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| <a class="nav-link " href="/mosaic/download/"><span>Download</span></a> |
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| <div class="docs-version"> |
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| <a class="" data-bs-toggle="tooltip" data-bs-placement="bottom" title="The documentation corresponds to the latest version of Eclipse MOSAIC 21.1-SNAPSHOT." href="https://github.com/eclipse/mosaic"> |
| <i class="fab fa-github"></i> Eclipse MOSAIC 21.1-SNAPSHOT |
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| <a class="docs-toc-link" href="/mosaic/docs/getting_started/">Getting Started</a> |
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| <li > |
| <a href="/mosaic/docs/getting_started/">Download</a> |
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| <a href="/mosaic/docs/getting_started/run_mosaic/">Run Eclipse MOSAIC</a> |
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| <a href="/mosaic/docs/getting_started/results/">Simulation Results</a> |
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| <a class="docs-toc-link" href="/mosaic/docs/visualization/">Visualization</a> |
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| <a href="/mosaic/docs/visualization/">WebSocket Visualizer</a> |
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| <a href="/mosaic/docs/visualization/filevis/">File Output</a> |
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| <a href="/mosaic/docs/visualization/statistics/">Statistics Output</a> |
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| <a href="/mosaic/docs/visualization/itef/">ITEF</a> |
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| <a href="/mosaic/docs/visualization/phabmap/">PHABMap</a> |
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| <a class="docs-toc-link" href="/mosaic/docs/simulators/">Simulators</a> |
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| <li > |
| <a href="/mosaic/docs/simulators/">Overview</a> |
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| <a href="/mosaic/docs/simulators/application_simulator/">Application - Simulator</a> |
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| <a href="/mosaic/docs/simulators/application_mapping/">Application - Mapping</a> |
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| <li > |
| <a href="/mosaic/docs/simulators/traffic_simulator_sumo/">Traffic - Eclipse SUMO</a> |
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| <a href="/mosaic/docs/simulators/network_simulator_omnetpp/">Network - OMNeT++</a> |
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| <li > |
| <a href="/mosaic/docs/simulators/network_simulator_ns3/">Network - ns-3</a> |
| </li> |
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| <li > |
| <a href="/mosaic/docs/simulators/network_simulator_sns/">Network - SNS</a> |
| </li> |
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| <li > |
| <a href="/mosaic/docs/simulators/network_simulator_cell/">Network - Cell</a> |
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| <li > |
| <a href="/mosaic/docs/simulators/environment_simulator/">Environment Simulator</a> |
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| <li > |
| <a href="/mosaic/docs/simulators/battery_simulator/">Battery Simulator</a> |
| </li> |
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| <a href="/mosaic/docs/simulators/vms_simulator/">VMS Simulator</a> |
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| <a class="docs-toc-link" href="/mosaic/docs/building_scenarios/">Building Scenarios</a> |
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| <a href="/mosaic/docs/building_scenarios/">Simulation Scenarios</a> |
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| <a href="/mosaic/docs/building_scenarios/scenario_convert/">Scenario Convert</a> |
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| <a href="/mosaic/docs/building_scenarios/scenario_configuration/">Additional Scenario Configuration</a> |
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| <div class="docs-toc-item"> |
| <a class="docs-toc-link" href="/mosaic/docs/develop_applications/">Create Applications</a> |
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| <a href="/mosaic/docs/develop_applications/">Basics</a> |
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| <a href="/mosaic/docs/develop_applications/communication/">V2X Communication</a> |
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| <a href="/mosaic/docs/develop_applications/event_scheduler/">Event Scheduling</a> |
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| <a href="/mosaic/docs/develop_applications/road_traffic/">Scenario Database</a> |
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| <div class="docs-toc-item"> |
| <a class="docs-toc-link" href="/mosaic/docs/mosaic_configuration/">MOSAIC Configuration</a> |
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| <a href="/mosaic/docs/mosaic_configuration/">Configuration Files</a> |
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| <a href="/mosaic/docs/mosaic_configuration/scenario_config/">Scenario Configuration</a> |
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| <a href="/mosaic/docs/mosaic_configuration/mapping_ambassador_config/">Mapping Configuration</a> |
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| <a href="/mosaic/docs/mosaic_configuration/environment_config/">Environment Configuration</a> |
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| <a href="/mosaic/docs/mosaic_configuration/sns_config/">SNS Configuration</a> |
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| <a href="/mosaic/docs/mosaic_configuration/cell_config/">Cell Basic Configuration</a> |
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| <a href="/mosaic/docs/mosaic_configuration/cell_network_config/">Cell Network Configuration</a> |
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| <a href="/mosaic/docs/mosaic_configuration/cell_region_config/">Cell Region Configuration</a> |
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| <a href="/mosaic/docs/mosaic_configuration/sumo_config/">SUMO Configuration</a> |
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| <a class="docs-toc-link" href="/mosaic/docs/extending_mosaic/">Extending Eclipse MOSAIC</a> |
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| <a href="/mosaic/docs/extending_mosaic/">Core Concepts</a> |
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| <h1>Core Concepts</h1> |
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| <div class="article-style"> |
| <p>To run a simulation, a federation of simulators has to be created. This federation consists of one federate |
| for each participating simulator. In the upper part of Figure 1, the inner structure of a federate is |
| illustrated. It consists of the original simulator that is connected to its federate ambassador and an |
| instance of an Eclipse MOSAIC ambassador. The federates run on top of the Eclipse MOSAIC Runtime Infrastructure |
| (lower part of Figure 1) which offers services for federation-, interaction- and time management. The |
| communication between the federates and the runtime infrastructure is enabled by ambassadors. More |
| precisely, a federate that wants to access services of the RTI can use a designated RTI-Ambassador that |
| provides access to the provided services. In the opposite direction, i.e. if the runtime infrastructure wants |
| to invoke operations on the federate implementation, a federate ambassador is used. Each federate |
| ambassador implements the same interface that is used by Eclipse MOSAIC to control the simulator and to |
| provide interactions from other federates.</p> |
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| <a data-fancybox="" href="images/common-architecture.jpeg" data-caption="Schematic illustration of Eclipse MOSAIC Runtime Infrastructure"> |
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| <figcaption data-pre="Figure " data-post=":" class="numbered"> |
| Schematic illustration of Eclipse MOSAIC Runtime Infrastructure |
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| <hr> |
| <h2 id="time-management">Time Management</h2> |
| <p>The main problem in executing a federation is the synchronization of its federates. Each federate is a |
| discrete-event simulator with an ordered event list from which sequentially the first event is processed. |
| Consequently, the Time Management is necessary for coordinating the simulation and synchronizing |
| participating federates. It assures that each federate processes its events in correct order.</p> |
| <p>According to |
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| <a href="https://ieeexplore.ieee.org/abstract/document/977259" target="_blank" rel="noopener"> |
| Fujimoto |
| </a> |
| the time management in a federated environment |
| includes two key components: Interaction (Message) order and time stamps. Note that we usually use the word ‘intercation’ when |
| talking about communication between federates, ‘message’ will be used in the context of (V2X)-communication.</p> |
| <p>The Interaction Order service is completely implemented in Eclipse MOSAIC with the following design rationale: |
| Each request of a federate to execute a local event is mapped to a global event within the Time management. |
| Such an event consists of three attributes: simulation time, priority, and lookahead time. The |
| simulation time defines the time in the simulation at which the event has to be processed. The priority |
| allows defining an order of events that are scheduled at the same time. The third attribute, the lookahead |
| time, describes an idle period following after an event. It is used to signalize that no further event will be |
| scheduled and no interaction will be sent within this period. All events are scheduled by storing them in an |
| event list in ascending order according to their simulation time. In case of equal simulation times, they |
| are ordered in descending order to their priority. |
| A time management cycle consists of three steps.</p> |
| <ol> |
| <li> |
| <p>The federate invokes a time management service to request its logical time to advance. |
| While Time Advance Request (TAR) is more suitable for time-stepped simulators, |
| Next Event Request (NER) is the preferred primitive for event-driven federates.</p> |
| </li> |
| <li> |
| <p>The RTI delivers certain interactions to the federate. Each federate receives the interactions |
| in the <code>processInteraction()</code> method.</p> |
| </li> |
| <li> |
| <p>The RTI completes the cycle by invoking a federate defined procedure called Time Advance Grant |
| to indicate the federate’s logical time has been advanced. Eclipse MOSAIC supports the sequential and |
| the parallel conservative mechanism for advancing time.</p> |
| </li> |
| </ol> |
| <hr> |
| <h2 id="interaction-management">Interaction Management</h2> |
| <p>The exchange of data among federates is offered by the Interaction Management using interactions. Eclipse MOSAIC and its federates |
| are decoupled through a publish-subscribe paradigm provided by the Interaction Management. |
| A published interaction is forwarded to each subscriber directly after it has been |
| published. However, a receiving federate is not allowed to advance its time based on an interaction but must |
| request a time advancement if necessary. An interaction consists of its creation time, an identifier describing |
| its type, and optional data. Interactions to exchange traffic, network, vehicle, and sensor data are predefined. |
| These interactions are used to define a standardized communication behaviour.</p> |
| <h4 id="subscribe-interaction">Subscribe Interaction</h4> |
| <p>Before a federate can receive interactions, it has to subscribe to them. The Interaction Management offers |
| two different ways to subscribe to certain interactions. A federate can either define a interaction type only to |
| receive all interactions of this type or, additionally, define conditions to filter interactions by their content. If a |
| federate is not longer interested in subscribed interactions, it can rescind its interest.</p> |
| <h4 id="publish-interaction">Publish Interaction</h4> |
| <p>Each federate is allowed to publish any interaction at any valid time of the simulation. After a interaction is |
| published, the Interaction Management forwards the interaction to each federate that has subscribed to |
| this type of interaction. A federate receiving a interaction can ignore it or request to advance its local time to |
| handle this interaction.</p> |
| <hr> |
| <h2 id="federation-management">Federation Management</h2> |
| <p>The Federation Management is responsible for the administration of participating federates. This includes |
| deploying, starting, stopping, and undeploying federates in a distributed system. Before running a |
| simulation, the Federation Management creates an empty federation. After that, federates join the |
| federation. Already joined federates can be removed from a federation, if they are not necessary for the |
| rest of the simulation. After a simulation is finished, the Federation Management frees used resources.</p> |
| <h4 id="create-federation">Create Federation</h4> |
| <p>Creates an empty federation. After a federation is created, it is possible to join federates.</p> |
| <h4 id="join-federation">Join Federation</h4> |
| <p>A joining simulator is defined by a unique name and a FederateHandle. This handle contains the information whether start-up and deployment |
| of the simulator are required to be handled by the Federation Management. In this case, further deployment and start-up information are |
| included.</p> |
| <h4 id="stop-federation">Stop Federation</h4> |
| <p>After a simulation is finished, all joined federates are resigned and their used resources are freed. All |
| references are removed and necessary tasks to stop and undeploy the federate are executed.</p> |
| <h3 id="implementation-details">Implementation Details</h3> |
| <p>When a simulator is about to join a federation, a FederateHandle is passed to the Federation Manage- |
| ment. A handle includes a Federate Ambassador that is responsible for all communication with the RTI |
| as well as all identifiers for interactions it wants to subscribe to. Additionally, it contains two flags indicating |
| how the simulator is started and if the simulator needs to be deployed by the Federation Management. |
| For the deployment, the handle consists a reference to the directory including all binaries and host |
| parameters consisting of an address and a directory in which the simulator shall be deployed. To start a |
| simulator a start-command is included.</p> |
| <p>If the simulator is running, its ambassador is registered for coordinating the simulator during the sim- |
| ulation run. Afterwards, the Federation Management initiates the subscription to interactions on behalf |
| of an ambassador. Otherwise, before the ambassador is registered, the Federation Management starts |
| and, if necessary, deploys the simulator on a local or a remote machine and connects it to its ambassador. |
| The connection is created by redirecting the output of the started simulator to its ambassador. Based on |
| the incoming data, the Federate Ambassador is responsible for configuring its communication with the |
| simulator.</p> |
| <h3 id="local-federation-management">Local Federation Management</h3> |
| <p>In case a simulator is to be deployed on a local machine, its binaries are copied into the simulation |
| directory that is defined within the host parameters. Afterwards, using the start-command the simulator |
| is started in a new process and its output is redirected to the ambassador. Additionally, a mapping between |
| ambassador and process reference is stored. Finally, when the federate is resigned, the ambassador is |
| called to shut down its corresponding simulator. Finally, the mapped process is killed and all copied files |
| are removed.</p> |
| <h3 id="distributed-federation-management">Distributed Federation Management</h3> |
| <p>To administrate simulators on remote hosts, the Federation Management uses the |
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| After a process is started remotely, a mapping between ambassador, its process id, and the host on which |
| is running are stored. Finally, when the federate is resigned, the remotely running process is killed and all |
| binaries are removed.</p> |
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| <div class="search-hit" id="summary-{{key}}"> |
| <div class="search-hit-content"> |
| <div class="search-hit-name"> |
| <a href="{{relpermalink}}">{{title}}</a> |
| <div class="article-metadata search-hit-type">{{type}}</div> |
| <p class="search-hit-description">{{snippet}}</p> |
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| <script src="https://cdnjs.cloudflare.com/ajax/libs/mark.js/8.11.1/jquery.mark.min.js" integrity="sha512-mhbv5DqBMgrWL+32MmsDOt/OAvqr/cHimk6B8y/bx/xS88MVkYGPiVv2ixKVrkywF2qHplNRUvFsAHUdxZ3Krg==" crossorigin="anonymous"></script> |
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| <script type="application/javascript" src="/mosaic/js/mosaic-docs.js"></script> |
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| <script> |
| var tooltipTriggerList = [].slice.call(document.querySelectorAll('[data-bs-toggle="tooltip"]')) |
| tooltipTriggerList.map(function (tooltipTriggerEl) { |
| return new window.bootstrap.Tooltip(tooltipTriggerEl) |
| }) |
| </script> |
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| <div id="modal" class="modal fade" role="dialog"> |
| <div class="modal-dialog"> |
| <div class="modal-content"> |
| <div class="modal-header"> |
| <h5 class="modal-title">Cite</h5> |
| <button type="button" class="close" data-dismiss="modal" aria-label="Close"> |
| <span aria-hidden="true">×</span> |
| </button> |
| </div> |
| <div class="modal-body"> |
| <pre><code class="tex hljs"></code></pre> |
| </div> |
| <div class="modal-footer"> |
| <a class="btn btn-outline-primary my-1 js-copy-cite" href="#" target="_blank"> |
| <i class="fas fa-copy"></i> Copy |
| </a> |
| <a class="btn btn-outline-primary my-1 js-download-cite" href="#" target="_blank"> |
| <i class="fas fa-download"></i> Download |
| </a> |
| <div id="modal-error"></div> |
| </div> |
| </div> |
| </div> |
| </div> |
| |
| </body> |
| </html> |