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

Source

1/*2 * DE4SDV AEBS visualization selected physical/software realization slice.3 *4 * INC-AEBS-010 Phase 8: source-backed selection of concrete components,5 * pinned revisions, exchange types, and deployment roles for the reverse6 * visualization chain:7 *8 *   pinned native Autoware AEB + existing DE4SDV 009B coordinator9 *     -> read-only ROS 2 visualization adapter10 *     -> bounded length-delimited transport (new port; not the INC-MW-010 port)11 *     -> native SDV Gateway publisher in the sdv_ivi_cf IVI guest12 *     -> SDV Gateway Data Tunnel13 *     -> Java AAOS center-display application14 *15 * Provenance rule: native RSS, filtered obstacle cloud, and the exact native16 * intervention diagnostic are selected Autoware-originated sources. The17 * coordinator's combined risk-assessment object distance is DE4SDV-derived18 * and is never relabeled as native Autoware output. Virtual wall, debug19 * markers, metrics, and the blocked predicted-trajectory branch remain20 * deferred. No execution evidence is claimed by this slice; the mandatory21 * readiness preflight is recorded as gates, not as results.22 */2324package DE4SDV_AEBSVisualizationPhysicalSoftwareRealization {25  private import DE4SDV_MethodContext::*;26  private import DE4SDV_Stakeholders::*;27  private import DE4SDV_AEBSVisualizationFraming::*;28  private import DE4SDV_AEBSVisualizationFunctionalArchitecture::*;29  private import DE4SDV_AEBSVisualizationLogicalArchitecture::*;30  private import DE4SDV_AEBSPhysicalSoftwareRealization::*;31  private import DE4SDV_ROS2Types::*;32  private import SAF_Viewpoints::*;33  private import SysideViews::**;34  private import Views::*;3536  /* ──────────────────────────────────────────37   * Selected concrete realization elements38   * ────────────────────────────────────────── */3940  part def PinnedAutowareAEBExecution :> AutowareAutonomousEmergencyBrakingNode {41    doc /*42     * The pinned native Autoware AEB node (commit43     * f603d8759c92fb2f423f1544844e13086d79ad09) executed in the existing 009B44     * bench. Selected as the Autoware-originated source: RSS distance,45     * filtered obstacle cloud, and the aeb_emergency_stop diagnostic.46     */47  }4849  part def De4sdv009bCoordinatorExecution {50    doc /*51     * The existing 009B coordinator run unchanged in its bench. Selected as52     * the DE4SDV-originated source of warning request, braking request, and53     * intervention lifecycle state. Composed, never copied.54     */55    port warningRequestOut;56    port brakingRequestOut;57    port lifecycleStateOut;58  }5960  part def Ros2VisualizationSourceAdapter {61    doc /*62     * Python ROS 2 adapter node with subscriptions only. Assembles the63     * versioned visualization frame and enforces per-field provenance.64     * Selected realization of the source-adapter logical role.65     */66    port rssDistanceIn : NativeAEBMetricInput;67    port obstacleCloudIn : NativeAEBObstacleInput;68    port diagnosticsIn : NativeAEBDiagnosticInput;69    port warningIn : De4sdvWarningInput;70    port brakingIn : De4sdvBrakingInput;71    port lifecycleIn : De4sdvLifecycleInput;72    port frameOut : VisualizationFrameOutput;73  }7475  part def BoundedLengthDelimitedTransport {76    doc /*77     * Bounded length-delimited frame stream on a NEW allocated port. The78     * historical INC-MW-010 transport port is not reused and carries no79     * inherited evidence.80     */81    port frameIn : VisualizationFrameInput;82    port frameOut : VisualizationFrameOutput;83  }8485  part def SdvIviCfGuestTarget {86    doc /*87     * Display-capable AAOS SDV IVI guest built from88     * sdv_ivi_cf-aosp_current-userdebug, pinned to an exact AOSP manifest89     * revision at execution time. Replaces the headless sdv_core_cf target,90     * whose evidence is not transferable to an HMI realization.91     */92  }9394  part def SdvGatewayIngressService {95    doc /*96     * Native ingress service in the IVI guest using libsdvgatewayclient:97     * validates incoming frames and publishes via the SDV Gateway Data98     * Tunnel. Selected realization of the ingress logical role.99     */100    port frameIn : VisualizationFrameInput;101    port frameOut : VisualizationFrameOutput;102  }103104  part def SdvGatewayDataTunnelService {105    doc /*106     * The supported AAOS SDV Gateway Data Tunnel publication/subscription107     * path between ingress service and application. No vendored or modified108     * upstream samples; documented client APIs only.109     */110    port publishedIn : VisualizationPublicationOutput;111    port subscriptionOut : VisualizationSubscriptionInput;112  }113114  part def JavaCenterDisplayApplication {115    doc /*116     * Java privileged/system AAOS application subscribing via the documented117     * SDV Gateway Java client and rendering the AEBS threat/intervention118     * center-display view. Selected realization of the application logical119     * role.120     */121    port frameIn : VisualizationSubscriptionInput;122    port renderedOut : RenderedStateOutput;123  }124125  part def VisualizationEvidenceRecorder {126    port renderedIn : RenderedStateOutput;127    doc /* Deterministic campaign recorder and independent replay validator host. */128  }129130  /* ──────────────────────────────────────────131   * Physical composition132   * ────────────────────────────────────────── */133134  part def AEBSVisualizationPhysicalSystem {135    doc /* Selected end-to-end physical decomposition across both hosts. */136137    part pinnedAeb : PinnedAutowareAEBExecution;138    part coordinator : De4sdv009bCoordinatorExecution;139    part sourceAdapter : Ros2VisualizationSourceAdapter;140    part transport : BoundedLengthDelimitedTransport;141    part iviGuest : SdvIviCfGuestTarget {142      part gatewayIngress : SdvGatewayIngressService;143      part dataTunnel : SdvGatewayDataTunnelService;144      part displayApp : JavaCenterDisplayApplication;145    }146    part evidenceRecorder : VisualizationEvidenceRecorder;147148    // Source-side connections reuse the selected Autoware publications.149    connection rssDistanceSource150      connect pinnedAeb.rssDistanceOut to sourceAdapter.rssDistanceIn;151    connection obstacleCloudSource152      connect pinnedAeb.debugPointCloudOut to sourceAdapter.obstacleCloudIn;153    connection diagnosticSource154      connect pinnedAeb.diagnosticsOut to sourceAdapter.diagnosticsIn;155156    // Coordinator outputs remain DE4SDV-derived; provenance is per-field.157    connection warningSource158      connect coordinator.warningRequestOut to sourceAdapter.warningIn;159    connection brakingSource160      connect coordinator.brakingRequestOut to sourceAdapter.brakingIn;161    connection lifecycleSource162      connect coordinator.lifecycleStateOut to sourceAdapter.lifecycleIn;163164    // Reverse visualization flow only; no command path exists anywhere.165    connection adapterToTransport166      connect sourceAdapter.frameOut to transport.frameIn;167    connection transportToIngress168      connect transport.frameOut to iviGuest.gatewayIngress.frameIn;169    connection ingressToTunnel170      connect iviGuest.gatewayIngress.frameOut to iviGuest.dataTunnel.publishedIn;171    connection tunnelToApplication172      connect iviGuest.dataTunnel.subscriptionOut to iviGuest.displayApp.frameIn;173    connection applicationToEvidence174      connect iviGuest.displayApp.renderedOut to evidenceRecorder.renderedIn;175  }176177  part physicalSystem : AEBSVisualizationPhysicalSystem;178179  /* Logical-to-physical allocation for the selected realization. */180  allocation def LogicalRoleToPhysicalRealization;181182  allocation aebSourceAllocated : LogicalRoleToPhysicalRealization183    allocate logicalSystem.nativeAebSource184    to physicalSystem.pinnedAeb;185186  allocation coordinatorAllocated : LogicalRoleToPhysicalRealization187    allocate logicalSystem.coordinatorSource188    to physicalSystem.coordinator;189190  allocation adapterAllocated : LogicalRoleToPhysicalRealization191    allocate logicalSystem.sourceAdapter192    to physicalSystem.sourceAdapter;193194  allocation transportAllocated : LogicalRoleToPhysicalRealization195    allocate logicalSystem.transport196    to physicalSystem.transport;197198  allocation ingressAllocated : LogicalRoleToPhysicalRealization199    allocate logicalSystem.ingress200    to physicalSystem.iviGuest.gatewayIngress;201202  allocation serviceAllocated : LogicalRoleToPhysicalRealization203    allocate logicalSystem.displayService204    to physicalSystem.iviGuest.dataTunnel;205206  allocation applicationAllocated : LogicalRoleToPhysicalRealization207    allocate logicalSystem.application208    to physicalSystem.iviGuest.displayApp;209210  allocation evidenceAllocated : LogicalRoleToPhysicalRealization211    allocate logicalSystem.evidence212    to physicalSystem.evidenceRecorder;213214  allocation healthAllocated : LogicalRoleToPhysicalRealization215    allocate logicalSystem.healthSupervisor216    to physicalSystem.iviGuest.displayApp;217218  /* ──────────────────────────────────────────219   * Source provenance records220   * ────────────────────────────────────────── */221222  part def VisualizationSourceContributionRecord :> SourceContributionRecord {223    doc /* Records which provenance kind a physical source contributes. */224    attribute provenanceKindValue : ScalarValues::String;225  }226227  part nativeRssProvenance : VisualizationSourceContributionRecord {228    doc /* Native Autoware AEB RSS distance: ~/debug/rss_distance (Float32Stamped). */229    ref part physicalSource = physicalSystem.pinnedAeb;230    attribute :>> provenanceKindValue = "nativeAutowareAEB";231  }232233  part nativeObstacleProvenance : VisualizationSourceContributionRecord {234    doc /* Native Autoware AEB filtered obstacle cloud: ~/debug/obstacle_pointcloud. */235    ref part physicalSource = physicalSystem.pinnedAeb;236    attribute :>> provenanceKindValue = "nativeAutowareAEB";237  }238239  part nativeInterventionProvenance : VisualizationSourceContributionRecord {240    doc /*241     * Native intervention: exact diagnostic tuple autonomous_emergency_braking:242     * aeb_emergency_stop / ERROR / "[AEB]: Emergency Brake".243     */244    ref part physicalSource = physicalSystem.pinnedAeb;245    attribute :>> provenanceKindValue = "nativeAutowareAEB";246  }247248  part coordinatorStateProvenance : VisualizationSourceContributionRecord {249    doc /*250     * Warning/braking/lifecycle state from the 009B coordinator is251     * DE4SDV-derived. The coordinator's combined risk-assessment object252     * distance is DE4SDV-derived and shall not be relabeled as native.253     */254    ref part physicalSource = physicalSystem.coordinator;255    attribute :>> provenanceKindValue = "de4sdvAebsCoordinator";256  }257258  part blockedPredictedTrajectoryRemainsDeferred : BlockedRealizationBranchRecord {259    doc /*260     * The predicted-trajectory branch stays blocked at the pinned source261     * revision (predecessor DEF-AEBS-PHY-001). It is not smuggled back in as262     * visualization content.263     */264    ref part pinnedSource = physicalSystem.pinnedAeb;265  }266267  dependency pinnedAebTracesToSourceArtifact268    from physicalSystem::pinnedAeb269    to DE4SDV_AEBSPhysicalSoftwareRealization::physicalSoftware::sourceArtifact;270271  dependency adapterReadsPinnedAeb272    from physicalSystem::sourceAdapter273    to physicalSystem::pinnedAeb;274  dependency adapterReadsCoordinator275    from physicalSystem::sourceAdapter276    to physicalSystem::coordinator;277  dependency transportCarriesFrames278    from physicalSystem::sourceAdapter279    to physicalSystem::transport;280  dependency ingressReceivesTransport281    from physicalSystem::iviGuest::gatewayIngress282    to physicalSystem::transport;283  dependency appConsumesTunnel284    from physicalSystem::iviGuest::displayApp285    to physicalSystem::iviGuest::dataTunnel;286287  /* ──────────────────────────────────────────288   * Mandatory readiness preflight gates (planned, not results)289   * ────────────────────────────────────────── */290291  part def ReadinessPreflightGate {292    doc /* One mandatory preflight gate. Outcomes are recorded only by execution evidence later in the chain. */293  }294295  part gateIviBuildBoot : ReadinessPreflightGate {296    doc /* PF-AEBS-010-001: Build and boot the pinned sdv_ivi_cf target. */297  }298  part gateFrameworkServices : ReadinessPreflightGate {299    doc /* PF-AEBS-010-002: Observe package manager, system server, display composition, vehicle service, and SDV Gateway. */300  }301  part gateGatewayJavaSample : ReadinessPreflightGate {302    doc /* PF-AEBS-010-003: Prove Data Tunnel discovery/subscription with the documented Java sample. */303  }304  part gateNativeToJavaPayload : ReadinessPreflightGate {305    doc /* PF-AEBS-010-004: Native Gateway publisher and Java subscriber exchange a bounded payload. */306  }307  part gateVmToVmConnectivity : ReadinessPreflightGate {308    doc /* PF-AEBS-010-005: IVI guest reaches the ROS-side frame server over the selected connection. */309  }310  part gateNoUpstreamFork : ReadinessPreflightGate {311    doc /* PF-AEBS-010-006: Documented Gateway APIs only; any fork/patch needs maintainer involvement and approval first. */312  }313314  part realizationKillGate : IncrementLifecycleDecision {315    doc /*316     * If any mandatory gate cannot be executed at the pinned revision, the317     * chain stops at Phase 8 with a blocked realization decision and a318     * separate enabling slice. No host webpage, screenshot mock, direct host319     * rendering, or unreviewed upstream fork is an acceptable fallback.320     */321  }322323  /* ──────────────────────────────────────────324   * Concerns and views325   * ────────────────────────────────────────── */326327  concern visualizationPhysicalStructureConcern : PhysicalStructureConcern {328    subject;329    stakeholder systemsEngineer : SystemsEngineer;330    stakeholder reviewer : OpenSourceReviewer;331  }332333  concern visualizationPhysicalExchangeConcern : PhysicalInternalExchangeConcern {334    subject;335    stakeholder systemsEngineer : SystemsEngineer;336    stakeholder reviewer : OpenSourceReviewer;337  }338339  concern visualizationProvenanceMappingConcern : PhysicalLogicalMappingConcern {340    subject;341    stakeholder systemsEngineer : SystemsEngineer;342    stakeholder maintainer : Maintainer;343    stakeholder reviewer : OpenSourceReviewer;344  }345346  view aebsVisualizationPhysicalStructureView {347    viewpoint selectedPhysicalStructureViewpoint : PhysicalStructureDefinitionViewpoint {348      frame visualizationPhysicalStructureConcern;349    }350351    expose physicalSystem;352    expose physicalSystem::pinnedAeb;353    expose physicalSystem::coordinator;354    expose physicalSystem::sourceAdapter;355    expose physicalSystem::transport;356    expose physicalSystem::iviGuest;357    expose physicalSystem::iviGuest::gatewayIngress;358    expose physicalSystem::iviGuest::dataTunnel;359    expose physicalSystem::iviGuest::displayApp;360    expose physicalSystem::evidenceRecorder;361    expose gateIviBuildBoot;362    expose gateFrameworkServices;363    expose gateGatewayJavaSample;364    expose gateNativeToJavaPayload;365    expose gateVmToVmConnectivity;366    expose gateNoUpstreamFork;367    expose realizationKillGate;368    render asTreeDiagram;369  }370371  view aebsVisualizationPhysicalInternalExchangeView {372    viewpoint selectedPhysicalExchangeViewpoint : PhysicalInternalExchangeViewpoint {373      frame visualizationPhysicalExchangeConcern;374    }375376    expose physicalSystem;377    expose physicalSystem::**;378    attribute depth = -1;379    attribute showAnnotationRows = false;380    attribute maxCompartmentEntries = 0;381    render asInterconnectionDiagram;382  }383384  view aebsVisualizationPhysicalLogicalMappingView : MVD::MatrixView {385    viewpoint selectedPhysicalLogicalViewpoint : PhysicalLogicalMappingViewpoint {386      frame visualizationProvenanceMappingConcern;387    }388    view :>> rowView {389      expose logicalSystem::nativeAebSource;390      expose logicalSystem::coordinatorSource;391      expose logicalSystem::sourceAdapter;392      expose logicalSystem::transport;393      expose logicalSystem::ingress;394      expose logicalSystem::displayService;395      expose logicalSystem::application;396      expose logicalSystem::evidence;397      expose logicalSystem::healthSupervisor;398      attribute :>> representation = Rep::name;399    }400    view :>> columnView {401      expose physicalSystem::pinnedAeb;402      expose physicalSystem::coordinator;403      expose physicalSystem::sourceAdapter;404      expose physicalSystem::transport;405      expose physicalSystem::iviGuest::gatewayIngress;406      expose physicalSystem::iviGuest::dataTunnel;407      expose physicalSystem::iviGuest::displayApp;408      expose physicalSystem::evidenceRecorder;409      attribute :>> representation = Rep::name;410    }411    view :>> cellView {412      expose DE4SDV_AEBSVisualizationPhysicalSoftwareRealization::*;413      attribute :>> direction = SysideViews::MatrixTraceabilityDirection::row2col;414    }415  }416}417