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

Source

1/*2 * INC-AEBS-008 simulation-only deployment of the INC-AEBS-007 Autoware3 * physical software realization. Textual bindings and flows are authoritative.4 *5 * Pinned sources:6 * - Autoware Universe f603d8759c92fb2f423f1544844e13086d79ad097 * - Autoware Launch   f05c4b1f83e0b0e4a01ade34d5199bd5571873f18 *9 * This remains the authoritative design/trace model, while INC-AEBS-009A retains10 * separate build, launch, and endpoint-readiness evidence. It makes no requirement11 * satisfaction, compliance, certification, production, real-vehicle, brake ECU,12 * actuator, or accepted-performance claim. S-CORE, a real vehicle interface,13 * autoware_raw_vehicle_cmd_converter, and HardwareLayer realization are absent.14 */15package DE4SDV_AEBSSimulationDeployment {16  // The conceptual baseline supplies VehicleTargetAEBSSystem and the conceptual17  // responsibility/item usages used as allocation sources below. Functional18  // semantics are reached through that accepted conceptual baseline; no direct19  // functional-package import is needed in this deployment model.20  private import DE4SDV_AEBSLogicalArchitecture::*;21  private import DE4SDV_AEBSPhysicalSoftwareRealization::*;22  private import DE4SDV_ROS2Types::*;23  private import DE4SDV_ExecutionEnvironments::EngineeringExecutionEnvironment;24  private import SAF_Viewpoints::*;25  private import DE4SDV_Stakeholders::*;26  private import SysideViews::**;27  private import Views::*;2829  /* Physical exchange types. Adjacent stages are deliberately distinct. */30  item def AEBEmergencyStopDiagnosticStatus {31    doc /* Exact identity autonomous_emergency_braking: aeb_emergency_stop. */32  }33  item def AEBEmergencyStopDiagnosticArrayMessage :> DiagnosticArrayMessage {34    doc /*35     * diagnostic_msgs/msg/DiagnosticArray on /diagnostics containing the exact36     * DiagnosticStatus identity37     * autonomous_emergency_braking: aeb_emergency_stop.38     * This is neither EmergencyInterventionRequest nor a brake command.39     */40    item aebEmergencyStopStatus : AEBEmergencyStopDiagnosticStatus;41  }42  item def CommandModeAvailabilityMessage :> ROS2TopicMessage {43    doc /* Aggregator output; autonomous is unavailable while emergency stop remains available. */44  }45  item def OperationModeAvailabilityMessage :> ROS2TopicMessage {46    doc /* Converter output. emergency_stop denotes fallback availability, not the AEB trigger or current mode. */47  }48  item def OperationModeStateMessage :> ROS2TopicMessage {49    doc /* Shared schema used at distinct /api/operation_mode/state and /system/operation_mode/state endpoints. */50  }51  item def ControlModeReportMessage :> ROS2TopicMessage {52    doc /* /vehicle/status/control_mode; the simulator must report AUTONOMOUS. */53  }54  item def GearCommandMessage :> ROS2TopicMessage {55    doc /* autoware_vehicle_msgs/msg/GearCommand on the command-gate/MRM feedback topology. */56  }57  item def OperateMrmRequestMessage {58    doc /* tier4_system_msgs/srv/OperateMrm request selecting emergency stop. */59  }60  item def MrmStateMessage :> ROS2TopicMessage {61    doc /* MRM handler state on /system/fail_safe/mrm_state; consumed by the legacy gate. */62  }63  item def EmergencyStopOperatorStatusMessage :> ROS2TopicMessage {64    doc /* /system/mrm/emergency_stop/status availability/operating state returned to the MRM handler. */65  }66  item def ControlCommandMessage :> ROS2TopicMessage {67    doc /* autoware_control_msgs/msg/Control; a physical control message, not DiagnosticArray. */68  }69  item def ScenarioControlMessage :> ROS2TopicMessage;70  item def VectorMapInitializationMessage :> ROS2TopicMessage;71  item def InitialPoseMessage :> ROS2TopicMessage;72  item def PlannedTrajectoryMessage :> ROS2TopicMessage;73  item def EngageInitializationMessage :> ROS2TopicMessage;74  item def TfAndVehicleInfoConfiguration {75    doc /* Selected AEB TF transforms and vehicle-info parameters; not simulator odometry. */76  }77  item def OdometryFeedbackMessage :> ROS2TopicMessage;78  item def VelocityReportFeedbackMessage :> VelocityReportMessage;79  item def AccelerationFeedbackMessage :> ROS2TopicMessage;80  item def SteeringReportFeedbackMessage :> ROS2TopicMessage;81  item def ImuFeedbackMessage :> ImuMessage;82  item def VehicleStatusFeedbackMessage :> ROS2TopicMessage;83  item def SimulationEvidenceObservation {84    doc /* 009A endpoint observation; 009B/009C scenario acceptance is not evidence here. */85  }8687  /*88   * Concrete topic roles specialize the imported ROS 2 protocol definitions.89   * Each port definition is a reusable directional contract: an Output port90   * produces its nested item and an Input port consumes it. Parts later type91   * concrete port usages with these definitions, and flows join compatible92   * producer and consumer usages. The nested item is the transported payload,93   * not another component. `redefines payload` specializes the generic ROS 294   * payload role with the concrete message type.95   */96  port def DiagnosticIn :> ROS2TopicSubscription { in item diagnostics : AEBEmergencyStopDiagnosticArrayMessage redefines payload; }97  port def DiagnosticOut :> ROS2TopicPublication { out item diagnostics : AEBEmergencyStopDiagnosticArrayMessage redefines payload; }98  port def PointCloudInput :> ROS2TopicSubscription { in item pointCloud : PointCloud2Message redefines payload; }99  port def PointCloudOutput :> ROS2TopicPublication { out item pointCloud : PointCloud2Message redefines payload; }100  port def AutowareStateInput :> ROS2TopicSubscription { in item autowareState : AutowareStateMessage redefines payload; }101  port def AutowareStateOutput :> ROS2TopicPublication { out item autowareState : AutowareStateMessage redefines payload; }102  port def CommandAvailabilityIn :> ROS2TopicSubscription { in item availability : CommandModeAvailabilityMessage redefines payload; }103  port def CommandAvailabilityOut :> ROS2TopicPublication { out item availability : CommandModeAvailabilityMessage redefines payload; }104  port def OperationAvailabilityIn :> ROS2TopicSubscription { in item availability : OperationModeAvailabilityMessage redefines payload; }105  port def OperationAvailabilityOut :> ROS2TopicPublication { out item availability : OperationModeAvailabilityMessage redefines payload; }106  port def OperationModeStateIn :> ROS2TopicSubscription { in item operationMode : OperationModeStateMessage redefines payload; }107  port def OperationModeStateOut :> ROS2TopicPublication { out item operationMode : OperationModeStateMessage redefines payload; }108  port def ControlModeReportIn :> ROS2TopicSubscription { in item mode : ControlModeReportMessage redefines payload; }109  port def ControlModeReportOut :> ROS2TopicPublication { out item mode : ControlModeReportMessage redefines payload; }110  port def GearCommandIn :> ROS2TopicSubscription { in item gear : GearCommandMessage redefines payload; }111  port def GearCommandOut :> ROS2TopicPublication { out item gear : GearCommandMessage redefines payload; }112  /* OperateMrm is a service request, not a topic payload. */113  port def OperateMrmIn { in item request : OperateMrmRequestMessage; }114  port def OperateMrmOut { out item request : OperateMrmRequestMessage; }115  port def MrmStateIn :> ROS2TopicSubscription { in item mrmState : MrmStateMessage redefines payload; }116  port def MrmStateOut :> ROS2TopicPublication { out item mrmState : MrmStateMessage redefines payload; }117  port def EmergencyStopOperatorStatusIn :> ROS2TopicSubscription { in item status : EmergencyStopOperatorStatusMessage redefines payload; }118  port def EmergencyStopOperatorStatusOut :> ROS2TopicPublication { out item status : EmergencyStopOperatorStatusMessage redefines payload; }119  port def ControlCommandIn :> ROS2TopicSubscription { in item command : ControlCommandMessage redefines payload; }120  port def ControlCommandOut :> ROS2TopicPublication { out item command : ControlCommandMessage redefines payload; }121  port def ScenarioControlIn :> ROS2TopicSubscription { in item scenario : ScenarioControlMessage redefines payload; }122  port def ScenarioControlOut :> ROS2TopicPublication { out item scenario : ScenarioControlMessage redefines payload; }123  port def VectorMapInitializationIn :> ROS2TopicSubscription { in item map : VectorMapInitializationMessage redefines payload; }124  port def VectorMapInitializationOut :> ROS2TopicPublication { out item map : VectorMapInitializationMessage redefines payload; }125  port def InitialPoseIn :> ROS2TopicSubscription { in item pose : InitialPoseMessage redefines payload; }126  port def InitialPoseOut :> ROS2TopicPublication { out item pose : InitialPoseMessage redefines payload; }127  port def PlannedTrajectoryIn :> ROS2TopicSubscription { in item trajectory : PlannedTrajectoryMessage redefines payload; }128  port def PlannedTrajectoryOut :> ROS2TopicPublication { out item trajectory : PlannedTrajectoryMessage redefines payload; }129  port def EngageInitializationIn :> ROS2TopicSubscription { in item engage : EngageInitializationMessage redefines payload; }130  port def EngageInitializationOut :> ROS2TopicPublication { out item engage : EngageInitializationMessage redefines payload; }131  port def TfAndVehicleInfoIn { in item configuration : TfAndVehicleInfoConfiguration; }132  port def TfAndVehicleInfoOut { out item configuration : TfAndVehicleInfoConfiguration; }133  port def OdometryFeedbackIn :> ROS2TopicSubscription { in item odometry : OdometryFeedbackMessage redefines payload; }134  port def OdometryFeedbackOut :> ROS2TopicPublication { out item odometry : OdometryFeedbackMessage redefines payload; }135  port def VelocityFeedbackIn :> ROS2TopicSubscription { in item velocity : VelocityReportFeedbackMessage redefines payload; }136  port def VelocityFeedbackOut :> ROS2TopicPublication { out item velocity : VelocityReportFeedbackMessage redefines payload; }137  port def AccelerationFeedbackIn :> ROS2TopicSubscription { in item acceleration : AccelerationFeedbackMessage redefines payload; }138  port def AccelerationFeedbackOut :> ROS2TopicPublication { out item acceleration : AccelerationFeedbackMessage redefines payload; }139  port def SteeringFeedbackIn :> ROS2TopicSubscription { in item steering : SteeringReportFeedbackMessage redefines payload; }140  port def SteeringFeedbackOut :> ROS2TopicPublication { out item steering : SteeringReportFeedbackMessage redefines payload; }141  port def ImuFeedbackIn :> ROS2TopicSubscription { in item imu : ImuFeedbackMessage redefines payload; }142  port def ImuFeedbackOut :> ROS2TopicPublication { out item imu : ImuFeedbackMessage redefines payload; }143  port def VehicleStatusFeedbackIn :> ROS2TopicSubscription { in item status : VehicleStatusFeedbackMessage redefines payload; }144  port def VehicleStatusFeedbackOut :> ROS2TopicPublication { out item status : VehicleStatusFeedbackMessage redefines payload; }145  port def EvidenceObservationOut { out item observation : SimulationEvidenceObservation; }146147  /* Source and configuration records are model artifacts, not executed proof. */148  part def PinnedAutowareUniverseSource {149    doc /* Autoware Universe commit f603d8759c92fb2f423f1544844e13086d79ad09. */150  }151  part def PinnedAutowareLaunchSource {152    doc /* Autoware Launch commit f05c4b1f83e0b0e4a01ade34d5199bd5571873f1. */153  }154  part def AEBParameterSelection {155    doc /*156     * use_predicted_trajectory: false (DEF-AEBS-PHY-001 blocked branch);157     * use_imu_path: true; use_pointcloud_data: true;158     * use_predicted_object_data: false; check_autoware_state: true.159     * DEF-AEBS-PHY-002 remains visible: the pinned launch odometry remap does160     * not correspond to an AEB-node subscriber.161     */162  }163  part def DiagnosticGraphSelection {164    doc /*165     * Custom graph key is exactly166     * autonomous_emergency_braking: aeb_emergency_stop. The autonomous167     * unit includes this status; an active AEB status makes autonomous mode168     * unavailable. Emergency-stop availability remains independently available.169     * Timeout semantics mark the autonomous unit unavailable when the exact170     * diagnostic ceases to arrive for the configured interval. For this171     * diagnostic, only timeout and hysteresis are modeled; hysteresis controls172     * level recovery. No per-diagnostic latch behavior is claimed:173     * initial_latch_suppression is aggregator-wide startup behavior, not a latch174     * for this AEB diagnostic. Concrete timing remains review configuration;175     * 009A observed this exact identity on /diagnostics, but no diagnostic-caused176     * availability or MRM transition is claimed.177     */178  }179  part def LegacyVehicleCommandGateSelection {180    doc /*181     * Selected pinned member: autoware_vehicle_cmd_gate, backed by182     * control/autoware_vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml and183     * control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp at the pinned184     * Universe commit. It consumes both /system/fail_safe/mrm_state and185     * /system/emergency/control_cmd. With MRM emergency handling active, the MRM186     * state selects the emergency command; the control output remains187     * /control/command/control_cmd. The pinned vehicle_cmd_gate parameter file188     * retains use_emergency_handling: true, which is required for substitution.189     */190  }191  part def DeferredControlCommandGateAlternative {192    doc /*193     * autoware_control_command_gate is deferred. Enabling source 21 only makes194     * emergency_stop available; it does not select that source, and this planned195     * deployment has no source-selection owner. It is therefore not the selected196     * gate and carries no command-routing claim.197     */198  }199  part def ROS2ApplicationRuntime {200    doc /* rclcpp, executor, RMW/DDS, TF, diagnostics, and message runtime internal to Autoware. */201  }202203  /* System 1 candidate deployment roles. */204  part def DeployedAEBNode {205    doc /* Selected inputs are point cloud, velocity, IMU, /autoware/state, and TF/vehicle info; no AEB odometry input exists. */206    port pointCloudIn : PointCloudInput;207    port autowareStateIn : AutowareStateInput;208    port velocityIn : VelocityFeedbackIn;209    port imuIn : ImuFeedbackIn;210    port tfAndVehicleInfoIn : TfAndVehicleInfoIn;211    port diagnosticsOut : DiagnosticOut;212  }213  part def DiagnosticGraphAggregatorNode {214    port diagnosticsIn : DiagnosticIn;215    port commandAvailabilityOut : CommandAvailabilityOut;216  }217  part def CommandModeToOperationModeAvailabilityConverterNode {218    doc /* Converts availability schemas only; it does not provide current operation mode. */219    port commandAvailabilityIn : CommandAvailabilityIn;220    port operationAvailabilityOut : OperationAvailabilityOut;221  }222  part def MrmHandlerNode {223    port operationAvailabilityIn : OperationAvailabilityIn {224      doc /* /system/operation_mode/availability. */225    }226    port operationModeStateIn : OperationModeStateIn {227      doc /* /api/operation_mode/state must be AUTONOMOUS for this planned scenario. */228    }229    port controlModeIn : ControlModeReportIn {230      doc /* /vehicle/status/control_mode must be AUTONOMOUS for MRM transition. */231    }232    port kinematicStateIn : OdometryFeedbackIn {233      doc /* /localization/kinematic_state supports stopped-state evaluation. */234    }235    port gearIn : GearCommandIn {236      doc /* /control/command/gear_cmd. */237    }238    port emergencyStopStatusIn : EmergencyStopOperatorStatusIn {239      doc /* /system/mrm/emergency_stop/status must report available. */240    }241    port operateMrmOut : OperateMrmOut;242    port mrmStateOut : MrmStateOut;243    port emergencyGearOut : GearCommandOut {244      doc /* /system/emergency/gear_cmd. */245    }246  }247  part def EmergencyStopOperatorNode {248    port operateMrmIn : OperateMrmIn;249    port initialControlCommandIn : ControlCommandIn {250      doc /* /control/command/control_cmd provides the inspected initial command feedback. */251    }252    port emergencyControlCommandOut : ControlCommandOut {253      doc /* /system/emergency/control_cmd. */254    }255    port operatorStatusOut : EmergencyStopOperatorStatusOut;256  }257  part def LegacyVehicleCommandGateNode {258    port kinematicStateIn : OdometryFeedbackIn {259      doc /* /localization/kinematic_state. */260    }261    port accelerationIn : AccelerationFeedbackIn {262      doc /* /localization/acceleration. */263    }264    port steeringIn : SteeringFeedbackIn {265      doc /* /vehicle/status/steering_status. */266    }267    port operationModeStateIn : OperationModeStateIn {268      doc /* /system/operation_mode/state. */269    }270    port engageIn : EngageInitializationIn {271      doc /* /autoware/engage. */272    }273    port mrmStateIn : MrmStateIn;274    port emergencyControlCommandIn : ControlCommandIn;275    port emergencyGearIn : GearCommandIn {276      doc /* /system/emergency/gear_cmd. */277    }278    port gatedControlCommandOut : ControlCommandOut {279      doc /* /control/command/control_cmd. */280    }281    port gatedGearOut : GearCommandOut {282      doc /* /control/command/gear_cmd. */283    }284  }285286  part def AEBSystem1CandidateDeployment {287    doc /*288     * Simulation-only Autoware application deployment. ROS 2 is internal to289     * this application realization and is not the DE4SDV MiddlewareLayer.290     */291    part aeb : DeployedAEBNode;292    part aggregator : DiagnosticGraphAggregatorNode;293    part commandModeToOperationModeAvailabilityConverter : CommandModeToOperationModeAvailabilityConverterNode;294    part mrmHandler : MrmHandlerNode;295    part emergencyStopOperator : EmergencyStopOperatorNode;296    part legacyVehicleCommandGate : LegacyVehicleCommandGateNode;297    part runtime : ROS2ApplicationRuntime;298    part host : EngineeringExecutionEnvironment;299    part aebParameters : AEBParameterSelection;300    part diagnosticGraph : DiagnosticGraphSelection;301    part gateParameters : LegacyVehicleCommandGateSelection;302303    port pointCloudIn : PointCloudInput;304    port autowareStateIn : AutowareStateInput;305    port velocityFeedbackIn : VelocityFeedbackIn;306    port imuFeedbackIn : ImuFeedbackIn;307    port tfAndVehicleInfoIn : TfAndVehicleInfoIn;308    // Deliberately separate operation-mode contracts: the MRM handler consumes309    // /api/operation_mode/state to reason about current-mode availability, while310    // the selected legacy vehicle gate consumes /system/operation_mode/state for311    // command arbitration. The harness must make both AUTONOMOUS, but their312    // owners, topics, and message contracts differ, so they are not bound or313    // collapsed into one port.314    port operationModeStateIn : OperationModeStateIn;315    port controlModeIn : ControlModeReportIn;316    port kinematicStateIn : OdometryFeedbackIn;317    port gateOperationModeStateIn : OperationModeStateIn;318    port gateKinematicStateIn : OdometryFeedbackIn;319    port gateAccelerationIn : AccelerationFeedbackIn;320    port gateSteeringIn : SteeringFeedbackIn;321    port gateEngageIn : EngageInitializationIn;322    port diagnosticsObservedOut : DiagnosticOut;323    port commandAvailabilityObservedOut : CommandAvailabilityOut;324    port operationAvailabilityObservedOut : OperationAvailabilityOut;325    port mrmRequestObservedOut : OperateMrmOut;326    port mrmStateObservedOut : MrmStateOut;327    port controlCommandOut : ControlCommandOut;328    port gearCommandOut : GearCommandOut;329330    bind pointCloudIn = aeb.pointCloudIn;331    bind autowareStateIn = aeb.autowareStateIn;332    bind velocityFeedbackIn = aeb.velocityIn;333    bind imuFeedbackIn = aeb.imuIn;334    bind tfAndVehicleInfoIn = aeb.tfAndVehicleInfoIn;335    bind operationModeStateIn = mrmHandler.operationModeStateIn;336    bind controlModeIn = mrmHandler.controlModeIn;337    bind kinematicStateIn = mrmHandler.kinematicStateIn;338    bind gateOperationModeStateIn = legacyVehicleCommandGate.operationModeStateIn;339    bind gateKinematicStateIn = legacyVehicleCommandGate.kinematicStateIn;340    bind gateAccelerationIn = legacyVehicleCommandGate.accelerationIn;341    bind gateSteeringIn = legacyVehicleCommandGate.steeringIn;342    bind gateEngageIn = legacyVehicleCommandGate.engageIn;343    bind diagnosticsObservedOut = aeb.diagnosticsOut;344    bind commandAvailabilityObservedOut = aggregator.commandAvailabilityOut;345    bind operationAvailabilityObservedOut = commandModeToOperationModeAvailabilityConverter.operationAvailabilityOut;346    bind mrmRequestObservedOut = mrmHandler.operateMrmOut;347    bind mrmStateObservedOut = mrmHandler.mrmStateOut;348    bind controlCommandOut = legacyVehicleCommandGate.gatedControlCommandOut;349    bind gearCommandOut = legacyVehicleCommandGate.gatedGearOut;350351    flow from aeb.diagnosticsOut.diagnostics to aggregator.diagnosticsIn.diagnostics;352    flow from aggregator.commandAvailabilityOut.availability353      to commandModeToOperationModeAvailabilityConverter.commandAvailabilityIn.availability;354    flow from commandModeToOperationModeAvailabilityConverter.operationAvailabilityOut.availability355      to mrmHandler.operationAvailabilityIn.availability;356    flow from mrmHandler.operateMrmOut.request to emergencyStopOperator.operateMrmIn.request;357    flow from emergencyStopOperator.operatorStatusOut.status358      to mrmHandler.emergencyStopStatusIn.status;359    flow from mrmHandler.mrmStateOut.mrmState to legacyVehicleCommandGate.mrmStateIn.mrmState;360    flow from emergencyStopOperator.emergencyControlCommandOut.command361      to legacyVehicleCommandGate.emergencyControlCommandIn.command;362    flow from mrmHandler.emergencyGearOut.gear to legacyVehicleCommandGate.emergencyGearIn.gear;363    flow from legacyVehicleCommandGate.gatedGearOut.gear to mrmHandler.gearIn.gear;364    // Inspected feedback topology: the gate output is also the operator's initial command.365    flow from legacyVehicleCommandGate.gatedControlCommandOut.command366      to emergencyStopOperator.initialControlCommandIn.command;367  }368369  /* System 2 is test infrastructure, not a member of the production system. */370  /* AEBReadinessInputs: introduced by INC-AEBS-009A. */371  part def AEBReadinessInputs {372    doc /*373     * Realized 009A readiness inputs: nominal fixture publications plus pinned374     * map/initialization inputs. The fixture establishes /autoware/state =375     * DRIVING, API operation mode = AUTONOMOUS for MRM, and system operation376     * mode = AUTONOMOUS for the legacy gate. No scenario control, planned377     * trajectory, obstacle injection, or acceptance behavior belongs here.378     */379    port pointCloudOut : PointCloudOutput;380    port autowareStateDrivingOut : AutowareStateOutput;381    port apiOperationModeAutonomousOut : OperationModeStateOut {382      doc /* /api/operation_mode/state. */383    }384    port systemOperationModeAutonomousOut : OperationModeStateOut {385      doc /* /system/operation_mode/state. */386    }387    port tfAndVehicleInfoOut : TfAndVehicleInfoOut;388    port vectorMapOut : VectorMapInitializationOut;389    port initialPoseOut : InitialPoseOut;390    port engageOut : EngageInitializationOut;391  }392  part def ScenarioController {393    doc /* Planned 009B/009C asset; not instantiated in the realized 009A composite. */394    port scenarioControlOut : ScenarioControlOut;395  }396  /* PlannedAEBScenarioHarness: introduced by INC-AEBS-009B/009C planning. */397  part def PlannedAEBScenarioHarness {398    doc /* Planned scenario-control and trajectory source; no 009A execution claim. */399    port scenarioControlIn : ScenarioControlIn;400    port plannedTrajectoryOut : PlannedTrajectoryOut;401  }402  /* PlannedAEBScenarioAssets: introduced by INC-AEBS-009B/009C planning. */403  part def PlannedAEBScenarioAssets {404    doc /* Future positive and negative/fault scenario assets; not realized by 009A. */405    part scenarioController : ScenarioController;406    part scenarioHarness : PlannedAEBScenarioHarness;407    flow from scenarioController.scenarioControlOut.scenario408      to scenarioHarness.scenarioControlIn.scenario;409  }410  part def SimplePlanningSimulatorTestDouble {411    doc /*412     * autoware_simple_planning_simulator. It is a vehicle-dynamics test double,413     * not a brake ECU, actuator, vehicle interface, or HardwareLayer member. It414     * provides odometry, control-mode, velocity, acceleration, steering, and415     * IMU, but does not publish /autoware/state, /api/operation_mode/state, or416     * /system/operation_mode/state.417     */418    port ackermannControlCommandIn : ControlCommandIn {419      doc /* input/ackermann_control_command consumes /control/command/control_cmd. */420    }421    port gearCommandIn : GearCommandIn;422    port vectorMapIn : VectorMapInitializationIn;423    port initialPoseIn : InitialPoseIn;424    port plannedTrajectoryIn : PlannedTrajectoryIn;425    port engageIn : EngageInitializationIn;426    port odometryOut : OdometryFeedbackOut;427    port controlModeAutonomousOut : ControlModeReportOut;428    port velocityOut : VelocityFeedbackOut;429    port accelerationOut : AccelerationFeedbackOut;430    port steeringOut : SteeringFeedbackOut;431    port imuOut : ImuFeedbackOut;432    port vehicleStatusOut : VehicleStatusFeedbackOut;433  }434  part def SimulationEvidenceCollector {435    doc /* 009A endpoint observation only; scenario acceptance belongs to 009B/009C. */436    port diagnosticsIn : DiagnosticIn;437    port commandAvailabilityIn : CommandAvailabilityIn;438    port operationAvailabilityIn : OperationAvailabilityIn;439    port mrmRequestIn : OperateMrmIn;440    port mrmStateIn : MrmStateIn;441    port controlCommandIn : ControlCommandIn;442    port odometryIn : OdometryFeedbackIn;443    port controlModeIn : ControlModeReportIn;444    port velocityIn : VelocityFeedbackIn;445    port accelerationIn : AccelerationFeedbackIn;446    port steeringIn : SteeringFeedbackIn;447    port imuIn : ImuFeedbackIn;448    port vehicleStatusIn : VehicleStatusFeedbackIn;449    port observationOut : EvidenceObservationOut;450  }451452  part def AEBSystem2SimulationAssets {453    doc /* Realized 009A readiness composition; planned 009B/009C assets are separate. */454    part readinessInputs : AEBReadinessInputs;455    part simulator : SimplePlanningSimulatorTestDouble;456    part evidenceCollector : SimulationEvidenceCollector;457458    port pointCloudOut : PointCloudOutput;459    port autowareStateDrivingOut : AutowareStateOutput;460    port apiOperationModeAutonomousOut : OperationModeStateOut;461    port systemOperationModeAutonomousOut : OperationModeStateOut;462    port tfAndVehicleInfoOut : TfAndVehicleInfoOut;463    port engageOut : EngageInitializationOut;464    port controlCommandIn : ControlCommandIn;465    port controlCommandObservationIn : ControlCommandIn;466    port gearCommandIn : GearCommandIn;467    port diagnosticsIn : DiagnosticIn;468    port commandAvailabilityIn : CommandAvailabilityIn;469    port operationAvailabilityIn : OperationAvailabilityIn;470    port mrmRequestIn : OperateMrmIn;471    port mrmStateIn : MrmStateIn;472    port kinematicStateOut : OdometryFeedbackOut;473    port controlModeAutonomousOut : ControlModeReportOut;474    port velocityOut : VelocityFeedbackOut;475    port accelerationOut : AccelerationFeedbackOut;476    port steeringOut : SteeringFeedbackOut;477    port imuOut : ImuFeedbackOut;478479    bind pointCloudOut = readinessInputs.pointCloudOut;480    bind autowareStateDrivingOut = readinessInputs.autowareStateDrivingOut;481    bind apiOperationModeAutonomousOut = readinessInputs.apiOperationModeAutonomousOut;482    bind systemOperationModeAutonomousOut = readinessInputs.systemOperationModeAutonomousOut;483    bind tfAndVehicleInfoOut = readinessInputs.tfAndVehicleInfoOut;484    bind engageOut = readinessInputs.engageOut;485    bind controlCommandIn = simulator.ackermannControlCommandIn;486    bind controlCommandObservationIn = evidenceCollector.controlCommandIn;487    bind gearCommandIn = simulator.gearCommandIn;488    bind diagnosticsIn = evidenceCollector.diagnosticsIn;489    bind commandAvailabilityIn = evidenceCollector.commandAvailabilityIn;490    bind operationAvailabilityIn = evidenceCollector.operationAvailabilityIn;491    bind mrmRequestIn = evidenceCollector.mrmRequestIn;492    bind mrmStateIn = evidenceCollector.mrmStateIn;493    bind kinematicStateOut = simulator.odometryOut;494    bind controlModeAutonomousOut = simulator.controlModeAutonomousOut;495    bind velocityOut = simulator.velocityOut;496    bind accelerationOut = simulator.accelerationOut;497    bind steeringOut = simulator.steeringOut;498    bind imuOut = simulator.imuOut;499500    flow from readinessInputs.vectorMapOut.map to simulator.vectorMapIn.map;501    flow from readinessInputs.initialPoseOut.pose to simulator.initialPoseIn.pose;502    flow from readinessInputs.engageOut.engage to simulator.engageIn.engage;503    flow from simulator.odometryOut.odometry to evidenceCollector.odometryIn.odometry;504    flow from simulator.controlModeAutonomousOut.mode to evidenceCollector.controlModeIn.mode;505    flow from simulator.velocityOut.velocity to evidenceCollector.velocityIn.velocity;506    flow from simulator.accelerationOut.acceleration to evidenceCollector.accelerationIn.acceleration;507    flow from simulator.steeringOut.steering to evidenceCollector.steeringIn.steering;508    flow from simulator.imuOut.imu to evidenceCollector.imuIn.imu;509    flow from simulator.vehicleStatusOut.status to evidenceCollector.vehicleStatusIn.status;510  }511512  part def AEBTwoSystemSimulationDeployment {513    part candidateVehicleSystem1 : AEBSystem1CandidateDeployment;514    part simulationEvidenceSystem2 : AEBSystem2SimulationAssets;515516    // Selected AEB inputs only: point cloud, velocity, IMU, /autoware/state, and TF/vehicle info.517    flow from simulationEvidenceSystem2.pointCloudOut.pointCloud518      to candidateVehicleSystem1.pointCloudIn.pointCloud;519    flow from simulationEvidenceSystem2.autowareStateDrivingOut.autowareState520      to candidateVehicleSystem1.autowareStateIn.autowareState;521    flow from simulationEvidenceSystem2.velocityOut.velocity522      to candidateVehicleSystem1.velocityFeedbackIn.velocity;523    flow from simulationEvidenceSystem2.imuOut.imu524      to candidateVehicleSystem1.imuFeedbackIn.imu;525    flow from simulationEvidenceSystem2.tfAndVehicleInfoOut.configuration526      to candidateVehicleSystem1.tfAndVehicleInfoIn.configuration;527    // MRM preconditions are independent of the availability conversion.528    flow from simulationEvidenceSystem2.apiOperationModeAutonomousOut.operationMode529      to candidateVehicleSystem1.operationModeStateIn.operationMode;530    flow from simulationEvidenceSystem2.systemOperationModeAutonomousOut.operationMode531      to candidateVehicleSystem1.gateOperationModeStateIn.operationMode;532    flow from simulationEvidenceSystem2.controlModeAutonomousOut.mode533      to candidateVehicleSystem1.controlModeIn.mode;534    flow from simulationEvidenceSystem2.kinematicStateOut.odometry535      to candidateVehicleSystem1.kinematicStateIn.odometry;536    // The selected legacy gate's source-backed filter and state dependencies.537    flow from simulationEvidenceSystem2.kinematicStateOut.odometry538      to candidateVehicleSystem1.gateKinematicStateIn.odometry;539    flow from simulationEvidenceSystem2.accelerationOut.acceleration540      to candidateVehicleSystem1.gateAccelerationIn.acceleration;541    flow from simulationEvidenceSystem2.steeringOut.steering542      to candidateVehicleSystem1.gateSteeringIn.steering;543    flow from simulationEvidenceSystem2.engageOut.engage544      to candidateVehicleSystem1.gateEngageIn.engage;545    // Exact legacy-gate/simulator command endpoints.546    flow from candidateVehicleSystem1.controlCommandOut.command547      to simulationEvidenceSystem2.controlCommandIn.command;548    flow from candidateVehicleSystem1.controlCommandOut.command549      to simulationEvidenceSystem2.controlCommandObservationIn.command;550    flow from candidateVehicleSystem1.gearCommandOut.gear551      to simulationEvidenceSystem2.gearCommandIn.gear;552    // Observation taps do not feed the emergency-control decision.553    flow from candidateVehicleSystem1.diagnosticsObservedOut.diagnostics554      to simulationEvidenceSystem2.diagnosticsIn.diagnostics;555    flow from candidateVehicleSystem1.commandAvailabilityObservedOut.availability556      to simulationEvidenceSystem2.commandAvailabilityIn.availability;557    flow from candidateVehicleSystem1.operationAvailabilityObservedOut.availability558      to simulationEvidenceSystem2.operationAvailabilityIn.availability;559    flow from candidateVehicleSystem1.mrmRequestObservedOut.request560      to simulationEvidenceSystem2.mrmRequestIn.request;561    flow from candidateVehicleSystem1.mrmStateObservedOut.mrmState562      to simulationEvidenceSystem2.mrmStateIn.mrmState;563  }564565  part universeSource : PinnedAutowareUniverseSource;566  part launchSource : PinnedAutowareLaunchSource;567  part deployment : AEBTwoSystemSimulationDeployment;568569  dependency deploymentTracesUniverse from deployment::candidateVehicleSystem1 to universeSource;570  dependency deploymentTracesLaunch from deployment to launchSource;571572  /* P8_PLOM: conceptual responsibility to physical role only. */573  allocation def SimulationLogicalToPhysicalRealization;574  allocation stateAcquisitionToAEB : SimulationLogicalToPhysicalRealization575    allocate DE4SDV_AEBSLogicalArchitecture::system.stateAcquisition to deployment.candidateVehicleSystem1.aeb;576  allocation interventionDecisionToAEB : SimulationLogicalToPhysicalRealization577    allocate DE4SDV_AEBSLogicalArchitecture::system.interventionDecision to deployment.candidateVehicleSystem1.aeb;578  allocation emergencyCoordinationToAggregator : SimulationLogicalToPhysicalRealization579    allocate DE4SDV_AEBSLogicalArchitecture::system.emergencyCoordination to deployment.candidateVehicleSystem1.aggregator;580  allocation emergencyCoordinationToAvailabilityConverter : SimulationLogicalToPhysicalRealization581    allocate DE4SDV_AEBSLogicalArchitecture::system.emergencyCoordination to deployment.candidateVehicleSystem1.commandModeToOperationModeAvailabilityConverter;582  allocation emergencyCoordinationToMrmHandler : SimulationLogicalToPhysicalRealization583    allocate DE4SDV_AEBSLogicalArchitecture::system.emergencyCoordination to deployment.candidateVehicleSystem1.mrmHandler;584  allocation emergencyCoordinationToOperator : SimulationLogicalToPhysicalRealization585    allocate DE4SDV_AEBSLogicalArchitecture::system.emergencyCoordination to deployment.candidateVehicleSystem1.emergencyStopOperator;586  allocation emergencyCoordinationToLegacyVehicleGate : SimulationLogicalToPhysicalRealization587    allocate DE4SDV_AEBSLogicalArchitecture::system.emergencyCoordination to deployment.candidateVehicleSystem1.legacyVehicleCommandGate;588  /* Proposed Physical Logical Item Mapping: logical to physical only. */589  allocation def LogicalToPhysicalItemRealization {590    doc /*591     * Semantic realization, not schema identity or proof of satisfaction.592     * Attribute-level VSS transformations, semantic-state rules, and gaps are593     * controlled in aebs-simulation-deployment/vss-simulation-realization.yaml.594     * They are not direct field allocations here: Vehicle.Speed requires unit595     * conversion, and simulator/message-schema revisions remain unpinned. A596     * direct allocation would falsely imply value and schema identity.597     */598  }599  allocation emergencyRequestToOperateMrm : LogicalToPhysicalItemRealization600    allocate DE4SDV_AEBSLogicalArchitecture::system.emergencyInterventionRequestOut.emergencyInterventionRequest601      to deployment.candidateVehicleSystem1.mrmHandler.operateMrmOut.request;602  allocation emergencyRequestToLegacyGateControl : LogicalToPhysicalItemRealization603    allocate DE4SDV_AEBSLogicalArchitecture::system.emergencyInterventionRequestOut.emergencyInterventionRequest604      to deployment.candidateVehicleSystem1.legacyVehicleCommandGate.emergencyControlCommandIn.command;605606  allocation vehicleMotionToVelocityFeedback : LogicalToPhysicalItemRealization607    allocate DE4SDV_AEBSLogicalArchitecture::system.vehicleMotionObservationIn.vehicleMotionState608      to deployment.candidateVehicleSystem1.velocityFeedbackIn.velocity;609  allocation vehicleMotionToKinematicFeedback : LogicalToPhysicalItemRealization610    allocate DE4SDV_AEBSLogicalArchitecture::system.vehicleMotionObservationIn.vehicleMotionState611      to deployment.candidateVehicleSystem1.kinematicStateIn.odometry;612613614  part def ItemNonEquivalenceRecord;615  part diagnosticIsNotEmergencyRequestOrBrakeCommand : ItemNonEquivalenceRecord {616    doc /*617     * AEBEmergencyStopDiagnosticStatus in AEBEmergencyStopDiagnosticArrayMessage is an618     * observed diagnostic transport. It is not EmergencyInterventionRequest,619     * OperateMrmRequestMessage, ControlCommandMessage, or simulator actuation.620     */621  }622  part availabilityStagesAreNotMrmRequest : ItemNonEquivalenceRecord {623    doc /*624     * CommandModeAvailabilityMessage and OperationModeAvailabilityMessage are625     * separate mode-availability stages. OperationModeAvailability.emergency_stop626     * is fallback availability; neither availability item is current627     * OperationModeStateMessage nor an MRM request/state.628     */629  }630  part mrmRequestAndStateAreDistinct : ItemNonEquivalenceRecord {631    doc /*632     * OperateMrmRequestMessage, EmergencyStopOperatorStatusMessage, and the MRM633     * handler's MrmStateMessage are separate request, operator-status, and gate-selection items.634     */635  }636637  part simulatorFeedbackIsObservation : ItemNonEquivalenceRecord {638    doc /* Odometry, velocity, acceleration, IMU, and vehicle status are distinct feedback items. */639  }640641  /* SAF concerns and direction-neutral review views. */642  concern physicalContextConcern : PhysicalContextConcern { subject candidateSystem : AEBSystem1CandidateDeployment; stakeholder systemsEngineer : SystemsEngineer; stakeholder reviewer : OpenSourceReviewer; }643  concern physicalContextExchangeConcern : PhysicalContextExchangeConcern {644    doc /*645     * The candidate vehicle deployment is System 1. The simulation and646     * evidence assets are external System 2 context elements across the647     * System 1 physical boundary.648     */649    subject candidateSystem : AEBSystem1CandidateDeployment;650    stakeholder systemsEngineer : SystemsEngineer;651    stakeholder reviewer : OpenSourceReviewer;652  }653  concern physicalExchangeTypeConcern : PhysicalExchangeTypeConcern { subject twoSystemDeployment : AEBTwoSystemSimulationDeployment; stakeholder systemsEngineer : SystemsEngineer; stakeholder reviewer : OpenSourceReviewer; }654  concern physicalStructureConcern : PhysicalStructureConcern { subject twoSystemDeployment : AEBTwoSystemSimulationDeployment; stakeholder systemsEngineer : SystemsEngineer; stakeholder reviewer : OpenSourceReviewer; }655  concern physicalInternalExchangeConcern : PhysicalInternalExchangeConcern {656    doc /*657     * This view is confined to ports, delegations, and exchanges inside the658     * candidate System 1 deployment. System 2 belongs in the physical context659     * exchange view, not inside the System 1 boundary.660     *661     * Known issue: no view is published for this concern yet. Tested native662     * projections either mixed in the 21 context exchanges, rendered empty,663     * or showed parts without the ten System 1 internal flows. The ten664     * authoritative internal flows remain in the model; the misleading665     * visual is withheld until the renderer can isolate them honestly.666     */667    subject candidateSystem : AEBSystem1CandidateDeployment;668    stakeholder systemsEngineer : SystemsEngineer;669    stakeholder reviewer : OpenSourceReviewer;670  }671  concern physicalInterfaceConcern : PhysicalInterfaceConcern { subject twoSystemDeployment : AEBTwoSystemSimulationDeployment; stakeholder systemsEngineer : SystemsEngineer; stakeholder reviewer : OpenSourceReviewer; }672  concern physicalLogicalMappingConcern : PhysicalLogicalMappingConcern { subject candidateSystem : AEBSystem1CandidateDeployment; stakeholder systemsEngineer : SystemsEngineer; stakeholder reviewer : OpenSourceReviewer; }673  concern physicalLogicalItemMappingConcern : PhysicalLogicalItemMappingConcern { subject candidateSystem : AEBSystem1CandidateDeployment; stakeholder systemsEngineer : SystemsEngineer; stakeholder reviewer : OpenSourceReviewer; }674675  view aebsSimulationPhysicalContextView {676    viewpoint selected : PhysicalContextDefinitionViewpoint { frame physicalContextConcern; }677    doc /* System 1 is the candidate subject; sibling System 2 is external test infrastructure. */678    expose deployment::candidateVehicleSystem1;679    expose deployment::simulationEvidenceSystem2;680    render asTreeDiagram;681  }682  view aebsSimulationPhysicalContextExchangeView {683    viewpoint selected : PhysicalContextExchangeViewpoint { frame physicalContextExchangeConcern; }684    expose deployment::candidateVehicleSystem1;685    expose deployment::simulationEvidenceSystem2;686    expose deployment::candidateVehicleSystem1::*[istype SysML::PortUsage];687    expose deployment::simulationEvidenceSystem2::*[istype SysML::PortUsage];688    expose deployment::*[istype SysML::FlowUsage];689    attribute depth = -1;690    attribute showAnnotationRows = false;691    attribute maxCompartmentEntries = 0;692    render asInterconnectionDiagram;693  }694  view aebsSimulationPhysicalExchangeTypeView {695    viewpoint selected : PhysicalInterfaceDefinitionViewpoint { frame physicalExchangeTypeConcern; }696    expose DE4SDV_AEBSSimulationDeployment::*;697    render asTreeDiagram;698  }699  view aebsSimulationPhysicalStructureView {700    viewpoint selected : PhysicalStructureDefinitionViewpoint { frame physicalStructureConcern; }701    expose deployment;702    expose deployment::candidateVehicleSystem1::*;703    expose deployment::simulationEvidenceSystem2::*;704    render asTreeDiagram;705  }706707  view aebsSimulationPhysicalInterfaceView {708    viewpoint selected : PhysicalInterfaceDefinitionViewpoint { frame physicalInterfaceConcern; }709    /*710     * Imported ROS 2 protocol definitions plus every concrete deployment port711     * definition. No deployment wildcard is admitted here: nodes, runtimes,712     * hosts, configuration records, simulator assets, and collectors belong in713     * structure/context views, not the interface-definition view.714     */715    expose ROS2TopicMessage; expose ROS2TopicSubscription; expose ROS2TopicPublication;716    expose ROS2PublishSubscribeTopicInterface;717    expose DiagnosticIn; expose DiagnosticOut;718    expose PointCloudInput; expose PointCloudOutput;719    expose AutowareStateInput; expose AutowareStateOutput;720    expose CommandAvailabilityIn; expose CommandAvailabilityOut;721    expose OperationAvailabilityIn; expose OperationAvailabilityOut;722    expose OperationModeStateIn; expose OperationModeStateOut;723    expose ControlModeReportIn; expose ControlModeReportOut;724    expose GearCommandIn; expose GearCommandOut;725    expose OperateMrmIn; expose OperateMrmOut;726    expose MrmStateIn; expose MrmStateOut;727    expose EmergencyStopOperatorStatusIn; expose EmergencyStopOperatorStatusOut;728    expose ControlCommandIn; expose ControlCommandOut;729    expose ScenarioControlIn; expose ScenarioControlOut;730    expose VectorMapInitializationIn; expose VectorMapInitializationOut;731    expose InitialPoseIn; expose InitialPoseOut;732    expose PlannedTrajectoryIn; expose PlannedTrajectoryOut;733    expose EngageInitializationIn; expose EngageInitializationOut;734    expose TfAndVehicleInfoIn; expose TfAndVehicleInfoOut;735    expose OdometryFeedbackIn; expose OdometryFeedbackOut;736    expose VelocityFeedbackIn; expose VelocityFeedbackOut;737    expose AccelerationFeedbackIn; expose AccelerationFeedbackOut;738    expose SteeringFeedbackIn; expose SteeringFeedbackOut;739    expose ImuFeedbackIn; expose ImuFeedbackOut;740    expose VehicleStatusFeedbackIn; expose VehicleStatusFeedbackOut;741    expose EvidenceObservationOut;742    render asTreeDiagram;743  }744  view aebsSimulationPhysicalLogicalMappingView : MVD::MatrixView {745    viewpoint selected : PhysicalLogicalMappingViewpoint { frame physicalLogicalMappingConcern; }746    view :>> rowView {747      expose system::stateAcquisition;748      expose system::interventionDecision;749      expose system::emergencyCoordination;750      attribute :>> representation = Rep::name;751    }752    view :>> columnView {753      expose deployment::candidateVehicleSystem1::aeb;754      expose deployment::candidateVehicleSystem1::aggregator;755      expose deployment::candidateVehicleSystem1::commandModeToOperationModeAvailabilityConverter;756      expose deployment::candidateVehicleSystem1::mrmHandler;757      expose deployment::candidateVehicleSystem1::emergencyStopOperator;758      expose deployment::candidateVehicleSystem1::legacyVehicleCommandGate;759      attribute :>> representation = Rep::name;760    }761    view :>> cellView {762      expose DE4SDV_AEBSSimulationDeployment::*;763      attribute :>> direction = SysideViews::MatrixTraceabilityDirection::row2col;764    }765  }766  view aebsSimulationPhysicalLogicalItemMappingView : MVD::MatrixView {767    viewpoint selected : PhysicalLogicalMappingViewpoint { frame physicalLogicalItemMappingConcern; }768    view :>> rowView {769      expose system::emergencyInterventionRequestOut::emergencyInterventionRequest;770      expose system::vehicleMotionObservationIn::vehicleMotionState;771      attribute :>> includeReferenceElements = true;772      attribute :>> representation = Rep::name;773    }774    view :>> columnView {775      expose deployment::candidateVehicleSystem1::mrmHandler::operateMrmOut::request;776      expose deployment::candidateVehicleSystem1::legacyVehicleCommandGate::emergencyControlCommandIn::command;777      expose deployment::candidateVehicleSystem1::velocityFeedbackIn::velocity;778      expose deployment::candidateVehicleSystem1::kinematicStateIn::odometry;779      attribute :>> includeReferenceElements = true;780      attribute :>> representation = Rep::name;781    }782    view :>> cellView {783      expose DE4SDV_AEBSSimulationDeployment::*;784      attribute :>> direction = SysideViews::MatrixTraceabilityDirection::row2col;785    }786  }787}788