textual-notation-of-model/packages/features/aebs/aebs_physical_software_realization.sysml

Source

1/*2 * DE4SDV AEBS physical software realization model slice.3 *4 * This package implements INC-AEBS-007: a source-backed mapping from the5 * accepted technology-neutral AEBS system architecture to Autoware software.6 * Runtime deployment, vehicle-platform integration, brake actuation, and7 * executable evidence remain INC-AEBS-008/009 responsibilities.8 *9 * Pinned upstream source:10 * - repository: https://github.com/autowarefoundation/autoware_universe11 * - commit: f603d8759c92fb2f423f1544844e13086d79ad0912 * - package: control/autoware_autonomous_emergency_braking13 * - package version: 0.52.014 * - license: Apache-2.015 *16 * The pinned source contains two unresolved blockers recorded in the companion17 * YAML/Markdown control artifacts:18 * - predicted-trajectory path generation calls path.back() before the first19 *   element is inserted; that branch is not accepted as a realization;20 * - the launch file remaps an undeclared input_odometry argument although the21 *   current node has no odometry subscriber.22 *23 * This model makes no requirement satisfaction, compliance, certification,24 * production-readiness, real-vehicle, or brake-actuation claim.25 */2627package DE4SDV_AEBSPhysicalSoftwareRealization {28  private import DE4SDV_AEBSConceptualArchitecture::*;29  private import SAF_Viewpoints::*;30  private import DE4SDV_Stakeholders::*;31  private import DE4SDV_MethodContext::*;32  private import DE4SDV_ROS2Types::*;33  private import SysideViews::**;34  private import Views::*;3536  /* ──────────────────────────────────────────37   * Concrete Autoware ROS 2 message definitions38   * ────────────────────────────────────────── */3940  item def PointCloud2Message :> ROS2TopicMessage {41    doc /* ROS 2 sensor_msgs/msg/PointCloud2. */42  }4344  item def VelocityReportMessage :> ROS2TopicMessage {45    doc /* ROS 2 autoware_vehicle_msgs/msg/VelocityReport. */46  }4748  item def ImuMessage :> ROS2TopicMessage {49    doc /* ROS 2 sensor_msgs/msg/Imu. */50  }5152  item def TrajectoryMessage :> ROS2TopicMessage {53    doc /* ROS 2 autoware_planning_msgs/msg/Trajectory. */54  }5556  item def PredictedObjectsMessage :> ROS2TopicMessage {57    doc /* ROS 2 autoware_perception_msgs/msg/PredictedObjects. */58  }5960  item def AutowareStateMessage :> ROS2TopicMessage {61    doc /* ROS 2 autoware_system_msgs/msg/AutowareState. */62  }6364  item def DiagnosticArrayMessage :> ROS2TopicMessage {65    doc /*66     * ROS 2 diagnostic_msgs/msg/DiagnosticArray transport used by67     * diagnostic_updater. The AEB task name is aeb_emergency_stop.68     */69  }7071  item def MetricArrayMessage :> ROS2TopicMessage {72    doc /* ROS 2 tier4_metric_msgs/msg/MetricArray. */73  }7475  item def DebugPointCloudMessage :> ROS2TopicMessage {76    doc /* ROS 2 sensor_msgs/msg/PointCloud2 debug output. */77  }7879  item def MarkerArrayMessage :> ROS2TopicMessage {80    doc /* ROS 2 visualization_msgs/msg/MarkerArray. */81  }8283  item def Float32StampedMessage :> ROS2TopicMessage {84    doc /* ROS 2 tier4_debug_msgs/msg/Float32Stamped. */85  }8687  item def ProcessingTimeDetailMessage :> ROS2TopicMessage {88    doc /* ROS 2 autoware_utils/ProcessingTimeDetail debug output. */89  }9091  /*92   * Reusable ROS 2 topic protocol roles. Concrete message-specific port93   * definitions specialize these roles. The interface captures publish/94   * subscribe compatibility without selecting an RMW/DDS implementation.95   */96  interface def ROS2PublishSubscribeTopicInterface {97    doc /*98     * Application-level ROS 2 topic protocol. The publisher and subscriber99     * roles are compatible through a common topic and a matching concrete100     * message type; QoS and RMW/DDS selection are deferred.101     */102    end publisher : ROS2TopicPublication;103    end subscriber : ROS2TopicSubscription;104    flow of ROS2TopicMessage from publisher.payload to subscriber.payload;105  }106107  port def PointCloud2Subscription :> ROS2TopicSubscription {108    in item pointCloud : PointCloud2Message redefines payload;109  }110111  port def VelocityReportSubscription :> ROS2TopicSubscription {112    in item velocityReport : VelocityReportMessage redefines payload;113  }114115  port def ImuSubscription :> ROS2TopicSubscription {116    in item imu : ImuMessage redefines payload;117  }118119  port def TrajectorySubscription :> ROS2TopicSubscription {120    in item trajectory : TrajectoryMessage redefines payload;121  }122123  port def PredictedObjectsSubscription :> ROS2TopicSubscription {124    in item predictedObjects : PredictedObjectsMessage redefines payload;125  }126127  port def AutowareStateSubscription :> ROS2TopicSubscription {128    in item autowareState : AutowareStateMessage redefines payload;129  }130131  port def DiagnosticPublication :> ROS2TopicPublication {132    out item diagnostics : DiagnosticArrayMessage redefines payload;133  }134135  port def MetricPublication :> ROS2TopicPublication {136    out item metrics : MetricArrayMessage redefines payload;137  }138139  port def DebugPointCloudPublication :> ROS2TopicPublication {140    out item debugPointCloud : DebugPointCloudMessage redefines payload;141  }142143  port def MarkerPublication :> ROS2TopicPublication {144    out item markers : MarkerArrayMessage redefines payload;145  }146147  port def DebugDistancePublication :> ROS2TopicPublication {148    out item rssDistance : Float32StampedMessage redefines payload;149  }150151  port def ProcessingTimePublication :> ROS2TopicPublication {152    out item processingTime : ProcessingTimeDetailMessage redefines payload;153  }154155  /* ──────────────────────────────────────────156   * Source-backed physical software elements157   * ────────────────────────────────────────── */158159  part def AutowareAEBSourceArtifact {160    doc /*161     * Build/source artifact at162     * control/autoware_autonomous_emergency_braking, version 0.52.0, pinned to163     * Autoware Universe commit f603d8759c92fb2f423f1544844e13086d79ad09.164     */165  }166167  part def AutowareAutonomousEmergencyBrakingNode {168    doc /*169     * Concrete rclcpp node class AEB from include/autoware/170     * autonomous_emergency_braking/node.hpp and src/node.cpp.171     *172     * Source-backed behavior includes input polling/transformation, IMU and173     * control-trajectory path branches, target extraction from point clouds or174     * predicted objects, RSS-distance collision checking, and an ERROR-level175     * diagnostic when collision state is active. Branch acceptance and conceptual176     * coverage are represented separately below.177     */178179    port pointCloudIn : PointCloud2Subscription {180      doc /* ~/input/pointcloud; default /perception/obstacle_segmentation/pointcloud. */181    }182    port velocityIn : VelocityReportSubscription {183      doc /* ~/input/velocity; default /vehicle/status/velocity_status. */184    }185    port imuIn : ImuSubscription {186      doc /* ~/input/imu; default /sensing/imu/imu_data. */187    }188    port predictedTrajectoryIn : TrajectorySubscription {189      doc /*190       * ~/input/predicted_trajectory; default /control/trajectory_follower/191       * lateral/predicted_trajectory. Blocked at the pinned source revision.192       */193    }194    port predictedObjectsIn : PredictedObjectsSubscription {195      doc /* ~/input/objects; default /perception/object_recognition/objects. */196    }197    port autowareStateIn : AutowareStateSubscription {198      doc /* Absolute topic /autoware/state. */199    }200201    port diagnosticsOut : DiagnosticPublication {202      doc /* /diagnostics via diagnostic_updater task aeb_emergency_stop. */203    }204    port metricsOut : MetricPublication {205      doc /* ~/metrics. */206    }207    port debugPointCloudOut : DebugPointCloudPublication {208      doc /* ~/debug/obstacle_pointcloud. */209    }210    port debugMarkersOut : MarkerPublication {211      doc /* ~/debug/markers. */212    }213    port virtualWallOut : MarkerPublication {214      doc /* ~/virtual_wall. */215    }216    port rssDistanceOut : DebugDistancePublication {217      doc /* ~/debug/rss_distance. */218    }219    port processingTimeOut : ProcessingTimePublication {220      doc /* ~/debug/processing_time_detail_ms. */221    }222  }223224  part def RequiredROS2ApplicationRuntimeBoundary {225    doc /*226     * Required rclcpp, executor, RMW/DDS, TF, diagnostic_updater, message, and227     * process-lifecycle environment. Concrete runtime and deployment choices228     * are intentionally deferred to INC-AEBS-008.229     */230  }231232  part def RequiredDriverWarningProviderBoundary {233    doc /*234     * Required physical HMI/warning realization. The pinned Autoware AEB node235     * does not realize DriverWarningManagement. The proposed realization is a236     * separate HMI warning adapter that consumes a typed AEBS warning request237     * produced before emergency intervention and presents the selected visual,238     * audible, or haptic warning. Do not derive this warning from the AEB ERROR239     * diagnostic: that diagnostic reports emergency-stop activation and is too240     * late and too coarse to represent the warning contract. A typed warning241     * output or upstream AEB extension remains required.242     */243  }244245  part def RequiredDiagnosticFailureBridgeBoundary {246    doc /*247     * Required bridge from the AEB ERROR diagnostic to the failure-state or248     * operation-mode input expected by an emergency Minimum Risk Manoeuvre249     * (MRM) handler. The pinned250     * diagnostic graph aggregator is a candidate mechanism, but no active251     * repository configuration routing aeb_emergency_stop into MRM selection252     * was verified for INC-AEBS-007.253     */254  }255256  part def RequiredEmergencyMRMHandlerBoundary {257    doc /*258     * Required emergency Minimum Risk Manoeuvre (MRM) state owner. Autoware's259     * pinned mrm_handler consumes260     * OperationModeAvailability and MRM status inputs, not the AEB diagnostic261     * directly. No concrete provider or accepted route is selected here.262     */263  }264265  part def RequiredVehicleCommandGateBoundary {266    doc /*267     * Required downstream arbitration and safety gate. The pinned AEB node does268     * not publish a vehicle actuation command.269     */270  }271272  part def RequiredVehicleInterfaceBoundary {273    doc /* Required adapter from gated vehicle command to the selected vehicle platform. */274  }275276  part def RequiredBrakeECUAndActuatorBoundary {277    doc /* Required brake-controller and physical actuator boundary; deferred to INC-AEBS-008. */278  }279280  part def RequiredHealthSupervisorBoundary {281    doc /*282     * Required owner of explicit AEBS valid/degraded/unavailable state and283     * failure indication. Input waiting/logging in the pinned node is not a284     * complete realization of that conceptual responsibility.285     */286  }287288  part def RequiredEvidenceServiceBoundary {289    doc /*290     * Required recorder/collector for accepted AEBS evidence. Diagnostics,291     * metrics, markers, and timing debug outputs are observable source data but292     * do not by themselves implement evidence retention or acceptance.293     */294  }295296  part def VehicleTargetAEBSPhysicalSoftwareBoundary {297    doc /*298     * INC-AEBS-007 physical software boundary. Only the Autoware source artifact299     * and AEB node are selected realizations. Runtime, HMI, emergency handling,300     * vehicle control, actuation, health, and evidence services remain external301     * required boundaries for later increments.302     */303304    part sourceArtifact : AutowareAEBSourceArtifact;305    part aebNode : AutowareAutonomousEmergencyBrakingNode;306307    // These are the public ports of the selected physical-software boundary.308    // The bindings below delegate each public port to the matching endpoint on309    // the contained AEB node. A bind is equality/delegation, not another ROS310    // topic flow: it lets external connections use this boundary without311    // bypassing the internal node. Ports are declared first so both bound usages312    // exist before the delegation relationships are stated.313    port pointCloudIn : PointCloud2Subscription;314    port velocityIn : VelocityReportSubscription;315    port imuIn : ImuSubscription;316    port predictedTrajectoryIn : TrajectorySubscription;317    port predictedObjectsIn : PredictedObjectsSubscription;318    port autowareStateIn : AutowareStateSubscription;319    port diagnosticsOut : DiagnosticPublication;320    port metricsOut : MetricPublication;321    port debugPointCloudOut : DebugPointCloudPublication;322    port debugMarkersOut : MarkerPublication;323    port virtualWallOut : MarkerPublication;324    port rssDistanceOut : DebugDistancePublication;325    port processingTimeOut : ProcessingTimePublication;326327    bind pointCloudIn = aebNode.pointCloudIn;328    bind velocityIn = aebNode.velocityIn;329    bind imuIn = aebNode.imuIn;330    bind predictedTrajectoryIn = aebNode.predictedTrajectoryIn;331    bind predictedObjectsIn = aebNode.predictedObjectsIn;332    bind autowareStateIn = aebNode.autowareStateIn;333    bind diagnosticsOut = aebNode.diagnosticsOut;334    bind metricsOut = aebNode.metricsOut;335    bind debugPointCloudOut = aebNode.debugPointCloudOut;336    bind debugMarkersOut = aebNode.debugMarkersOut;337    bind virtualWallOut = aebNode.virtualWallOut;338    bind rssDistanceOut = aebNode.rssDistanceOut;339    bind processingTimeOut = aebNode.processingTimeOut;340  }341342  part physicalSoftware : VehicleTargetAEBSPhysicalSoftwareBoundary;343  part requiredRuntime : RequiredROS2ApplicationRuntimeBoundary;344  part requiredWarningProvider : RequiredDriverWarningProviderBoundary;345  part requiredDiagnosticBridge : RequiredDiagnosticFailureBridgeBoundary;346  part requiredEmergencyHandler : RequiredEmergencyMRMHandlerBoundary;347  part requiredCommandGate : RequiredVehicleCommandGateBoundary;348  part requiredVehicleInterface : RequiredVehicleInterfaceBoundary;349  part requiredBrakeActuation : RequiredBrakeECUAndActuatorBoundary;350  part requiredHealthSupervisor : RequiredHealthSupervisorBoundary;351  part requiredEvidenceService : RequiredEvidenceServiceBoundary;352353  /* ──────────────────────────────────────────354   * Logical-to-physical realization coverage355   * ──────────────────────────────────────────356   *357   * Native SysML allocation follows the logical-responsibility-to-physical-358   * realization pattern used by the authoritative Allocation validation359   * example. SAF P8_PLOM asks which physical role implements each logical role;360   * it does not require reversing native allocation semantics.361   */362363  allocation def AvailableLogicalToPhysicalSoftwareRealization {364    doc /*365     * At the pinned source and selected configuration, inspected source behavior366     * exists for the mapped conceptual responsibility. Typing an allocation with367     * this definition lets the SAF physical-logical mapping view distinguish a368     * source-available candidate from a partial or missing realization. It does369     * not imply complete requirement satisfaction, scenario evidence, runtime370     * execution, or acceptance.371     */372  }373374  allocation def PartialLogicalToPhysicalSoftwareRealization {375    doc /*376     * Inspected source behavior covers only part of the mapped logical377     * responsibility. The allocation is retained because the physical element378     * genuinely contributes, while the companion control artifacts identify the379     * uncovered obligations. This prevents both false full-coverage claims and380     * loss of useful traceability.381     */382  }383384  allocation stateAcquisitionPartial : PartialLogicalToPhysicalSoftwareRealization385    allocate DE4SDV_AEBSConceptualArchitecture::system::stateAcquisition386    to physicalSoftware.aebNode;387388  allocation egoPathPredictionPartial : PartialLogicalToPhysicalSoftwareRealization389    allocate DE4SDV_AEBSConceptualArchitecture::system::egoPathPrediction390    to physicalSoftware.aebNode;391392  allocation targetProcessingAvailable : AvailableLogicalToPhysicalSoftwareRealization393    allocate DE4SDV_AEBSConceptualArchitecture::system::targetProcessing394    to physicalSoftware.aebNode;395396  allocation collisionRiskEvaluationAvailable : AvailableLogicalToPhysicalSoftwareRealization397    allocate DE4SDV_AEBSConceptualArchitecture::system::collisionRiskEvaluation398    to physicalSoftware.aebNode;399400  allocation interventionDecisionPartial : PartialLogicalToPhysicalSoftwareRealization401    allocate DE4SDV_AEBSConceptualArchitecture::system::interventionDecision402    to physicalSoftware.aebNode;403404  allocation healthSupervisionPartial : PartialLogicalToPhysicalSoftwareRealization405    allocate DE4SDV_AEBSConceptualArchitecture::system::healthSupervision406    to physicalSoftware.aebNode;407408  allocation evidenceRecordingPartial : PartialLogicalToPhysicalSoftwareRealization409    allocate DE4SDV_AEBSConceptualArchitecture::system::evidenceRecording410    to physicalSoftware.aebNode;411412  /*413   * Coverage records are first-class typed model elements. They distinguish an414   * absent realization, a blocked source branch, and an observable source415   * contribution from a true logical-to-physical allocation.416   */417  part def MissingPhysicalRealizationRecord :> MissingRealizationRecord;418  part def BlockedPhysicalRealizationBranchRecord :> BlockedRealizationBranchRecord;419  part def PhysicalSourceContributionRecord :> SourceContributionRecord;420421  part driverWarningRealizationGap : MissingPhysicalRealizationRecord {422    doc /* DriverWarningManagement has no selected physical owner in INC-AEBS-007. */423    ref part systemRole = DE4SDV_AEBSConceptualArchitecture::system::warningManagement;424    ref part requiredPhysicalRole = requiredWarningProvider;425  }426427  part predictedTrajectoryBranchBlocked : BlockedPhysicalRealizationBranchRecord {428    doc /*429     * The predicted-trajectory input/path branch is blocked by DEF-AEBS-PHY-001.430     * The IMU branch remains the source-available contribution to the partial431     * EgoPathPrediction allocation. Resolve this by either moving to a reviewed432     * upstream revision where the empty-path access is fixed, or by proposing an433     * upstream patch that initializes the path before path.back() and adds a434     * regression test. Until that fix is reviewed, the simulation configuration435     * keeps use_predicted_trajectory false; disabling the branch is containment,436     * not resolution.437     */438    ref part systemRole = DE4SDV_AEBSConceptualArchitecture::system::egoPathPrediction;439    ref part physicalCandidate = physicalSoftware.aebNode;440    ref part pinnedSource = physicalSoftware.sourceArtifact;441  }442443  part emergencyDiagnosticContribution : PhysicalSourceContributionRecord {444    doc /*445     * The AEB node contributes an ERROR diagnostic only. It does not realize446     * the conceptual EmergencyInterventionCoordination contract or emit the447     * conceptual EmergencyInterventionRequest.448     */449    ref part conceptualConcern = DE4SDV_AEBSConceptualArchitecture::system::emergencyCoordination;450    ref part physicalSource = physicalSoftware.aebNode;451    ref part requiredPhysicalRole = requiredDiagnosticBridge;452  }453454  part healthCoverageGap : MissingPhysicalRealizationRecord {455    doc /* Complete valid/degraded/unavailable state ownership remains missing. */456    ref part systemRole = DE4SDV_AEBSConceptualArchitecture::system::healthSupervision;457    ref part requiredPhysicalRole = requiredHealthSupervisor;458  }459460  part evidenceCoverageGap : MissingPhysicalRealizationRecord {461    doc /* Evidence persistence, provenance, retention, and acceptance remain missing. */462    ref part systemRole = DE4SDV_AEBSConceptualArchitecture::system::evidenceRecording;463    ref part requiredPhysicalRole = requiredEvidenceService;464  }465466  dependency aebNodeTracesToPinnedSource from physicalSoftware::aebNode to physicalSoftware::sourceArtifact;467468  /*469   * Required emergency chain. These dependencies expose missing downstream470   * owners without inventing message schemas, deployments, or actuation claims.471   */472  dependency aebDiagnosticNeedsFailureBridge from physicalSoftware::aebNode to requiredDiagnosticBridge;473  dependency failureBridgeNeedsEmergencyHandler from requiredDiagnosticBridge to requiredEmergencyHandler;474  dependency emergencyHandlerNeedsCommandGate from requiredEmergencyHandler to requiredCommandGate;475  dependency commandGateNeedsVehicleInterface from requiredCommandGate to requiredVehicleInterface;476  /*477   * This final dependency records the still-missing handoff from the generic478   * vehicle-platform adapter to the brake ECU and actuator. It is an integration479   * obligation for a later member-product realization, not a modeled command480   * flow and not evidence that physical braking exists in this increment.481   */482  dependency vehicleInterfaceNeedsBrakeActuation from requiredVehicleInterface to requiredBrakeActuation;483484  dependency nodeNeedsRuntime from physicalSoftware::aebNode to requiredRuntime;485486  /* ──────────────────────────────────────────487   * SAF physical-domain concerns and views488   * ────────────────────────────────────────── */489490  concern physicalStructureConcern : PhysicalStructureConcern {491    doc /*492     * Reviewers need the selected Autoware software elements and every required493     * external physical boundary to be visible without implying deployment.494     */495    subject;496    stakeholder systemsEngineer : SystemsEngineer;497    stakeholder reviewer : OpenSourceReviewer;498  }499500  concern physicalInterfaceConcern : PhysicalInterfaceConcern {501    doc /*502     * Reviewers need the reusable ROS 2 message and port definitions plus the503     * exact typed topic usages on the pinned Autoware AEB node. Concrete504     * RMW/DDS protocol selection remains an explicit runtime obligation.505     */506    subject;507    stakeholder systemsEngineer : SystemsEngineer;508    stakeholder reviewer : OpenSourceReviewer;509  }510511  concern physicalLogicalMappingConcern : PhysicalLogicalMappingConcern {512    doc /*513     * Reviewers need available and partial mappings separated from blocked and514     * missing responsibilities; no mapping may imply requirement satisfaction.515     */516    subject;517    stakeholder systemsEngineer : SystemsEngineer;518    stakeholder reviewer : OpenSourceReviewer;519  }520521  view aebsPhysicalSoftwareStructureView {522    viewpoint selectedPhysicalStructureViewpoint : PhysicalStructureDefinitionViewpoint {523      frame physicalStructureConcern;524    }525526    expose physicalSoftware;527    expose physicalSoftware::sourceArtifact;528    expose physicalSoftware::aebNode;529    expose requiredRuntime;530    expose requiredWarningProvider;531    expose requiredDiagnosticBridge;532    expose requiredEmergencyHandler;533    expose requiredCommandGate;534    expose requiredVehicleInterface;535    expose requiredBrakeActuation;536    expose requiredHealthSupervisor;537    expose requiredEvidenceService;538    render asTreeDiagram;539  }540541  view aebsPhysicalSoftwareInterfaceView {542    viewpoint selectedPhysicalInterfaceViewpoint : PhysicalInterfaceDefinitionViewpoint {543      frame physicalInterfaceConcern;544    }545546    /*547     * P5_PIFD is a definition view, so expose the reusable port and exchanged548     * item definitions as well as the node's typed port usages. ROS 2 topic549     * transport is the inspected application-level protocol; the concrete550     * RMW/DDS protocol and deployment remain requiredRuntime obligations.551     */552    expose PointCloud2Message;553    expose VelocityReportMessage;554    expose ImuMessage;555    expose TrajectoryMessage;556    expose PredictedObjectsMessage;557    expose AutowareStateMessage;558    expose DiagnosticArrayMessage;559    expose MetricArrayMessage;560    expose DebugPointCloudMessage;561    expose MarkerArrayMessage;562    expose Float32StampedMessage;563    expose ProcessingTimeDetailMessage;564    expose ROS2TopicEndpoint;565    expose ROS2TopicSubscription;566    expose ROS2TopicPublication;567    expose ROS2PublishSubscribeTopicInterface;568    expose PointCloud2Subscription;569    expose VelocityReportSubscription;570    expose ImuSubscription;571    expose TrajectorySubscription;572    expose PredictedObjectsSubscription;573    expose AutowareStateSubscription;574    expose DiagnosticPublication;575    expose MetricPublication;576    expose DebugPointCloudPublication;577    expose MarkerPublication;578    expose DebugDistancePublication;579    expose ProcessingTimePublication;580    expose physicalSoftware::*;581    expose physicalSoftware::aebNode::*;582    expose requiredRuntime;583    render asTreeDiagram;584  }585586  view aebsPhysicalLogicalMappingView : MVD::MatrixView {587    viewpoint selectedPhysicalLogicalMappingViewpoint : PhysicalLogicalMappingViewpoint {588      frame physicalLogicalMappingConcern;589    }590    view :>> rowView {591      expose system::stateAcquisition;592      expose system::egoPathPrediction;593      expose system::targetProcessing;594      expose system::collisionRiskEvaluation;595      expose system::interventionDecision;596      expose system::warningManagement;597      expose system::emergencyCoordination;598      expose system::healthSupervision;599      expose system::evidenceRecording;600      attribute :>> representation = Rep::name;601    }602    view :>> columnView {603      expose physicalSoftware::aebNode;604      expose requiredWarningProvider;605      expose requiredDiagnosticBridge;606      expose requiredEmergencyHandler;607      expose requiredCommandGate;608      expose requiredVehicleInterface;609      expose requiredBrakeActuation;610      expose requiredHealthSupervisor;611      expose requiredEvidenceService;612      attribute :>> representation = Rep::name;613    }614    view :>> cellView {615      expose DE4SDV_AEBSPhysicalSoftwareRealization::*;616      attribute :>> direction = SysideViews::MatrixTraceabilityDirection::row2col;617    }618  }619}620