content/html/_sources/user_guide/configs/systemconfigblueprint.rst.txt - www.eclipse.org/simopenpass - Git at Google

 ..
   *******************************************************************************
   Copyright (c) 2021 in-tech GmbH

   This program and the accompanying materials are made available under the
   terms of the Eclipse Public License 2.0 which is available at
   http://www.eclipse.org/legal/epl-2.0.

   SPDX-License-Identifier: EPL-2.0
   *******************************************************************************

 .. _systemconfigblueprint:

 SystemConfigBlueprint
 =====================

 This file contains the possible agent modules and channels of a dynamically generated agent. The content of this file should only be adjusted by experienced users with knowledge of the simulation architecture. The SystemConfigBlueprint is a special SystemConfig and has the same schema. Only the system with id 0 is used for generating dynamic agents.
 If the simulation uses only statically configured agents (AgentProfile Type attribute is "Static"), this file isn't required.

 .. _systemconfigblueprint_agentComponents:

 AgentComponents
 ---------------
 All components are listed here. An agent consists of a subset of this components.

 .. table::
    :class: tight-table

    =========== ===============================================================================
    Attribute   Description
    =========== ===============================================================================
    Id          Used as key by the simulation to find the component
    Priority    The module with the highest priority value gets executed first by the scheduler
    Offset      Delay for the trigger method of each component in ms
    Cycle       Interval in which the component gets triggered by the scheduler in ms
    Response    Delay for the UpdateOutput method of each component in ms
    Library     Library name of this component
    Parameters  Parameters used by the component
    =========== ===============================================================================

 Example:
 This example describes the Sensor_Driver module.

 .. literalinclude:: /../../../repo/sim/contrib/examples/Common/systemConfigBlueprint.xml
    :language: xml
    :dedent: 12
    :lines: 28-38

 .. _systemconfigblueprint_priorities:

 Priorities
 ----------

 Please refer to the :ref:`Components and channel communication diagram <component_channel_communication>` for assignment of a proper priority.
 Based on the signal flow, input relevant components like sensors need to be executed first. They provide data for consuming components (algorithms) like ADAS and drivers.
 Data is then handled by algorithms like Algorithm_Lateral.
 Output-relevant modules like dynamics and actions are executed last.

 Prioritizer can be applied on different levels depending on the modules/data they need to handle levels as following can be defined:
 Level 1 describes data produced by ADAS and drivers.
 Level 2 describes data output by vehicle dynamic controllers.
 Level 3 describes data delivered by dynamics.

 Priorities can be grouped (coarse) as following:
 Highest number indicates highest priority.

 .. table::
    :class: tight-table

    =========================== ===========
    Scope                       Range
    =========================== ===========
    Parameters                  500
    OpenScenarioActions         400
    Sensor                      350...399
    Event                       330
    DriverMode                  310
    ADAS                        250...299
    ComponentController         200
    Prioritizer (Lvl. 1)        150...199
    VehicleDynamicsControllers  100...149
    Prioritizer (Lvl. 2)        75...99
    Dynamics                    50...74
    Prioritizer (Lvl. 3)        25...49
    Updater                     0...24
    =========================== ===========

 The table below can be used as orientation when a new module is introduced.

 .. table::
    :class: tight-table

    ========================================= ======================================= ========= =========================== =======================================================================================================================
    Name                                      Library                                 Priority  Scope                       Note
    ========================================= ======================================= ========= =========================== =======================================================================================================================
    ParametersAgentModules                    ParametersAgent                         500       Parameters                  Sets all init-data and is updated cyclically
    OpenScenarioActions                       OpenScenarioActions                     400       ADAS                        Reads events from OpenScenario Actions and forwards them to other components
    SensorObjectDetector                      Sensor_OSI                              398       Sensor                      Gets instantiated multiple times (one time per sensor)
    SensorAggregation                         SensorAggregation_OSI                   351       Sensor
    SensorFusionErrorless                     SensorFusionErrorless_OSI               350       Sensor
    AlgorithmAgentFollowingDriverModel        AlgorithmAgentFollowingDriverModel      310       DriverModels
    AEB                                       AlgorithmAutonomousEmergencyBraking     250       ADAS
    ComponentController                       ComponentController                     200       ADAS                        Manages vehicle component states with regard to other vehicle component states and conditions and in response to events.
    PrioritizerLaterDriver                    SignalPrioritizer                       150       Prioritizer
    PrioritizerAccelerationDriver             SignalPrioritizer                       150       Prioritizer
    PrioritizerTurningIndicator               SignalPrioritizer                       150       Prioritizer
    PrioritizerSteeringVehicleComponents      SignalPrioritizer                       150       Prioritizer
    PrioritizerAccelerationVehicleComponents  SignalPrioritizer                       150       Prioritizer
    LimiterAccelerationVehicleComponents      LimiterAccelerationVehicleComponents    120       VehicleDynamicsControllers
    AlgorithmLateralDriver                    AlgorithmLateralDriver                  100       VehicleDynamicsControllers
    AlgorithmLongitudinalVehicleComponents    AlgorithmLongitudinalVehicleComponents  100       VehicleDynamicsControllers
    AlgorithmLongitudinalDriver               AlgorithmLongitudinalDriver             100       VehicleDynamicsControllers
    PrioritizerSteering                       SignalPrioritizer                       75        Prioritizer
    PrioritizerLongitudinal                   SignalPrioritizer                       75        Prioritizer
    DynamicsCollision                         DynamicsCollision                       50        Dynamics
    DynamicsRegularDriving                    DynamicsRegularDriving                  50        Dynamics
    DynamicsTrajectoryFollower                DynamicsTrajectoryFollower              50        Dynamics
    PrioritizerDynamics                       SignalPrioritizer                       25        Prioritizer
    SensorRecordStateModule                   SensorRecordState                       2         Updater                     Since values are "frozen" for current time step, logging can be placed anywhere
    ActionLongitudinalDriverModules           ActionLongitudinalDriver                3         Updater                     Will be expanded to ActionPrimary DriverTasks
    ActionSecondaryDriverTasksModules         ActionSecondaryDriverTasks              3         Updater
    AgentUpdater                              AgentUpdater                            1         Updater
    ========================================= ======================================= ========= =========================== =======================================================================================================================

 .. _systemconfigblueprint_channelids:

 Channel-Ids
 -----------

 Channels allow components to communicate with each other.
 The signal flow is set explicitly via a channel-Id of 4 digits (see also :ref:`Components and channels communication diagram <component_channel_communication>`).

 The first two numbers define the sending module (XX 00).
 The other two digits define the type of signal that is sent (00 XX).

 Signals as well as modules can be grouped to allow explicit numbering (see tables below).

 Channel-Ids between Sensor and SensorFusion are an exception to this rule. For sensor/sensor fusion communication channel-ids are 9900 + x (incremented for every new sensor)

 Example:
 PrioritizerAccelerationDriver -> AlgorithmLongitudinalDriver with signal of type AccelerationSignal: 1813.


 **Ids for Modules (first two digits)**


 Index range for module groups:

 .. table::
    :class: tight-table

    ================= ==========
    Group             Id
    ================= ==========
    Dynamics          1...10
    Algorithm         11...30
    DriverTasks       31...40
    Driver            41...50
    VehicleComponent  51...80
    Special           81...89
    Sensor            91...99
    ================= ==========

 With corresponding defined indices:

 .. table::
    :class: tight-table

    ========================================= ================= =====
    Module                                    Group             Id
    ========================================= ================= =====
    AgentUpdater                              Dynamics          1
    Dynamics_TrajectoryFollower               Dynamics          2
    Dynamics_RegularDriving                   Dynamics          3
    Dynamics_Collision                        Dynamics          4
    PrioritizerDynamics                       Dynamics          5
    Algorithm_LongitudinalVehicleComponent    Algorithm         11
    Algorithm_LongitudinalAfdm                Algorithm         12
    Algorithm_SteeringVehicleComponent        Algorithm         14
    Algorithm_LateralVehicleAfdm              Algorithm         15
    LimiterVehicleLongitudinal                Algorithm         17
    PrioritizerLongitudinal                   Algorithm         21
    PrioritizerSteering                       Algorithm         22
    PrioritizerAccelerationVehicleComponents  Algorithm         23
    PrioritizerSteeringVehicleComponents      Algorithm         24
    Action_LongitudinalDriver                 DriverTasks       31
    Action_SecondaryDriverTasks               DriverTasks       32
    PrioritizerTurningIndicator               DriverTasks       33
    AlgorithmAgentFollowingDriver             Driver            41
    AEB                                       VehicleComponent  52
    ComponentController                       Special           83
    OpenScenarioActions                       Special           84
    Parameter_Vehicle                         Sensor            92
    SensorAggregation                         Sensor            93
    SensorFusion                              Sensor            94
    Sensor_Driver                             Sensor            95
    ========================================= ================= =====

 **Ids for Signals (last two digits)**

 Index range for signal groups:


 .. table::
    :class: tight-table

    ==================== ==========
    Group                Id
    ==================== ==========
    Dynamics             1...10
    Algorithm            11...30
    OpenScenarioActions  61...70
    Special              71...80
    Sensor               81...90
    Parameters           91...99
    ==================== ==========

 With corresponding defined indices:

 .. table::
    :class: tight-table

    ======================================= ==================== =====
    Signal                                  Group                Id
    ======================================= ==================== =====
    Dynamics                                Dynamics             01
    Longitudinal                            Algorithm            11
    Steering                                Algorithm            12
    Acceleration                            Algorithm            13
    Lateral                                 Algorithm            14
    SecondaryDriverTasks                    Algorithm            19
    Trajectory                              OpenScenarioActions  71
    AcquireGlobalPosition                   OpenScenarioActions  62
    CustomParameters (CustomCommandAction)  OpenScenarioActions  63
    SensorDriver                            Sensor               81
    SensorData                              Sensor               90
    ParametersVehicle                       Parameters           92
    ======================================= ==================== =====

 .. _systemconfigblueprint_parameters:

 Parameters
 ----------

 For more information on the type of parameters (especially stochastic distributions), please refer to the :ref:`ProfilesGroup section <profilescatalog_profilegroups>`.

 **Important Note:** The syntax for defining parameters in the SystemConfigBlueprint file differs from the ProfilesCatalog syntax.
 See the following example:

 .. code-block:: xml

    <parameters>
        <parameter>
            <id>StringParameter</id>
            <type>string</type>
            <unit/>
            <value>Lorem ipsum</value>
        </parameter>
        <parameter>
            <id>RandomParameter</id>
            <type>normalDistribution</type>
            <unit/>
            <value>
                <mean>15.0</mean>
                <sd>2.5</sd>
                <min>10.0</min>
                <max>20.0</max>
            </value>
        </parameter>
    </parameters>
	..
	*******************************************************************************
	Copyright (c) 2021 in-tech GmbH

	This program and the accompanying materials are made available under the
	terms of the Eclipse Public License 2.0 which is available at
	http://www.eclipse.org/legal/epl-2.0.

	SPDX-License-Identifier: EPL-2.0
	*******************************************************************************

	.. _systemconfigblueprint:

	SystemConfigBlueprint
	=====================

	This file contains the possible agent modules and channels of a dynamically generated agent. The content of this file should only be adjusted by experienced users with knowledge of the simulation architecture. The SystemConfigBlueprint is a special SystemConfig and has the same schema. Only the system with id 0 is used for generating dynamic agents.
	If the simulation uses only statically configured agents (AgentProfile Type attribute is "Static"), this file isn't required.

	.. _systemconfigblueprint_agentComponents:

	AgentComponents
	---------------
	All components are listed here. An agent consists of a subset of this components.

	.. table::
	:class: tight-table

	=========== ===============================================================================
	Attribute Description
	=========== ===============================================================================
	Id Used as key by the simulation to find the component
	Priority The module with the highest priority value gets executed first by the scheduler
	Offset Delay for the trigger method of each component in ms
	Cycle Interval in which the component gets triggered by the scheduler in ms
	Response Delay for the UpdateOutput method of each component in ms
	Library Library name of this component
	Parameters Parameters used by the component
	=========== ===============================================================================

	Example:
	This example describes the Sensor_Driver module.

	.. literalinclude:: /../../../repo/sim/contrib/examples/Common/systemConfigBlueprint.xml
	:language: xml
	:dedent: 12
	:lines: 28-38

	.. _systemconfigblueprint_priorities:

	Priorities
	----------

	Please refer to the :ref:`Components and channel communication diagram <component_channel_communication>` for assignment of a proper priority.
	Based on the signal flow, input relevant components like sensors need to be executed first. They provide data for consuming components (algorithms) like ADAS and drivers.
	Data is then handled by algorithms like Algorithm_Lateral.
	Output-relevant modules like dynamics and actions are executed last.

	Prioritizer can be applied on different levels depending on the modules/data they need to handle levels as following can be defined:
	Level 1 describes data produced by ADAS and drivers.
	Level 2 describes data output by vehicle dynamic controllers.
	Level 3 describes data delivered by dynamics.

	Priorities can be grouped (coarse) as following:
	Highest number indicates highest priority.

	.. table::
	:class: tight-table

	=========================== ===========
	Scope Range
	=========================== ===========
	Parameters 500
	OpenScenarioActions 400
	Sensor 350...399
	Event 330
	DriverMode 310
	ADAS 250...299
	ComponentController 200
	Prioritizer (Lvl. 1) 150...199
	VehicleDynamicsControllers 100...149
	Prioritizer (Lvl. 2) 75...99
	Dynamics 50...74
	Prioritizer (Lvl. 3) 25...49
	Updater 0...24
	=========================== ===========

	The table below can be used as orientation when a new module is introduced.

	.. table::
	:class: tight-table

	========================================= ======================================= ========= =========================== =======================================================================================================================
	Name Library Priority Scope Note
	========================================= ======================================= ========= =========================== =======================================================================================================================
	ParametersAgentModules ParametersAgent 500 Parameters Sets all init-data and is updated cyclically
	OpenScenarioActions OpenScenarioActions 400 ADAS Reads events from OpenScenario Actions and forwards them to other components
	SensorObjectDetector Sensor_OSI 398 Sensor Gets instantiated multiple times (one time per sensor)
	SensorAggregation SensorAggregation_OSI 351 Sensor
	SensorFusionErrorless SensorFusionErrorless_OSI 350 Sensor
	AlgorithmAgentFollowingDriverModel AlgorithmAgentFollowingDriverModel 310 DriverModels
	AEB AlgorithmAutonomousEmergencyBraking 250 ADAS
	ComponentController ComponentController 200 ADAS Manages vehicle component states with regard to other vehicle component states and conditions and in response to events.
	PrioritizerLaterDriver SignalPrioritizer 150 Prioritizer
	PrioritizerAccelerationDriver SignalPrioritizer 150 Prioritizer
	PrioritizerTurningIndicator SignalPrioritizer 150 Prioritizer
	PrioritizerSteeringVehicleComponents SignalPrioritizer 150 Prioritizer
	PrioritizerAccelerationVehicleComponents SignalPrioritizer 150 Prioritizer
	LimiterAccelerationVehicleComponents LimiterAccelerationVehicleComponents 120 VehicleDynamicsControllers
	AlgorithmLateralDriver AlgorithmLateralDriver 100 VehicleDynamicsControllers
	AlgorithmLongitudinalVehicleComponents AlgorithmLongitudinalVehicleComponents 100 VehicleDynamicsControllers
	AlgorithmLongitudinalDriver AlgorithmLongitudinalDriver 100 VehicleDynamicsControllers
	PrioritizerSteering SignalPrioritizer 75 Prioritizer
	PrioritizerLongitudinal SignalPrioritizer 75 Prioritizer
	DynamicsCollision DynamicsCollision 50 Dynamics
	DynamicsRegularDriving DynamicsRegularDriving 50 Dynamics
	DynamicsTrajectoryFollower DynamicsTrajectoryFollower 50 Dynamics
	PrioritizerDynamics SignalPrioritizer 25 Prioritizer
	SensorRecordStateModule SensorRecordState 2 Updater Since values are "frozen" for current time step, logging can be placed anywhere
	ActionLongitudinalDriverModules ActionLongitudinalDriver 3 Updater Will be expanded to ActionPrimary DriverTasks
	ActionSecondaryDriverTasksModules ActionSecondaryDriverTasks 3 Updater
	AgentUpdater AgentUpdater 1 Updater
	========================================= ======================================= ========= =========================== =======================================================================================================================

	.. _systemconfigblueprint_channelids:

	Channel-Ids
	-----------

	Channels allow components to communicate with each other.
	The signal flow is set explicitly via a channel-Id of 4 digits (see also :ref:`Components and channels communication diagram <component_channel_communication>`).

	The first two numbers define the sending module (XX 00).
	The other two digits define the type of signal that is sent (00 XX).

	Signals as well as modules can be grouped to allow explicit numbering (see tables below).

	Channel-Ids between Sensor and SensorFusion are an exception to this rule. For sensor/sensor fusion communication channel-ids are 9900 + x (incremented for every new sensor)

	Example:
	PrioritizerAccelerationDriver -> AlgorithmLongitudinalDriver with signal of type AccelerationSignal: 1813.


	Ids for Modules (first two digits)


	Index range for module groups:

	.. table::
	:class: tight-table

	================= ==========
	Group Id
	================= ==========
	Dynamics 1...10
	Algorithm 11...30
	DriverTasks 31...40
	Driver 41...50
	VehicleComponent 51...80
	Special 81...89
	Sensor 91...99
	================= ==========

	With corresponding defined indices:

	.. table::
	:class: tight-table

	========================================= ================= =====
	Module Group Id
	========================================= ================= =====
	AgentUpdater Dynamics 1
	Dynamics_TrajectoryFollower Dynamics 2
	Dynamics_RegularDriving Dynamics 3
	Dynamics_Collision Dynamics 4
	PrioritizerDynamics Dynamics 5
	Algorithm_LongitudinalVehicleComponent Algorithm 11
	Algorithm_LongitudinalAfdm Algorithm 12
	Algorithm_SteeringVehicleComponent Algorithm 14
	Algorithm_LateralVehicleAfdm Algorithm 15
	LimiterVehicleLongitudinal Algorithm 17
	PrioritizerLongitudinal Algorithm 21
	PrioritizerSteering Algorithm 22
	PrioritizerAccelerationVehicleComponents Algorithm 23
	PrioritizerSteeringVehicleComponents Algorithm 24
	Action_LongitudinalDriver DriverTasks 31
	Action_SecondaryDriverTasks DriverTasks 32
	PrioritizerTurningIndicator DriverTasks 33
	AlgorithmAgentFollowingDriver Driver 41
	AEB VehicleComponent 52
	ComponentController Special 83
	OpenScenarioActions Special 84
	Parameter_Vehicle Sensor 92
	SensorAggregation Sensor 93
	SensorFusion Sensor 94
	Sensor_Driver Sensor 95
	========================================= ================= =====

	Ids for Signals (last two digits)

	Index range for signal groups:


	.. table::
	:class: tight-table

	==================== ==========
	Group Id
	==================== ==========
	Dynamics 1...10
	Algorithm 11...30
	OpenScenarioActions 61...70
	Special 71...80
	Sensor 81...90
	Parameters 91...99
	==================== ==========

	With corresponding defined indices:

	.. table::
	:class: tight-table

	======================================= ==================== =====
	Signal Group Id
	======================================= ==================== =====
	Dynamics Dynamics 01
	Longitudinal Algorithm 11
	Steering Algorithm 12
	Acceleration Algorithm 13
	Lateral Algorithm 14
	SecondaryDriverTasks Algorithm 19
	Trajectory OpenScenarioActions 71
	AcquireGlobalPosition OpenScenarioActions 62
	CustomParameters (CustomCommandAction) OpenScenarioActions 63
	SensorDriver Sensor 81
	SensorData Sensor 90
	ParametersVehicle Parameters 92
	======================================= ==================== =====

	.. _systemconfigblueprint_parameters:

	Parameters
	----------

	For more information on the type of parameters (especially stochastic distributions), please refer to the :ref:`ProfilesGroup section <profilescatalog_profilegroups>`.

	Important Note: The syntax for defining parameters in the SystemConfigBlueprint file differs from the ProfilesCatalog syntax.
	See the following example:

	.. code-block:: xml

	<parameters>
	<parameter>
	<id>StringParameter</id>
	<type>string</type>
	<unit/>
	<value>Lorem ipsum</value>
	</parameter>
	<parameter>
	<id>RandomParameter</id>
	<type>normalDistribution</type>
	<unit/>
	<value>
	<mean>15.0</mean>
	<sd>2.5</sd>
	<min>10.0</min>
	<max>20.0</max>
	</value>
	</parameter>
	</parameters>