607" />
+</COMPONENT>
+
+<COMPONENT type="1009" id="10611" index="12" uid="c8f0ad98-ca75-413d-9171-40c1f542014d" >
+<cdparam x="298" y="174" />
+<sizeparam width="147" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="read channel" value="fromSocToCPC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="10609" />
+<TGConnectingPoint num="1" id="10610" />
+<extraparam>
+<Data channelName="fromSocToCPC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1010" id="10614" index="13" uid="282d5031-afca-450c-949b-24460be9dc45" >
+<cdparam x="232" y="128" />
+<sizeparam width="278" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="wait event" value="newSocketData(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="10612" />
+<TGConnectingPoint num="1" id="10613" />
+<extraparam>
+<Data eventName="newSocketData" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10616" index="14" uid="2931671c-ae14-449e-80cf-eb7c6e2990fa" >
+<cdparam x="238" y="540" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10615" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="10619" index="15" uid="495a8838-44f4-452d-a9f9-c7ed366db66f" >
+<cdparam x="85" y="478" />
+<sizeparam width="326" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newLeaderMessage(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10617" />
+<TGConnectingPoint num="1" id="10618" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="10622" index="16" uid="23ab6b2a-08c8-475c-a13d-e6e49762edfe" >
+<cdparam x="179" y="424" />
+<sizeparam width="139" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromCPCtoAD(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10620" />
+<TGConnectingPoint num="1" id="10621" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10624" index="17" uid="5f4a6c31-adec-4a3f-a5fe-923b0211ed3c" >
+<cdparam x="196" y="125" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10623" />
+</COMPONENT>
+
+<COMPONENT type="1020" id="10628" index="18" uid="18f2bb4c-a015-4a3d-bfdb-dec4b63de206" >
+<cdparam x="157" y="60" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10625" />
+<TGConnectingPoint num="1" id="10626" />
+<TGConnectingPoint num="2" id="10627" />
+</COMPONENT>
+
+<COMPONENT type="1000" id="10630" index="19" uid="993308b2-adcf-4943-b546-8d870828d1e0" >
+<cdparam x="199" y="10" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10629" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="10631" index="20" uid="dd957f92-6fbb-47a6-a5bf-f4acfe2602f0" >
+<cdparam x="949" y="663" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="944" y="660" id="10540" />
+<P2 x="944" y="697" id="10604" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10632" index="21" uid="d38cba37-3793-43d0-997a-efb372f7d831" >
+<cdparam x="371" y="293" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="371" y="265" id="10543" />
+<P2 x="372" y="305" id="10560" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10633" index="22" uid="a2594daa-5501-4ed2-bf43-fc09e7dd8930" >
+<cdparam x="526" y="523" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="526" y="523" id="10555" />
+<P2 x="525" y="589" id="10607" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10634" index="23" uid="52f0e6a3-cc45-40e8-855a-7b919691d9e8" >
+<cdparam x="255" y="74" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="255" y="74" id="10626" />
+<P2 x="371" y="123" id="10612" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10635" index="24" uid="88c7b950-f96c-4071-be74-87b4ae3b758a" >
+<cdparam x="332" y="326" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="332" y="325" id="10561" />
+<P2 x="248" y="419" id="10620" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10636" index="25" uid="ef062131-b893-495a-ada7-6c44550ef99e" >
+<cdparam x="412" y="326" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="412" y="325" id="10562" />
+<P2 x="526" y="406" id="10546" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10637" index="26" uid="fb6966ee-0c21-4bad-94fd-3dc5079efb08" >
+<cdparam x="574" y="351" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="575" y="411" id="10551" />
+<P2 x="944" y="630" id="10539" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10638" index="27" uid="02121c12-28ce-41f0-9f4d-4afffb76c1ec" >
+<cdparam x="574" y="410" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="526" y="411" id="10549" />
+<P2 x="526" y="483" id="10554" />
+<AutomaticDrawing data="true" />
+<new d="false" />
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+<CONNECTOR type="115" id="10639" index="28" uid="55922792-b637-4dc9-9ca9-dba62cb1a00f" >
+<cdparam x="373" y="152" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="371" y="153" id="10613" />
+<P2 x="371" y="169" id="10609" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10640" index="29" uid="3a973279-9027-4b18-b38c-34706d2ba1bd" >
+<cdparam x="943" y="728" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="944" y="727" id="10605" />
+<P2 x="943" y="763" id="10601" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10641" index="30" uid="bbaabbd2-ba27-44e2-86d3-08b1d102feb5" >
+<cdparam x="943" y="798" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="943" y="793" id="10602" />
+<P2 x="943" y="838" id="10599" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10642" index="31" uid="b11f6bd5-10ae-43d5-84bb-b69e4beca7fa" >
+<cdparam x="373" y="216" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10643" index="32" uid="cacfbcd2-e3c8-494a-b49f-feeb8cb18d3a" >
+<cdparam x="439" y="473" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="248" y="449" id="10621" />
+<P2 x="248" y="473" id="10617" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10644" index="33" uid="abe70da7-f9d8-4514-8270-93cecd27e167" >
+<cdparam x="439" y="535" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="248" y="503" id="10618" />
+<P2 x="248" y="535" id="10615" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10645" index="34" uid="056870c5-f567-4a25-ab12-629fe54c4bbe" >
+<cdparam x="206" y="30" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="206" y="30" id="10629" />
+<P2 x="206" y="55" id="10625" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="10646" index="35" uid="619e3fff-0af1-4f81-92f8-fdbdec4af767" >
+<cdparam x="206" y="85" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<P2 x="206" y="120" id="10623" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="EBController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="301" id="10663" index="0" uid="b2fed985-65d7-47b5-bcad-4d9f442a932b" >
+<cdparam x="778" y="372" />
+<sizeparam width="266" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending updated rover speed value (0)
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+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10647" />
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+<TGConnectingPoint num="10" id="10657" />
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+<TGConnectingPoint num="12" id="10659" />
+<TGConnectingPoint num="13" id="10660" />
+<TGConnectingPoint num="14" id="10661" />
+<TGConnectingPoint num="15" id="10662" />
+<extraparam>
+<Line value="Sending updated rover speed value (0)" />
+<Line value="to SpeedFeedback component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="10680" index="1" uid="77f15006-5980-499a-8a18-ce1a5e5794e5" >
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+<sizeparam width="307" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending EB command to DC motors actuators
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+<new d="false" />
+<TGConnectingPoint num="0" id="10664" />
+<TGConnectingPoint num="1" id="10665" />
+<TGConnectingPoint num="2" id="10666" />
+<TGConnectingPoint num="3" id="10667" />
+<TGConnectingPoint num="4" id="10668" />
+<TGConnectingPoint num="5" id="10669" />
+<TGConnectingPoint num="6" id="10670" />
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+<TGConnectingPoint num="9" id="10673" />
+<TGConnectingPoint num="10" id="10674" />
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+<TGConnectingPoint num="12" id="10676" />
+<TGConnectingPoint num="13" id="10677" />
+<TGConnectingPoint num="14" id="10678" />
+<TGConnectingPoint num="15" id="10679" />
+<extraparam>
+<Line value="Sending EB command to DC motors actuators" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="10697" index="2" uid="16968ae2-0875-4576-a8cb-1292c3b97e86" >
+<cdparam x="165" y="277" />
+<sizeparam width="216" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Receiving EB order from
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+<new d="false" />
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+<TGConnectingPoint num="13" id="10694" />
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+<TGConnectingPoint num="15" id="10696" />
+<extraparam>
+<Line value="Receiving EB order from" />
+<Line value="AutonomousDriving component" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="1008" id="10700" index="3" uid="797a320b-59bb-4f3b-92fe-b2aaa9836533" >
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+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newFeedbackEB()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10698" />
+<TGConnectingPoint num="1" id="10699" />
+<extraparam>
+<Data eventName="newFeedbackEB" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10702" index="4" uid="59bcb8f9-3117-4398-9e63-7353ffd6661f" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10701" />
+</COMPONENT>
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+<sizeparam width="128" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoSF(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10703" />
+<TGConnectingPoint num="1" id="10704" />
+<extraparam>
+<Data channelName="fromEBCtoSF" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="10707" index="6" uid="79c3cfea-5ddc-419a-afe8-e30b2df6daf7" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newEBCommand()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10708" />
+<TGConnectingPoint num="1" id="10709" />
+<extraparam>
+<Data eventName="newEBCommand" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
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+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoMO(1)" />
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+<TGConnectingPoint num="1" id="10712" />
+<extraparam>
+<Data channelName="fromEBCtoMO" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
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+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<TGConnectingPoint num="0" id="10714" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="read channel" value="fromADtoEBC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="10716" />
+<TGConnectingPoint num="1" id="10717" />
+<extraparam>
+<Data channelName="fromADtoEBC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
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+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10720" />
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+<TGConnectingPoint num="2" id="10722" />
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+<TGConnectingPoint num="4" id="10724" />
+<TGConnectingPoint num="5" id="10725" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="10719" index="26" uid="f4947795-4a81-4177-943b-80cf092a3d38" >
+<father id="10726" num="0" />
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+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="154" minY="7" maxY="7" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
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+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10727" />
+</COMPONENT>
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+<COMPONENT type="1020" id="10732" index="13" uid="18f2bb4c-a015-4a3d-bfdb-dec4b63de206" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10729" />
+<TGConnectingPoint num="1" id="10730" />
+<TGConnectingPoint num="2" id="10731" />
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10733" />
+</COMPONENT>
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+<infoparam name="connector" value="null" />
+<P1 x="501" y="103" id="10730" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
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+<infoparam name="connector" value="null" />
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<infoparam name="connector" value="null" />
+<P1 x="568" y="187" id="10723" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<cdparam x="568" y="300" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<new d="false" />
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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+<new d="false" />
+</CONNECTOR>
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="452" y="59" id="10733" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="452" y="114" id="10731" />
+<P2 x="452" y="149" id="10727" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="SpeedController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000002" >
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+<sizeparam width="231" height="51" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Reception of speed control data :
+- previous rover speed
+- rover speed
+- gap
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10746" />
+<TGConnectingPoint num="1" id="10747" />
+<TGConnectingPoint num="2" id="10748" />
+<TGConnectingPoint num="3" id="10749" />
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+<TGConnectingPoint num="13" id="10759" />
+<TGConnectingPoint num="14" id="10760" />
+<TGConnectingPoint num="15" id="10761" />
+<extraparam>
+<Line value="Reception of speed control data :" />
+<Line value="- previous rover speed" />
+<Line value="- rover speed" />
+<Line value="- gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="10765" index="1" uid="b7892a47-9940-48f1-bb2c-d421293e92e8" >
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+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newFeedbackSC()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10763" />
+<TGConnectingPoint num="1" id="10764" />
+<extraparam>
+<Data eventName="newFeedbackSC" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="This EXECI depicts the complexity of the
+following actions :
+
+I. Error calculation (EXECI 4) :
+1. speed_error = previous_rover_speed - rover_speed
+2. speed_error_i = speed_error_i + speed_error
+3. speed_error_d = speed_error - speed_error_backup
+4. speed_error_backup = speed_error
+
+II. PID calculation (EXECI 5)
+1. 3 multiplications
+2. 2 additions
+straight_power = max( 0, min( max_power, (Kp*speed_error + Ki*speed_error_i + Kd*speed_error_d) )
+
+
+II. At least, affectation of two variables (EXECI 2)
+(left motor power and right motor power)
+" />
+<new d="false" />
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+<Line value="" />
+<Line value="I. Error calculation (EXECI 4) :" />
+<Line value="1. speed_error = previous_rover_speed - rover_speed" />
+<Line value="2. speed_error_i = speed_error_i + speed_error" />
+<Line value="3. speed_error_d = speed_error - speed_error_backup" />
+<Line value="4. speed_error_backup = speed_error" />
+<Line value="" />
+<Line value="II. PID calculation (EXECI 5)" />
+<Line value="1. 3 multiplications" />
+<Line value="2. 2 additions" />
+<Line value="straight_power = max( 0, min( max_power, (Kp*speed_error + Ki*speed_error_i + Kd*speed_error_d) )" />
+<Line value="" />
+<Line value="" />
+<Line value="II. At least, affectation of two variables (EXECI 2)" />
+<Line value="(left motor power and right motor power)" />
+</extraparam>
+</COMPONENT>
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="10783" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="execI" value="null" />
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+I. Error calculation (EXECI 67) :
+1. trajectory_error calculation (EXECI 64, arbitrarily chosen)
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+and lateral errors, and rover speed. The algorithm
+and its complexity need to be studied in order to
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+2. trajectory_error_i = trajectory_error_i + trajectory_error
+3. trajectory_error_d = trajectory_error - trajectory_error_backup
+4. trajectory_error_backup = trajectory_error
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+II. PID calculation (EXECI 5)
+1. 3 multiplications
+2. 2 additions
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+<Line value="(this error is calculated on the basis on the yaw" />
+<Line value="and lateral errors, and rover speed. The algorithm" />
+<Line value="and its complexity need to be studied in order to" />
+<Line value="refine the model)" />
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+<Line value="1. 3 multiplications" />
+<Line value="2. 2 additions" />
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+<info stereotype="BRIDGE" nodeName="WiFi_Bridge" />
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+</extraparam>
+</COMPONENT>
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+<info stereotype="MEMORY" nodeName="Leader_RAM" />
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+</extraparam>
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+<info value="EBPlausibilityCheck::Leader_Socket" taskName="Leader_Socket" referenceTaskName="EBPlausibilityCheck" priority="0" operationMEC="Leader_Socket" fatherComponentMECType="0" />
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+<mappingInfo CPname="DMA_transfer" instanceName="TransferInstance3" architectureUnit="BCM2837_Bus" />
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+<mappingInfo CPname="DMA_transfer" instanceName="TransferInstance2" architectureUnit="BCM2837_Bus" />
+<mappingInfo CPname="DMA_transfer" instanceName="TransferInstance1" architectureUnit="BCM2837_Bus" />
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+<mappingInfo CPname="DMA_transfer" instanceName="DstStorageInstance1" architectureUnit="DCMotor_Memory" />
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+<mappingInfo CPname="DMA_transfer" instanceName="DMAController1" architectureUnit="BCM2837_DMA" />
+<mappingInfo CPname="DMA_transfer" instanceName="TransferInstance2" architectureUnit="BCM2837_Bus" />
+<mappingInfo CPname="DMA_transfer" instanceName="TransferInstance1" architectureUnit="BCM2837_Bus" />
+<mappingInfo CPname="DMA_transfer" instanceName="TransferInstance4" architectureUnit="BCM2837_Bus" />
+<mappingInfo CPname="DMA_transfer" instanceName="TransferInstance3" architectureUnit="Raspberry_Bus, BCM2837_Bridge, BCM2837_Bus, DCMotor_Bus, DCMotor_Bridge" />
+<mappedAttributes type="int" name="counter" value="2" />
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+<info value="EBPlausibilityCheck::fromEBCtoMO" communicationName="fromEBCtoMO" referenceCommunicationName="EBPlausibilityCheck" mappedElements="" priority="0" typeName="channel" />
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+<info stereotype="BUS-RR" nodeName="Raspberry_Bus" />
+<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" burstSize="100" clockRatio="1" privacy="1" referenceAttack="null" />
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+<extraparam>
+<info stereotype="BRIDGE" nodeName="BCM2837_Bridge" />
+<attributes bufferByteDataSize="4" clockRatio="1" />
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+</COMPONENT>
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+<TGConnectingPoint num="14" id="12556" />
+<TGConnectingPoint num="15" id="12557" />
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+</extraparam>
+</COMPONENT>
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12742" />
+</COMPONENT>
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+<cdparam x="14" y="40" />
+<sizeparam width="286" height="183" minWidth="7" minHeight="3" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Attacker mode
+-----------------------
+1: the attacker injects a false speed value
+with a strong increase w.r.t. the real value
+(Attack 1, see deliverable D5.2)
+2: the attacker injects a false speed value
+with a small increase w.r.t. the real value
+(Attack 2, see deliverable D5.2)
+4 : the attacker injects a false emergency
+brake message
+(Attack 4, see deliverable D5.2)
+5 : the attacker blocks emergency brake
+messages (Attack 5, see deliverable D5.2)
+and injects a platoon information update
+message
+" />
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+<TGConnectingPoint num="0" id="12744" />
+<TGConnectingPoint num="1" id="12745" />
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+<TGConnectingPoint num="13" id="12757" />
+<TGConnectingPoint num="14" id="12758" />
+<TGConnectingPoint num="15" id="12759" />
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+<Line value="Attacker mode" />
+<Line value="-----------------------" />
+<Line value="1: the attacker injects a false speed value" />
+<Line value="with a strong increase w.r.t. the real value" />
+<Line value="(Attack 1, see deliverable D5.2)" />
+<Line value="2: the attacker injects a false speed value" />
+<Line value="with a small increase w.r.t. the real value" />
+<Line value="(Attack 2, see deliverable D5.2)" />
+<Line value="4 : the attacker injects a false emergency" />
+<Line value="brake message" />
+<Line value="(Attack 4, see deliverable D5.2)" />
+<Line value="5 : the attacker blocks emergency brake" />
+<Line value="messages (Attack 5, see deliverable D5.2)" />
+<Line value="and injects a platoon information update" />
+<Line value="message" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1010" id="12763" index="14" uid="ef43fdcb-1551-4a2a-9096-fff3ce21da37" >
+<cdparam x="468" y="177" />
+<sizeparam width="256" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="wait event" value="interception(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="12761" />
+<TGConnectingPoint num="1" id="12762" />
+<extraparam>
+<Data eventName="interception" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
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+<cdparam x="435" y="159" />
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="12766" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="12768" />
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+<TGConnectingPoint num="2" id="12770" />
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12772" />
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+<infoparam name="connector" value="null" />
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+<new d="false" />
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+<cdparam x="575" y="462" />
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+<infoparam name="connector" value="null" />
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+<cdparam x="614" y="421" />
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+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<cdparam x="534" y="414" />
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+<infoparam name="connector" value="null" />
+<P1 x="534" y="422" id="12715" />
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+<new d="false" />
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+<cdparam x="360" y="320" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
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+<infoparam name="connector" value="null" />
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+<AutomaticDrawing data="true" />
+<new d="false" />
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+<infoparam name="connector" value="null" />
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+<infoparam name="connector" value="null" />
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+<infoparam name="connector" value="null" />
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+<infoparam name="connector" value="null" />
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+<TMLActivityDiagramPanel name="Socket" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<TGConnectingPoint num="0" id="12794" />
+<TGConnectingPoint num="1" id="12795" />
+<extraparam>
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+<extraparam>
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+<breakpoint />
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+</COMPONENT>
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+<hidden value="false" />
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+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
+<infoparam name="value of the delay" value="1" />
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+<hidden value="false" />
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+<infoparam name="write channel" value="fromSocToLSoc(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12812" />
+<TGConnectingPoint num="1" id="12813" />
+<extraparam>
+<Data channelName="fromSocToLSoc" nbOfSamples="1" secPattern="encrR" isAttacker="No" />
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+to SpeedFeedback component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="12986" />
+<TGConnectingPoint num="1" id="12987" />
+<TGConnectingPoint num="2" id="12988" />
+<TGConnectingPoint num="3" id="12989" />
+<TGConnectingPoint num="4" id="12990" />
+<TGConnectingPoint num="5" id="12991" />
+<TGConnectingPoint num="6" id="12992" />
+<TGConnectingPoint num="7" id="12993" />
+<TGConnectingPoint num="8" id="12994" />
+<TGConnectingPoint num="9" id="12995" />
+<TGConnectingPoint num="10" id="12996" />
+<TGConnectingPoint num="11" id="12997" />
+<TGConnectingPoint num="12" id="12998" />
+<TGConnectingPoint num="13" id="12999" />
+<TGConnectingPoint num="14" id="13000" />
+<TGConnectingPoint num="15" id="13001" />
+<extraparam>
+<Line value="Sending updated rover speed value (0)" />
+<Line value="to SpeedFeedback component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="13019" index="1" uid="77f15006-5980-499a-8a18-ce1a5e5794e5" >
+<cdparam x="426" y="454" />
+<sizeparam width="307" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending EB command to DC motors actuators
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13003" />
+<TGConnectingPoint num="1" id="13004" />
+<TGConnectingPoint num="2" id="13005" />
+<TGConnectingPoint num="3" id="13006" />
+<TGConnectingPoint num="4" id="13007" />
+<TGConnectingPoint num="5" id="13008" />
+<TGConnectingPoint num="6" id="13009" />
+<TGConnectingPoint num="7" id="13010" />
+<TGConnectingPoint num="8" id="13011" />
+<TGConnectingPoint num="9" id="13012" />
+<TGConnectingPoint num="10" id="13013" />
+<TGConnectingPoint num="11" id="13014" />
+<TGConnectingPoint num="12" id="13015" />
+<TGConnectingPoint num="13" id="13016" />
+<TGConnectingPoint num="14" id="13017" />
+<TGConnectingPoint num="15" id="13018" />
+<extraparam>
+<Line value="Sending EB command to DC motors actuators" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="13036" index="2" uid="16968ae2-0875-4576-a8cb-1292c3b97e86" >
+<cdparam x="165" y="277" />
+<sizeparam width="216" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Receiving EB order from
+AutonomousDriving component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13020" />
+<TGConnectingPoint num="1" id="13021" />
+<TGConnectingPoint num="2" id="13022" />
+<TGConnectingPoint num="3" id="13023" />
+<TGConnectingPoint num="4" id="13024" />
+<TGConnectingPoint num="5" id="13025" />
+<TGConnectingPoint num="6" id="13026" />
+<TGConnectingPoint num="7" id="13027" />
+<TGConnectingPoint num="8" id="13028" />
+<TGConnectingPoint num="9" id="13029" />
+<TGConnectingPoint num="10" id="13030" />
+<TGConnectingPoint num="11" id="13031" />
+<TGConnectingPoint num="12" id="13032" />
+<TGConnectingPoint num="13" id="13033" />
+<TGConnectingPoint num="14" id="13034" />
+<TGConnectingPoint num="15" id="13035" />
+<extraparam>
+<Line value="Receiving EB order from" />
+<Line value="AutonomousDriving component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="13039" index="3" uid="797a320b-59bb-4f3b-92fe-b2aaa9836533" >
+<cdparam x="668" y="314" />
+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newFeedbackEB()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13037" />
+<TGConnectingPoint num="1" id="13038" />
+<extraparam>
+<Data eventName="newFeedbackEB" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="13041" index="4" uid="59bcb8f9-3117-4398-9e63-7353ffd6661f" >
+<cdparam x="729" y="374" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13040" />
+</COMPONENT>
+
+<COMPONENT type="1006" id="13044" index="5" uid="e3660966-aea9-465f-8668-528801198554" >
+<cdparam x="675" y="250" />
+<sizeparam width="128" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoSF(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13042" />
+<TGConnectingPoint num="1" id="13043" />
+<extraparam>
+<Data channelName="fromEBCtoSF" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="13046" index="6" uid="79c3cfea-5ddc-419a-afe8-e30b2df6daf7" >
+<cdparam x="558" y="421" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13045" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="13049" index="7" uid="27b61c5c-cb72-4a70-ac00-ab5f77bb25b0" >
+<cdparam x="497" y="354" />
+<sizeparam width="143" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newEBCommand()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13047" />
+<TGConnectingPoint num="1" id="13048" />
+<extraparam>
+<Data eventName="newEBCommand" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="13052" index="8" uid="075715c2-1a68-424c-8456-3fb77ce8c62a" >
+<cdparam x="502" y="275" />
+<sizeparam width="132" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoMO(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13050" />
+<TGConnectingPoint num="1" id="13051" />
+<extraparam>
+<Data channelName="fromEBCtoMO" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="13054" index="9" uid="a6c1c7d5-d2fc-488a-a2eb-ffcbf132fab7" >
+<cdparam x="418" y="330" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13053" />
+</COMPONENT>
+
+<COMPONENT type="1009" id="13057" index="10" uid="f429fc38-622f-4701-8f40-e25730f393c8" >
+<cdparam x="361" y="248" />
+<sizeparam width="134" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="read channel" value="fromADtoEBC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="13055" />
+<TGConnectingPoint num="1" id="13056" />
+<extraparam>
+<Data channelName="fromADtoEBC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1016" id="13065" index="11" uid="efe47682-c3db-41d0-bfd4-8684847296c4" >
+<cdparam x="493" y="182" />
+<sizeparam width="150" height="5" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13059" />
+<TGConnectingPoint num="1" id="13060" />
+<TGConnectingPoint num="2" id="13061" />
+<TGConnectingPoint num="3" id="13062" />
+<TGConnectingPoint num="4" id="13063" />
+<TGConnectingPoint num="5" id="13064" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="13058" index="26" uid="f4947795-4a81-4177-943b-80cf092a3d38" >
+<father id="13065" num="0" />
+<cdparam x="647" y="189" />
+<sizeparam width="20" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="154" minY="7" maxY="7" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1001" id="13067" index="12" uid="14de0c30-b8a4-4520-a041-ec1f0f4cbd6d" >
+<cdparam x="437" y="152" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13066" />
+</COMPONENT>
+
+<COMPONENT type="1020" id="13071" index="13" uid="d6afd95a-2d9c-4221-ad4e-572b65170886" >
+<cdparam x="398" y="94" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13068" />
+<TGConnectingPoint num="1" id="13069" />
+<TGConnectingPoint num="2" id="13070" />
+</COMPONENT>
+
+<COMPONENT type="1000" id="13073" index="14" uid="57f78b07-0067-4fc2-8e15-7d2ca7aff5ff" >
+<cdparam x="440" y="29" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13072" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="13074" index="15" uid="694fb02f-5cb9-4a71-b7a1-2895cddca030" >
+<cdparam x="496" y="108" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="496" y="108" id="13069" />
+<P2 x="568" y="182" id="13059" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13075" index="16" uid="435c286e-4228-485c-8f29-1c8c22b0297c" >
+<cdparam x="518" y="187" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="518" y="187" id="13060" />
+<P2 x="428" y="243" id="13055" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13076" index="17" uid="1338503e-4fbe-4cf1-a9c4-e94d089a009b" >
+<cdparam x="427" y="273" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="428" y="273" id="13056" />
+<P2 x="428" y="325" id="13053" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13077" index="18" uid="0b42a342-c524-495f-959c-e43dcad5e077" >
+<cdparam x="617" y="187" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="568" y="187" id="13062" />
+<P2 x="568" y="270" id="13050" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13078" index="19" uid="5ce94bd1-2a59-4679-98e0-749c2cce6aac" >
+<cdparam x="568" y="300" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="568" y="300" id="13051" />
+<P2 x="568" y="349" id="13047" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13079" index="20" uid="bb7a7310-b8c0-476f-b570-309093133b3e" >
+<cdparam x="568" y="379" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="568" y="379" id="13048" />
+<P2 x="568" y="416" id="13045" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13080" index="21" uid="ce331b4b-509e-4655-8aa8-0afdbc9e3bca" >
+<cdparam x="617" y="187" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="617" y="187" id="13064" />
+<P2 x="739" y="245" id="13042" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13081" index="22" uid="82b7a6e1-1a36-4740-a86e-cd31f78aaa89" >
+<cdparam x="739" y="275" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="739" y="275" id="13043" />
+<P2 x="739" y="309" id="13037" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13082" index="23" uid="86704bb5-1f04-439c-a7df-11de35aa1fce" >
+<cdparam x="737" y="345" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="739" y="339" id="13038" />
+<P2 x="739" y="369" id="13040" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13083" index="24" uid="14406f98-7295-4e46-9441-b3e8e7597d6a" >
+<cdparam x="447" y="49" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="447" y="49" id="13072" />
+<P2 x="447" y="89" id="13068" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="13084" index="25" uid="ba8939fb-8a62-4dcb-901d-06e0f3dbc865" >
+<cdparam x="447" y="119" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="447" y="119" id="13070" />
+<P2 x="447" y="147" id="13066" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="SpeedController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000002" >
+<COMPONENT type="301" id="13101" index="0" uid="0f60dc51-5b69-4c52-87bf-13bf12eb484e" >
+<cdparam x="348" y="243" />
+<sizeparam width="231" height="51" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Reception of speed control data :
+- previous rover speed
+- rover speed
+- gap
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13085" />
+<TGConnectingPoint num="1" id="13086" />
+<TGConnectingPoint num="2" id="13087" />
+<TGConnectingPoint num="3" id="13088" />
+<TGConnectingPoint num="4" id="13089" />
+<TGConnectingPoint num="5" id="13090" />
+<TGConnectingPoint num="6" id="13091" />
+<TGConnectingPoint num="7" id="13092" />
+<TGConnectingPoint num="8" id="13093" />
+<TGConnectingPoint num="9" id="13094" />
+<TGConnectingPoint num="10" id="13095" />
+<TGConnectingPoint num="11" id="13096" />
+<TGConnectingPoint num="12" id="13097" />
+<TGConnectingPoint num="13" id="13098" />
+<TGConnectingPoint num="14" id="13099" />
+<TGConnectingPoint num="15" id="13100" />
+<extraparam>
+<Line value="Reception of speed control data :" />
+<Line value="- previous rover speed" />
+<Line value="- rover speed" />
+<Line value="- gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="13104" index="1" uid="b7892a47-9940-48f1-bb2c-d421293e92e8" >
+<cdparam x="902" y="301" />
+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newFeedbackSC()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="13102" />
+<TGConnectingPoint num="1" id="13103" />
+<extraparam>
+<Data eventName="newFeedbackSC" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="13121" index="2" uid="69f85efc-53a9-4c19-80bf-91ad47c7c528" >
+<cdparam x="393" y="476" />
+<sizeparam width="653" height="207" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="This EXECI depicts the complexity of the
+following actions :
+
+I. Error calculation (EXECI 4) :
+1. speed_error = previous_rover_speed - rover_speed
+2. speed_error_i = speed_error_i + speed_error
+3. speed_error_d = speed_error - speed_error_backup
+4. speed_error_backup = speed_error
+
+II. PID calculation (EXECI 5)
+1. 3 multiplications
+2. 2 additions
+straight_power = max( 0, min( max_power, (Kp*speed_error + Ki*speed_error_i + Kd*speed_error_d) )
+
+
+II. At least, affectation of two variables (EXECI 2)
+(left motor power and right motor power)
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+
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+1 division
+1 addition
+
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+<hidden value="false" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<hidden value="false" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<hidden value="false" />
+<cdrectangleparam minX="-75" maxX="26" minY="10" maxY="26" />
+<infoparam name="value of the delay" value="1" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
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+<extraparam>
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+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<hidden value="false" />
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+<new d="false" />
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+<cdrectangleparam minX="-75" maxX="-12" minY="10" maxY="28" />
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+<hidden value="false" />
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+<cdrectangleparam minX="35" maxX="50" minY="10" maxY="28" />
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+<new d="false" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="16537" />
+<TGConnectingPoint num="1" id="16538" />
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="injection(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16622" />
+<TGConnectingPoint num="1" id="16623" />
+<extraparam>
+<Data eventName="injection" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
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+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="action state" value="leader_message_type = 1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16625" />
+<TGConnectingPoint num="1" id="16626" />
+</COMPONENT>
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+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="action state" value="leader_message_type = 0" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16628" />
+<TGConnectingPoint num="1" id="16629" />
+</COMPONENT>
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+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="action state" value="leader_message_type = 12" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16631" />
+<TGConnectingPoint num="1" id="16632" />
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+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="action state" value="leader_message_type = 11" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16634" />
+<TGConnectingPoint num="1" id="16635" />
+</COMPONENT>
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="16637" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="16639" />
+</COMPONENT>
+
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+<cdparam x="559" y="579" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<new d="false" />
+<TGConnectingPoint num="0" id="16641" />
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Attacker mode
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+(Attack 1, see deliverable D5.2)
+2: the attacker injects a false speed value
+with a small increase w.r.t. the real value
+(Attack 2, see deliverable D5.2)
+4 : the attacker injects a false emergency
+brake message
+(Attack 4, see deliverable D5.2)
+5 : the attacker blocks emergency brake
+messages (Attack 5, see deliverable D5.2)
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+<new d="false" />
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+<Line value="brake message" />
+<Line value="(Attack 4, see deliverable D5.2)" />
+<Line value="5 : the attacker blocks emergency brake" />
+<Line value="messages (Attack 5, see deliverable D5.2)" />
+<Line value="and injects a platoon information update" />
+<Line value="message" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="wait event" value="interception(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="16660" />
+<TGConnectingPoint num="1" id="16661" />
+<extraparam>
+<Data eventName="interception" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
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+<TGConnectingPoint num="2" id="16669" />
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+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
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+<TGConnectingPoint num="0" id="16671" />
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+<new d="false" />
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+<cdparam x="529" y="384" />
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+<TGConnectingPoint num="1" id="16866" />
+<extraparam>
+<Data channelName="fromADtoCPC" nbOfSamples="1" secPattern="" isAttacker="No" />
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+<COMPONENT type="301" id="16904" index="6" uid="9276715c-d4e9-4f99-ab4a-af9aed8ef269" >
+<cdparam x="1040" y="580" />
+<sizeparam width="370" height="135" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="If an EB message is received, the countemeasure
+checks if there is a decrease in the three following
+consecutive gap values.
+If it is the case, an EB message is sent to the AD
+component. Else, a regular speed update message
+is sent with the last legitimate speed value.
+
+Depending on the gap values, leader_message_type
+can be equal to 0 or 1. In this model, we keep it
+equal to 1 since our aim is to evaluate the performance
+of the countermeasure rather than its exact behavior.
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16888" />
+<TGConnectingPoint num="1" id="16889" />
+<TGConnectingPoint num="2" id="16890" />
+<TGConnectingPoint num="3" id="16891" />
+<TGConnectingPoint num="4" id="16892" />
+<TGConnectingPoint num="5" id="16893" />
+<TGConnectingPoint num="6" id="16894" />
+<TGConnectingPoint num="7" id="16895" />
+<TGConnectingPoint num="8" id="16896" />
+<TGConnectingPoint num="9" id="16897" />
+<TGConnectingPoint num="10" id="16898" />
+<TGConnectingPoint num="11" id="16899" />
+<TGConnectingPoint num="12" id="16900" />
+<TGConnectingPoint num="13" id="16901" />
+<TGConnectingPoint num="14" id="16902" />
+<TGConnectingPoint num="15" id="16903" />
+<extraparam>
+<Line value="If an EB message is received, the countemeasure" />
+<Line value="checks if there is a decrease in the three following" />
+<Line value="consecutive gap values." />
+<Line value="If it is the case, an EB message is sent to the AD" />
+<Line value="component. Else, a regular speed update message" />
+<Line value="is sent with the last legitimate speed value." />
+<Line value="" />
+<Line value="Depending on the gap values, leader_message_type" />
+<Line value="can be equal to 0 or 1. In this model, we keep it" />
+<Line value="equal to 1 since our aim is to evaluate the performance" />
+<Line value="of the countermeasure rather than its exact behavior." />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="16921" index="7" uid="1197a7d2-65d9-47e2-9ee3-4d0f6dc0b1f8" >
+<cdparam x="554" y="456" />
+<sizeparam width="194" height="111" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Plausibility check (EXECI 7) :
+Worst case : 7 evaluations
+(gap > gapBackup
+n != 0
+n != 1
+n >= 2
+gap2 < gap1
+and
+gap1 < gap0)
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16905" />
+<TGConnectingPoint num="1" id="16906" />
+<TGConnectingPoint num="2" id="16907" />
+<TGConnectingPoint num="3" id="16908" />
+<TGConnectingPoint num="4" id="16909" />
+<TGConnectingPoint num="5" id="16910" />
+<TGConnectingPoint num="6" id="16911" />
+<TGConnectingPoint num="7" id="16912" />
+<TGConnectingPoint num="8" id="16913" />
+<TGConnectingPoint num="9" id="16914" />
+<TGConnectingPoint num="10" id="16915" />
+<TGConnectingPoint num="11" id="16916" />
+<TGConnectingPoint num="12" id="16917" />
+<TGConnectingPoint num="13" id="16918" />
+<TGConnectingPoint num="14" id="16919" />
+<TGConnectingPoint num="15" id="16920" />
+<extraparam>
+<Line value="Plausibility check (EXECI 7) :" />
+<Line value="Worst case : 7 evaluations" />
+<Line value="(gap > gapBackup" />
+<Line value="n != 0" />
+<Line value="n != 1" />
+<Line value="n >= 2" />
+<Line value="gap2 < gap1" />
+<Line value="and" />
+<Line value="gap1 < gap0)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="16923" index="8" uid="96ad662a-5490-45ea-be20-fd4168be4d3f" >
+<cdparam x="933" y="843" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16922" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="16926" index="9" uid="85378265-d5db-49a4-8c71-aaed3fd4cb2a" >
+<cdparam x="793" y="768" />
+<sizeparam width="300" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newLeaderMessage(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16924" />
+<TGConnectingPoint num="1" id="16925" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="16929" index="10" uid="3a318f25-c398-4f9c-b0b7-2968f5b82360" >
+<cdparam x="875" y="702" />
+<sizeparam width="138" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromCPCtoAD(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16927" />
+<TGConnectingPoint num="1" id="16928" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="16931" index="11" uid="dcfb088e-8d87-40cb-834a-3279e5fa1777" >
+<cdparam x="515" y="594" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16930" />
+</COMPONENT>
+
+<COMPONENT type="1009" id="16934" index="12" uid="c8f0ad98-ca75-413d-9171-40c1f542014d" >
+<cdparam x="298" y="174" />
+<sizeparam width="147" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="read channel" value="fromSocToCPC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="16932" />
+<TGConnectingPoint num="1" id="16933" />
+<extraparam>
+<Data channelName="fromSocToCPC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1010" id="16937" index="13" uid="282d5031-afca-450c-949b-24460be9dc45" >
+<cdparam x="232" y="128" />
+<sizeparam width="278" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="wait event" value="newSocketData(leader_message_type) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="16935" />
+<TGConnectingPoint num="1" id="16936" />
+<extraparam>
+<Data eventName="newSocketData" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="16939" index="14" uid="2931671c-ae14-449e-80cf-eb7c6e2990fa" >
+<cdparam x="238" y="540" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16938" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="16942" index="15" uid="495a8838-44f4-452d-a9f9-c7ed366db66f" >
+<cdparam x="85" y="478" />
+<sizeparam width="326" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newLeaderMessage(leader_message_type)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16940" />
+<TGConnectingPoint num="1" id="16941" />
+<extraparam>
+<Data eventName="newLeaderMessage" nbOfParams="5" />
+<Param index="0" value="leader_message_type" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="16945" index="16" uid="23ab6b2a-08c8-475c-a13d-e6e49762edfe" >
+<cdparam x="179" y="424" />
+<sizeparam width="139" height="20" minWidth="29" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="write channel" value="fromCPCtoAD(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16943" />
+<TGConnectingPoint num="1" id="16944" />
+<extraparam>
+<Data channelName="fromCPCtoAD" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="16947" index="17" uid="5f4a6c31-adec-4a3f-a5fe-923b0211ed3c" >
+<cdparam x="196" y="125" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16946" />
+</COMPONENT>
+
+<COMPONENT type="1020" id="16951" index="18" uid="18f2bb4c-a015-4a3d-bfdb-dec4b63de206" >
+<cdparam x="157" y="60" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16948" />
+<TGConnectingPoint num="1" id="16949" />
+<TGConnectingPoint num="2" id="16950" />
+</COMPONENT>
+
+<COMPONENT type="1000" id="16953" index="19" uid="993308b2-adcf-4943-b546-8d870828d1e0" >
+<cdparam x="199" y="10" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16952" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="16954" index="20" uid="dd957f92-6fbb-47a6-a5bf-f4acfe2602f0" >
+<cdparam x="949" y="663" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="944" y="660" id="16863" />
+<P2 x="944" y="697" id="16927" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="16955" index="21" uid="d38cba37-3793-43d0-997a-efb372f7d831" >
+<cdparam x="371" y="293" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="371" y="265" id="16866" />
+<P2 x="372" y="305" id="16883" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="16956" index="22" uid="a2594daa-5501-4ed2-bf43-fc09e7dd8930" >
+<cdparam x="526" y="523" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="526" y="523" id="16878" />
+<P2 x="525" y="589" id="16930" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="16957" index="23" uid="52f0e6a3-cc45-40e8-855a-7b919691d9e8" >
+<cdparam x="255" y="74" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="255" y="74" id="16949" />
+<P2 x="371" y="123" id="16935" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="16958" index="24" uid="88c7b950-f96c-4071-be74-87b4ae3b758a" >
+<cdparam x="332" y="326" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="332" y="325" id="16884" />
+<P2 x="248" y="419" id="16943" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="16959" index="25" uid="ef062131-b893-495a-ada7-6c44550ef99e" >
+<cdparam x="412" y="326" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="412" y="325" id="16885" />
+<P2 x="526" y="406" id="16869" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="16960" index="26" uid="fb6966ee-0c21-4bad-94fd-3dc5079efb08" >
+<cdparam x="574" y="351" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="575" y="411" id="16874" />
+<P2 x="944" y="630" id="16862" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="16961" index="27" uid="02121c12-28ce-41f0-9f4d-4afffb76c1ec" >
+<cdparam x="574" y="410" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="526" y="411" id="16872" />
+<P2 x="526" y="483" id="16877" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="16962" index="28" uid="55922792-b637-4dc9-9ca9-dba62cb1a00f" >
+<cdparam x="373" y="152" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="371" y="153" id="16936" />
+<P2 x="371" y="169" id="16932" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="16963" index="29" uid="3a973279-9027-4b18-b38c-34706d2ba1bd" >
+<cdparam x="943" y="728" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="944" y="727" id="16928" />
+<P2 x="943" y="763" id="16924" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="16964" index="30" uid="bbaabbd2-ba27-44e2-86d3-08b1d102feb5" >
+<cdparam x="943" y="798" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="943" y="793" id="16925" />
+<P2 x="943" y="838" id="16922" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="16965" index="31" uid="b11f6bd5-10ae-43d5-84bb-b69e4beca7fa" >
+<cdparam x="373" y="216" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="371" y="199" id="16933" />
+<P2 x="371" y="235" id="16865" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="16966" index="32" uid="cacfbcd2-e3c8-494a-b49f-feeb8cb18d3a" >
+<cdparam x="439" y="473" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="248" y="449" id="16944" />
+<P2 x="248" y="473" id="16940" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="16967" index="33" uid="abe70da7-f9d8-4514-8270-93cecd27e167" >
+<cdparam x="439" y="535" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="248" y="503" id="16941" />
+<P2 x="248" y="535" id="16938" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="16968" index="34" uid="056870c5-f567-4a25-ab12-629fe54c4bbe" >
+<cdparam x="206" y="30" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="206" y="30" id="16952" />
+<P2 x="206" y="55" id="16948" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="16969" index="35" uid="619e3fff-0af1-4f81-92f8-fdbdec4af767" >
+<cdparam x="206" y="85" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="206" y="85" id="16950" />
+<P2 x="206" y="120" id="16946" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="EBController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="301" id="16986" index="0" uid="b2fed985-65d7-47b5-bcad-4d9f442a932b" >
+<cdparam x="778" y="372" />
+<sizeparam width="266" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending updated rover speed value (0)
+to SpeedFeedback component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16970" />
+<TGConnectingPoint num="1" id="16971" />
+<TGConnectingPoint num="2" id="16972" />
+<TGConnectingPoint num="3" id="16973" />
+<TGConnectingPoint num="4" id="16974" />
+<TGConnectingPoint num="5" id="16975" />
+<TGConnectingPoint num="6" id="16976" />
+<TGConnectingPoint num="7" id="16977" />
+<TGConnectingPoint num="8" id="16978" />
+<TGConnectingPoint num="9" id="16979" />
+<TGConnectingPoint num="10" id="16980" />
+<TGConnectingPoint num="11" id="16981" />
+<TGConnectingPoint num="12" id="16982" />
+<TGConnectingPoint num="13" id="16983" />
+<TGConnectingPoint num="14" id="16984" />
+<TGConnectingPoint num="15" id="16985" />
+<extraparam>
+<Line value="Sending updated rover speed value (0)" />
+<Line value="to SpeedFeedback component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="17003" index="1" uid="77f15006-5980-499a-8a18-ce1a5e5794e5" >
+<cdparam x="426" y="454" />
+<sizeparam width="307" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Sending EB command to DC motors actuators
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="16987" />
+<TGConnectingPoint num="1" id="16988" />
+<TGConnectingPoint num="2" id="16989" />
+<TGConnectingPoint num="3" id="16990" />
+<TGConnectingPoint num="4" id="16991" />
+<TGConnectingPoint num="5" id="16992" />
+<TGConnectingPoint num="6" id="16993" />
+<TGConnectingPoint num="7" id="16994" />
+<TGConnectingPoint num="8" id="16995" />
+<TGConnectingPoint num="9" id="16996" />
+<TGConnectingPoint num="10" id="16997" />
+<TGConnectingPoint num="11" id="16998" />
+<TGConnectingPoint num="12" id="16999" />
+<TGConnectingPoint num="13" id="17000" />
+<TGConnectingPoint num="14" id="17001" />
+<TGConnectingPoint num="15" id="17002" />
+<extraparam>
+<Line value="Sending EB command to DC motors actuators" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="17020" index="2" uid="16968ae2-0875-4576-a8cb-1292c3b97e86" >
+<cdparam x="165" y="277" />
+<sizeparam width="216" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="Receiving EB order from
+AutonomousDriving component
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17004" />
+<TGConnectingPoint num="1" id="17005" />
+<TGConnectingPoint num="2" id="17006" />
+<TGConnectingPoint num="3" id="17007" />
+<TGConnectingPoint num="4" id="17008" />
+<TGConnectingPoint num="5" id="17009" />
+<TGConnectingPoint num="6" id="17010" />
+<TGConnectingPoint num="7" id="17011" />
+<TGConnectingPoint num="8" id="17012" />
+<TGConnectingPoint num="9" id="17013" />
+<TGConnectingPoint num="10" id="17014" />
+<TGConnectingPoint num="11" id="17015" />
+<TGConnectingPoint num="12" id="17016" />
+<TGConnectingPoint num="13" id="17017" />
+<TGConnectingPoint num="14" id="17018" />
+<TGConnectingPoint num="15" id="17019" />
+<extraparam>
+<Line value="Receiving EB order from" />
+<Line value="AutonomousDriving component" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="17023" index="3" uid="797a320b-59bb-4f3b-92fe-b2aaa9836533" >
+<cdparam x="668" y="314" />
+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newFeedbackEB()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17021" />
+<TGConnectingPoint num="1" id="17022" />
+<extraparam>
+<Data eventName="newFeedbackEB" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="17025" index="4" uid="59bcb8f9-3117-4398-9e63-7353ffd6661f" >
+<cdparam x="729" y="374" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17024" />
+</COMPONENT>
+
+<COMPONENT type="1006" id="17028" index="5" uid="e3660966-aea9-465f-8668-528801198554" >
+<cdparam x="675" y="250" />
+<sizeparam width="128" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoSF(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17026" />
+<TGConnectingPoint num="1" id="17027" />
+<extraparam>
+<Data channelName="fromEBCtoSF" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="17030" index="6" uid="79c3cfea-5ddc-419a-afe8-e30b2df6daf7" >
+<cdparam x="558" y="421" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17029" />
+</COMPONENT>
+
+<COMPONENT type="1008" id="17033" index="7" uid="27b61c5c-cb72-4a70-ac00-ab5f77bb25b0" >
+<cdparam x="497" y="354" />
+<sizeparam width="143" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="newEBCommand()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17031" />
+<TGConnectingPoint num="1" id="17032" />
+<extraparam>
+<Data eventName="newEBCommand" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1006" id="17036" index="8" uid="075715c2-1a68-424c-8456-3fb77ce8c62a" >
+<cdparam x="502" y="275" />
+<sizeparam width="132" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="fromEBCtoMO(1)" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17034" />
+<TGConnectingPoint num="1" id="17035" />
+<extraparam>
+<Data channelName="fromEBCtoMO" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1001" id="17038" index="9" uid="a6c1c7d5-d2fc-488a-a2eb-ffcbf132fab7" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17037" />
+</COMPONENT>
+
+<COMPONENT type="1009" id="17041" index="10" uid="f429fc38-622f-4701-8f40-e25730f393c8" >
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+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="read channel" value="fromADtoEBC(1) " />
+<new d="false" />
+<TGConnectingPoint num="0" id="17039" />
+<TGConnectingPoint num="1" id="17040" />
+<extraparam>
+<Data channelName="fromADtoEBC" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1016" id="17049" index="11" uid="efe47682-c3db-41d0-bfd4-8684847296c4" >
+<cdparam x="493" y="182" />
+<sizeparam width="150" height="5" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="sequence" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17043" />
+<TGConnectingPoint num="1" id="17044" />
+<TGConnectingPoint num="2" id="17045" />
+<TGConnectingPoint num="3" id="17046" />
+<TGConnectingPoint num="4" id="17047" />
+<TGConnectingPoint num="5" id="17048" />
+</COMPONENT>
+<SUBCOMPONENT type="-1" id="17042" index="26" uid="f4947795-4a81-4177-943b-80cf092a3d38" >
+<father id="17049" num="0" />
+<cdparam x="647" y="189" />
+<sizeparam width="20" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="154" maxX="154" minY="7" maxY="7" />
+<infoparam name="Sequence information" value=">>" />
+<new d="false" />
+</SUBCOMPONENT>
+
+<COMPONENT type="1001" id="17051" index="12" uid="5f4a6c31-adec-4a3f-a5fe-923b0211ed3c" >
+<cdparam x="442" y="154" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17050" />
+</COMPONENT>
+
+<COMPONENT type="1020" id="17055" index="13" uid="18f2bb4c-a015-4a3d-bfdb-dec4b63de206" >
+<cdparam x="403" y="89" />
+<sizeparam width="98" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="for loop" value="21" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17052" />
+<TGConnectingPoint num="1" id="17053" />
+<TGConnectingPoint num="2" id="17054" />
+</COMPONENT>
+
+<COMPONENT type="1000" id="17057" index="14" uid="993308b2-adcf-4943-b546-8d870828d1e0" >
+<cdparam x="445" y="39" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17056" />
+</COMPONENT>
+
+<CONNECTOR type="115" id="17058" index="15" uid="f5f9398c-a755-482d-9545-285348f6f8e5" >
+<cdparam x="501" y="103" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="501" y="103" id="17053" />
+<P2 x="568" y="182" id="17043" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="17059" index="16" uid="435c286e-4228-485c-8f29-1c8c22b0297c" >
+<cdparam x="518" y="187" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="518" y="187" id="17044" />
+<P2 x="428" y="243" id="17039" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="17060" index="17" uid="1338503e-4fbe-4cf1-a9c4-e94d089a009b" >
+<cdparam x="427" y="273" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="428" y="273" id="17040" />
+<P2 x="428" y="325" id="17037" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="17061" index="18" uid="0b42a342-c524-495f-959c-e43dcad5e077" >
+<cdparam x="617" y="187" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="568" y="187" id="17046" />
+<P2 x="568" y="270" id="17034" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="17062" index="19" uid="5ce94bd1-2a59-4679-98e0-749c2cce6aac" >
+<cdparam x="568" y="300" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="568" y="300" id="17035" />
+<P2 x="568" y="349" id="17031" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="17063" index="20" uid="bb7a7310-b8c0-476f-b570-309093133b3e" >
+<cdparam x="568" y="379" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="568" y="379" id="17032" />
+<P2 x="568" y="416" id="17029" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="17064" index="21" uid="ce331b4b-509e-4655-8aa8-0afdbc9e3bca" >
+<cdparam x="617" y="187" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="617" y="187" id="17048" />
+<P2 x="739" y="245" id="17026" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="17065" index="22" uid="82b7a6e1-1a36-4740-a86e-cd31f78aaa89" >
+<cdparam x="739" y="275" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="739" y="275" id="17027" />
+<P2 x="739" y="309" id="17021" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="17066" index="23" uid="86704bb5-1f04-439c-a7df-11de35aa1fce" >
+<cdparam x="737" y="345" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="739" y="339" id="17022" />
+<P2 x="739" y="369" id="17024" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="17067" index="24" uid="056870c5-f567-4a25-ab12-629fe54c4bbe" >
+<cdparam x="452" y="59" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="452" y="59" id="17056" />
+<P2 x="452" y="84" id="17052" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+<CONNECTOR type="115" id="17068" index="25" uid="619e3fff-0af1-4f81-92f8-fdbdec4af767" >
+<cdparam x="452" y="114" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="452" y="114" id="17054" />
+<P2 x="452" y="149" id="17050" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+</CONNECTOR>
+
+</TMLActivityDiagramPanel>
+
+<TMLActivityDiagramPanel name="SpeedController" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0000000000000002" >
+<COMPONENT type="301" id="17085" index="0" uid="0f60dc51-5b69-4c52-87bf-13bf12eb484e" >
+<cdparam x="348" y="243" />
+<sizeparam width="231" height="51" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="Reception of speed control data :
+- previous rover speed
+- rover speed
+- gap
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17069" />
+<TGConnectingPoint num="1" id="17070" />
+<TGConnectingPoint num="2" id="17071" />
+<TGConnectingPoint num="3" id="17072" />
+<TGConnectingPoint num="4" id="17073" />
+<TGConnectingPoint num="5" id="17074" />
+<TGConnectingPoint num="6" id="17075" />
+<TGConnectingPoint num="7" id="17076" />
+<TGConnectingPoint num="8" id="17077" />
+<TGConnectingPoint num="9" id="17078" />
+<TGConnectingPoint num="10" id="17079" />
+<TGConnectingPoint num="11" id="17080" />
+<TGConnectingPoint num="12" id="17081" />
+<TGConnectingPoint num="13" id="17082" />
+<TGConnectingPoint num="14" id="17083" />
+<TGConnectingPoint num="15" id="17084" />
+<extraparam>
+<Line value="Reception of speed control data :" />
+<Line value="- previous rover speed" />
+<Line value="- rover speed" />
+<Line value="- gap" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="17088" index="1" uid="b7892a47-9940-48f1-bb2c-d421293e92e8" >
+<cdparam x="902" y="301" />
+<sizeparam width="142" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="send event" value="newFeedbackSC()" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17086" />
+<TGConnectingPoint num="1" id="17087" />
+<extraparam>
+<Data eventName="newFeedbackSC" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="17105" index="2" uid="69f85efc-53a9-4c19-80bf-91ad47c7c528" >
+<cdparam x="393" y="476" />
+<sizeparam width="653" height="207" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="9" maxX="2499" minY="9" maxY="1499" />
+<infoparam name="UML Note" value="This EXECI depicts the complexity of the
+following actions :
+
+I. Error calculation (EXECI 4) :
+1. speed_error = previous_rover_speed - rover_speed
+2. speed_error_i = speed_error_i + speed_error
+3. speed_error_d = speed_error - speed_error_backup
+4. speed_error_backup = speed_error
+
+II. PID calculation (EXECI 5)
+1. 3 multiplications
+2. 2 additions
+straight_power = max( 0, min( max_power, (Kp*speed_error + Ki*speed_error_i + Kd*speed_error_d) )
+
+
+II. At least, affectation of two variables (EXECI 2)
+(left motor power and right motor power)
+" />
+<new d="false" />
+<TGConnectingPoint num="0" id="17089" />
+<TGConnectingPoint num="1" id="17090" />
+<TGConnectingPoint num="2" id="17091" />
+<TGConnectingPoint num="3" id="17092" />
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+<TGConnectingPoint num="5" id="17094" />
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+I. Error calculation (EXECI 67) :
+1. trajectory_error calculation (EXECI 64, arbitrarily chosen)
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+and lateral errors, and rover speed. The algorithm
+and its complexity need to be studied in order to
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+4. trajectory_error_backup = trajectory_error
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+1. 3 multiplications
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+<Line value="(this error is calculated on the basis on the yaw" />
+<Line value="and lateral errors, and rover speed. The algorithm" />
+<Line value="and its complexity need to be studied in order to" />
+<Line value="refine the model)" />
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+1 addition
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+</TMLSDPanel>
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+<TMLSDPanel name="DMACycle_SD" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<TGConnectingPoint num="25" id="18847" />
+<TGConnectingPoint num="26" id="18848" />
+<TGConnectingPoint num="27" id="18849" />
+<TGConnectingPoint num="28" id="18850" />
+<TGConnectingPoint num="29" id="18851" />
+<TGConnectingPoint num="30" id="18852" />
+<TGConnectingPoint num="31" id="18853" />
+<TGConnectingPoint num="32" id="18854" />
+<TGConnectingPoint num="33" id="18855" />
+<TGConnectingPoint num="34" id="18856" />
+<TGConnectingPoint num="35" id="18857" />
+<TGConnectingPoint num="36" id="18858" />
+<TGConnectingPoint num="37" id="18859" />
+<TGConnectingPoint num="38" id="18860" />
+<TGConnectingPoint num="39" id="18861" />
+<TGConnectingPoint num="40" id="18862" />
+<TGConnectingPoint num="41" id="18863" />
+<TGConnectingPoint num="42" id="18864" />
+<TGConnectingPoint num="43" id="18865" />
+<TGConnectingPoint num="44" id="18866" />
+<TGConnectingPoint num="45" id="18867" />
+<TGConnectingPoint num="46" id="18868" />
+<TGConnectingPoint num="47" id="18869" />
+<TGConnectingPoint num="48" id="18870" />
+<extraparam>
+<Mapping mappedOn="" />
+<Actor data="false" />
+<Attribute access="2" id="size" value="" type="0" typeOther="" />
+<Attribute access="2" id="sourceAddress" value="" type="10" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1521" id="18921" index="7" uid="43a21edb-f6ab-4681-83c0-ebe49ee38b91" >
+<cdparam x="300" y="38" />
+<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="TransferInstance2" value="Transfer instance name" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18872" />
+<TGConnectingPoint num="1" id="18873" />
+<TGConnectingPoint num="2" id="18874" />
+<TGConnectingPoint num="3" id="18875" />
+<TGConnectingPoint num="4" id="18876" />
+<TGConnectingPoint num="5" id="18877" />
+<TGConnectingPoint num="6" id="18878" />
+<TGConnectingPoint num="7" id="18879" />
+<TGConnectingPoint num="8" id="18880" />
+<TGConnectingPoint num="9" id="18881" />
+<TGConnectingPoint num="10" id="18882" />
+<TGConnectingPoint num="11" id="18883" />
+<TGConnectingPoint num="12" id="18884" />
+<TGConnectingPoint num="13" id="18885" />
+<TGConnectingPoint num="14" id="18886" />
+<TGConnectingPoint num="15" id="18887" />
+<TGConnectingPoint num="16" id="18888" />
+<TGConnectingPoint num="17" id="18889" />
+<TGConnectingPoint num="18" id="18890" />
+<TGConnectingPoint num="19" id="18891" />
+<TGConnectingPoint num="20" id="18892" />
+<TGConnectingPoint num="21" id="18893" />
+<TGConnectingPoint num="22" id="18894" />
+<TGConnectingPoint num="23" id="18895" />
+<TGConnectingPoint num="24" id="18896" />
+<TGConnectingPoint num="25" id="18897" />
+<TGConnectingPoint num="26" id="18898" />
+<TGConnectingPoint num="27" id="18899" />
+<TGConnectingPoint num="28" id="18900" />
+<TGConnectingPoint num="29" id="18901" />
+<TGConnectingPoint num="30" id="18902" />
+<TGConnectingPoint num="31" id="18903" />
+<TGConnectingPoint num="32" id="18904" />
+<TGConnectingPoint num="33" id="18905" />
+<TGConnectingPoint num="34" id="18906" />
+<TGConnectingPoint num="35" id="18907" />
+<TGConnectingPoint num="36" id="18908" />
+<TGConnectingPoint num="37" id="18909" />
+<TGConnectingPoint num="38" id="18910" />
+<TGConnectingPoint num="39" id="18911" />
+<TGConnectingPoint num="40" id="18912" />
+<TGConnectingPoint num="41" id="18913" />
+<TGConnectingPoint num="42" id="18914" />
+<TGConnectingPoint num="43" id="18915" />
+<TGConnectingPoint num="44" id="18916" />
+<TGConnectingPoint num="45" id="18917" />
+<TGConnectingPoint num="46" id="18918" />
+<TGConnectingPoint num="47" id="18919" />
+<TGConnectingPoint num="48" id="18920" />
+<extraparam>
+<Mapping mappedOn="" />
+<Actor data="false" />
+<Attribute access="2" id="size" value="" type="0" typeOther="" />
+<Attribute access="2" id="sourceAddress" value="" type="10" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1522" id="18980" index="8" uid="c6e362f2-9af6-4f8d-95e8-581bdb48e96a" >
+<cdparam x="102" y="38" />
+<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="DMAController1" value="Controller instance name" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18931" />
+<TGConnectingPoint num="1" id="18932" />
+<TGConnectingPoint num="2" id="18933" />
+<TGConnectingPoint num="3" id="18934" />
+<TGConnectingPoint num="4" id="18935" />
+<TGConnectingPoint num="5" id="18936" />
+<TGConnectingPoint num="6" id="18937" />
+<TGConnectingPoint num="7" id="18938" />
+<TGConnectingPoint num="8" id="18939" />
+<TGConnectingPoint num="9" id="18940" />
+<TGConnectingPoint num="10" id="18941" />
+<TGConnectingPoint num="11" id="18942" />
+<TGConnectingPoint num="12" id="18943" />
+<TGConnectingPoint num="13" id="18944" />
+<TGConnectingPoint num="14" id="18945" />
+<TGConnectingPoint num="15" id="18946" />
+<TGConnectingPoint num="16" id="18947" />
+<TGConnectingPoint num="17" id="18948" />
+<TGConnectingPoint num="18" id="18949" />
+<TGConnectingPoint num="19" id="18950" />
+<TGConnectingPoint num="20" id="18951" />
+<TGConnectingPoint num="21" id="18952" />
+<TGConnectingPoint num="22" id="18953" />
+<TGConnectingPoint num="23" id="18954" />
+<TGConnectingPoint num="24" id="18955" />
+<TGConnectingPoint num="25" id="18956" />
+<TGConnectingPoint num="26" id="18957" />
+<TGConnectingPoint num="27" id="18958" />
+<TGConnectingPoint num="28" id="18959" />
+<TGConnectingPoint num="29" id="18960" />
+<TGConnectingPoint num="30" id="18961" />
+<TGConnectingPoint num="31" id="18962" />
+<TGConnectingPoint num="32" id="18963" />
+<TGConnectingPoint num="33" id="18964" />
+<TGConnectingPoint num="34" id="18965" />
+<TGConnectingPoint num="35" id="18966" />
+<TGConnectingPoint num="36" id="18967" />
+<TGConnectingPoint num="37" id="18968" />
+<TGConnectingPoint num="38" id="18969" />
+<TGConnectingPoint num="39" id="18970" />
+<TGConnectingPoint num="40" id="18971" />
+<TGConnectingPoint num="41" id="18972" />
+<TGConnectingPoint num="42" id="18973" />
+<TGConnectingPoint num="43" id="18974" />
+<TGConnectingPoint num="44" id="18975" />
+<TGConnectingPoint num="45" id="18976" />
+<TGConnectingPoint num="46" id="18977" />
+<TGConnectingPoint num="47" id="18978" />
+<TGConnectingPoint num="48" id="18979" />
+<extraparam>
+<Mapping mappedOn="" />
+<Actor data="false" />
+<Attribute access="2" id="size" value="" type="0" typeOther="" />
+<Attribute access="2" id="sourceAddress" value="" type="10" typeOther="" />
+<Attribute access="2" id="destinationAddress" value="" type="10" typeOther="" />
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="1524" id="18930" index="13" uid="7ffcffb3-ea63-4e96-8f8e-6c25b1ab8957" >
+<father id="18980" num="0" />
+<cdparam x="107" y="247" />
+<sizeparam width="158" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="5" maxX="5" minY="10" maxY="470" />
+<infoparam name="action state" value="counter = counter-1" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18922" />
+<TGConnectingPoint num="1" id="18923" />
+<TGConnectingPoint num="2" id="18924" />
+<TGConnectingPoint num="3" id="18925" />
+<TGConnectingPoint num="4" id="18926" />
+<TGConnectingPoint num="5" id="18927" />
+<TGConnectingPoint num="6" id="18928" />
+<TGConnectingPoint num="7" id="18929" />
+</SUBCOMPONENT>
+
+<CONNECTOR type="1523" id="18981" index="9" uid="4a0cead6-bc0a-4ca3-9be3-475baca80499" >
+<cdparam x="643" y="176" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Write" value="Write(destinationAddress, size)" />
+<P1 x="666" y="178" id="18785" />
+<P2 x="799" y="179" id="18685" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<Param index="0" id="destinationAddress" />
+<Param index="1" id="size" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="1523" id="18982" index="10" uid="7b546df4-401d-41fd-bad2-6b8cb0ed8cfc" >
+<cdparam x="57" y="146" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Write" value="Write(destinationAddress, size)" />
+<P1 x="107" y="148" id="18941" />
+<P2 x="666" y="148" id="18782" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<Param index="0" id="destinationAddress" />
+<Param index="1" id="size" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="1523" id="18983" index="11" uid="0f435619-514b-49ee-a605-356a0da68687" >
+<cdparam x="324" y="96" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Read" value="Read(sourceAddress, size)" />
+<P1 x="305" y="98" id="18877" />
+<P2 x="513" y="98" id="18827" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<Param index="0" id="sourceAddress" />
+<Param index="1" id="size" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="1523" id="18984" index="12" uid="abe39157-9545-4718-a387-6e68b9dba2e5" >
+<cdparam x="57" y="66" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="Read" value="Read(sourceAddress, size)" />
+<P1 x="107" y="68" id="18933" />
+<P2 x="305" y="68" id="18874" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+<Param index="0" id="sourceAddress" />
+<Param index="1" id="size" />
+</extraparam>
+</CONNECTOR>
+
+</TMLSDPanel>
+
+<TMLSDPanel name="TerminateDMA_SD" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<COMPONENT type="1522" id="19034" index="0" uid="4860452c-738c-4729-95fa-c6bf5631a149" >
+<cdparam x="77" y="36" />
+<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="CPUController1" value="Controller instance name" />
+<new d="false" />
+<TGConnectingPoint num="0" id="18985" />
+<TGConnectingPoint num="1" id="18986" />
+<TGConnectingPoint num="2" id="18987" />
+<TGConnectingPoint num="3" id="18988" />
+<TGConnectingPoint num="4" id="18989" />
+<TGConnectingPoint num="5" id="18990" />
+<TGConnectingPoint num="6" id="18991" />
+<TGConnectingPoint num="7" id="18992" />
+<TGConnectingPoint num="8" id="18993" />
+<TGConnectingPoint num="9" id="18994" />
+<TGConnectingPoint num="10" id="18995" />
+<TGConnectingPoint num="11" id="18996" />
+<TGConnectingPoint num="12" id="18997" />
+<TGConnectingPoint num="13" id="18998" />
+<TGConnectingPoint num="14" id="18999" />
+<TGConnectingPoint num="15" id="19000" />
+<TGConnectingPoint num="16" id="19001" />
+<TGConnectingPoint num="17" id="19002" />
+<TGConnectingPoint num="18" id="19003" />
+<TGConnectingPoint num="19" id="19004" />
+<TGConnectingPoint num="20" id="19005" />
+<TGConnectingPoint num="21" id="19006" />
+<TGConnectingPoint num="22" id="19007" />
+<TGConnectingPoint num="23" id="19008" />
+<TGConnectingPoint num="24" id="19009" />
+<TGConnectingPoint num="25" id="19010" />
+<TGConnectingPoint num="26" id="19011" />
+<TGConnectingPoint num="27" id="19012" />
+<TGConnectingPoint num="28" id="19013" />
+<TGConnectingPoint num="29" id="19014" />
+<TGConnectingPoint num="30" id="19015" />
+<TGConnectingPoint num="31" id="19016" />
+<TGConnectingPoint num="32" id="19017" />
+<TGConnectingPoint num="33" id="19018" />
+<TGConnectingPoint num="34" id="19019" />
+<TGConnectingPoint num="35" id="19020" />
+<TGConnectingPoint num="36" id="19021" />
+<TGConnectingPoint num="37" id="19022" />
+<TGConnectingPoint num="38" id="19023" />
+<TGConnectingPoint num="39" id="19024" />
+<TGConnectingPoint num="40" id="19025" />
+<TGConnectingPoint num="41" id="19026" />
+<TGConnectingPoint num="42" id="19027" />
+<TGConnectingPoint num="43" id="19028" />
+<TGConnectingPoint num="44" id="19029" />
+<TGConnectingPoint num="45" id="19030" />
+<TGConnectingPoint num="46" id="19031" />
+<TGConnectingPoint num="47" id="19032" />
+<TGConnectingPoint num="48" id="19033" />
+<extraparam>
+<Mapping mappedOn="" />
+<Actor data="false" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1522" id="19084" index="1" uid="1813b9b0-cf2c-4dad-ba31-65efc0d9baf1" >
+<cdparam x="627" y="36" />
+<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="DMAController1" value="Controller instance name" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19035" />
+<TGConnectingPoint num="1" id="19036" />
+<TGConnectingPoint num="2" id="19037" />
+<TGConnectingPoint num="3" id="19038" />
+<TGConnectingPoint num="4" id="19039" />
+<TGConnectingPoint num="5" id="19040" />
+<TGConnectingPoint num="6" id="19041" />
+<TGConnectingPoint num="7" id="19042" />
+<TGConnectingPoint num="8" id="19043" />
+<TGConnectingPoint num="9" id="19044" />
+<TGConnectingPoint num="10" id="19045" />
+<TGConnectingPoint num="11" id="19046" />
+<TGConnectingPoint num="12" id="19047" />
+<TGConnectingPoint num="13" id="19048" />
+<TGConnectingPoint num="14" id="19049" />
+<TGConnectingPoint num="15" id="19050" />
+<TGConnectingPoint num="16" id="19051" />
+<TGConnectingPoint num="17" id="19052" />
+<TGConnectingPoint num="18" id="19053" />
+<TGConnectingPoint num="19" id="19054" />
+<TGConnectingPoint num="20" id="19055" />
+<TGConnectingPoint num="21" id="19056" />
+<TGConnectingPoint num="22" id="19057" />
+<TGConnectingPoint num="23" id="19058" />
+<TGConnectingPoint num="24" id="19059" />
+<TGConnectingPoint num="25" id="19060" />
+<TGConnectingPoint num="26" id="19061" />
+<TGConnectingPoint num="27" id="19062" />
+<TGConnectingPoint num="28" id="19063" />
+<TGConnectingPoint num="29" id="19064" />
+<TGConnectingPoint num="30" id="19065" />
+<TGConnectingPoint num="31" id="19066" />
+<TGConnectingPoint num="32" id="19067" />
+<TGConnectingPoint num="33" id="19068" />
+<TGConnectingPoint num="34" id="19069" />
+<TGConnectingPoint num="35" id="19070" />
+<TGConnectingPoint num="36" id="19071" />
+<TGConnectingPoint num="37" id="19072" />
+<TGConnectingPoint num="38" id="19073" />
+<TGConnectingPoint num="39" id="19074" />
+<TGConnectingPoint num="40" id="19075" />
+<TGConnectingPoint num="41" id="19076" />
+<TGConnectingPoint num="42" id="19077" />
+<TGConnectingPoint num="43" id="19078" />
+<TGConnectingPoint num="44" id="19079" />
+<TGConnectingPoint num="45" id="19080" />
+<TGConnectingPoint num="46" id="19081" />
+<TGConnectingPoint num="47" id="19082" />
+<TGConnectingPoint num="48" id="19083" />
+<extraparam>
+<Mapping mappedOn="" />
+<Actor data="false" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1521" id="19134" index="2" uid="bd12738a-054e-403c-a9de-769cb95d2fea" >
+<cdparam x="352" y="36" />
+<sizeparam width="10" height="500" minWidth="10" minHeight="250" maxWidth="10" maxHeight="1500" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="TransferInstance6" value="Transfer instance name" />
+<new d="false" />
+<TGConnectingPoint num="0" id="19085" />
+<TGConnectingPoint num="1" id="19086" />
+<TGConnectingPoint num="2" id="19087" />
+<TGConnectingPoint num="3" id="19088" />
+<TGConnectingPoint num="4" id="19089" />
+<TGConnectingPoint num="5" id="19090" />
+<TGConnectingPoint num="6" id="19091" />
+<TGConnectingPoint num="7" id="19092" />
+<TGConnectingPoint num="8" id="19093" />
+<TGConnectingPoint num="9" id="19094" />
+<TGConnectingPoint num="10" id="19095" />
+<TGConnectingPoint num="11" id="19096" />
+<TGConnectingPoint num="12" id="19097" />
+<TGConnectingPoint num="13" id="19098" />
+<TGConnectingPoint num="14" id="19099" />
+<TGConnectingPoint num="15" id="19100" />
+<TGConnectingPoint num="16" id="19101" />
+<TGConnectingPoint num="17" id="19102" />
+<TGConnectingPoint num="18" id="19103" />
+<TGConnectingPoint num="19" id="19104" />
+<TGConnectingPoint num="20" id="19105" />
+<TGConnectingPoint num="21" id="19106" />
+<TGConnectingPoint num="22" id="19107" />
+<TGConnectingPoint num="23" id="19108" />
+<TGConnectingPoint num="24" id="19109" />
+<TGConnectingPoint num="25" id="19110" />
+<TGConnectingPoint num="26" id="19111" />
+<TGConnectingPoint num="27" id="19112" />
+<TGConnectingPoint num="28" id="19113" />
+<TGConnectingPoint num="29" id="19114" />
+<TGConnectingPoint num="30" id="19115" />
+<TGConnectingPoint num="31" id="19116" />
+<TGConnectingPoint num="32" id="19117" />
+<TGConnectingPoint num="33" id="19118" />
+<TGConnectingPoint num="34" id="19119" />
+<TGConnectingPoint num="35" id="19120" />
+<TGConnectingPoint num="36" id="19121" />
+<TGConnectingPoint num="37" id="19122" />
+<TGConnectingPoint num="38" id="19123" />
+<TGConnectingPoint num="39" id="19124" />
+<TGConnectingPoint num="40" id="19125" />
+<TGConnectingPoint num="41" id="19126" />
+<TGConnectingPoint num="42" id="19127" />
+<TGConnectingPoint num="43" id="19128" />
+<TGConnectingPoint num="44" id="19129" />
+<TGConnectingPoint num="45" id="19130" />
+<TGConnectingPoint num="46" id="19131" />
+<TGConnectingPoint num="47" id="19132" />
+<TGConnectingPoint num="48" id="19133" />
+<extraparam>
+<Mapping mappedOn="" />
+<Actor data="false" />
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="1523" id="19135" index="3" uid="2e053317-b375-486e-a624-8684dd80bc6f" >
+<cdparam x="357" y="106" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="TransferTerminated" value="TransferTerminated()" />
+<P1 x="357" y="106" id="19091" />
+<P2 x="82" y="106" id="18991" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="1523" id="19136" index="4" uid="c2e68662-94c6-4593-8f7d-ca55fec0e1a1" >
+<cdparam x="632" y="66" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="TransferTerminated" value="TransferTerminated()" />
+<P1 x="632" y="66" id="19037" />
+<P2 x="357" y="66" id="19087" />
+<AutomaticDrawing data="true" />
+<new d="false" />
+<extraparam>
+</extraparam>
+</CONNECTOR>
+
+</TMLSDPanel>
+
+</Modeling>
+
+
+
+
+</TURTLEGMODELING>
\ No newline at end of file
--
GitLab