From eae910d595229768d4763d895bf45b67a561f113 Mon Sep 17 00:00:00 2001
From: Florian Hoelzl <hoelzl@fortiss.org>
Date: Tue, 29 May 2018 14:46:24 +0200
Subject: [PATCH] Added auxiliary function generation and ultrasonic brick
sensor.
Signed-off-by: Florian Hoelzl <hoelzl@fortiss.org>
---
org.fortiss.af3.platform.raspberry/plugin.xml | 13 +
.../raspberry/generator/executable/.ratings | 2 +-
.../executable/SingleUnitMainGenerator.java | 134 +-
.../generator/executable/brick/.ratings | 4 +-
.../executable/brick/BrickExecutableBase.java | 4 +-
.../brick/UltraSonicSensorExecutable.java | 38 +-
.../generator/executable/rumblepad/.ratings | 2 +-
.../rumblepad/RumblepadExecutableBase.java | 4 +-
.../raspberry/generator/templates/.ratings | 2 +-
.../generator/templates/RasPiCTemplates.java | 7 +-
.../templates/SingleUnitMainFile.stg | 3 +
.../generator/transform/brick/.ratings | 1 +
.../brick/UltraSonicTransformation.java | 29 +
.../model/Basismodel_advancedBlinker2.af3_23 | 28771 ++++++++++++++++
14 files changed, 28915 insertions(+), 99 deletions(-)
create mode 100644 org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/transform/brick/.ratings
create mode 100644 org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/transform/brick/UltraSonicTransformation.java
create mode 100644 org.fortiss.af3.platform.raspberry/test-data/model/Basismodel_advancedBlinker2.af3_23
diff --git a/org.fortiss.af3.platform.raspberry/plugin.xml b/org.fortiss.af3.platform.raspberry/plugin.xml
index 1fbf75e3..111dc5ca 100644
--- a/org.fortiss.af3.platform.raspberry/plugin.xml
+++ b/org.fortiss.af3.platform.raspberry/plugin.xml
@@ -169,6 +169,19 @@
</objectClass>
</target>
</transformationProvider>
+ <transformationProvider
+ transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.brick.UltraSonicTransformation">
+ <source>
+ <objectClass
+ objectClass="org.fortiss.af3.platform.raspberry.model.brick.UltraSonicSensor">
+ </objectClass>
+ </source>
+ <target>
+ <objectClass
+ objectClass="org.fortiss.af3.platform.raspberry.generator.executable.brick.UltraSonicSensorExecutable">
+ </objectClass>
+ </target>
+ </transformationProvider>
<transformationProvider
transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.PWMActuatorTransformation">
<source>
diff --git a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/.ratings b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/.ratings
index 3e2fa539..3548849a 100644
--- a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/.ratings
+++ b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/.ratings
@@ -6,4 +6,4 @@ HeaderCopyGenerator.java 18239a3adae35256e32dad19df9d8f38acbf7e66 RED
MultiUnitMainGenerator.java 458754b89c2d79db3fee08baa444424772e40fb7 RED
PWMActuatorExecutable.java d5d75c70ec12a3e008f744ff15b3c103b5d57f6c YELLOW
RaspberryPIExecutable.java cafff8199da9cc59688289c9c26097e6872e9702 RED
-SingleUnitMainGenerator.java fe13cbffac938bb7d93b3eece4ff7884c3878075 YELLOW
+SingleUnitMainGenerator.java 1b9e47102a2a938e2f41fbb9f171d06d140ac86c RED
diff --git a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/SingleUnitMainGenerator.java b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/SingleUnitMainGenerator.java
index fe13cbff..07ff2fc3 100644
--- a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/SingleUnitMainGenerator.java
+++ b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/SingleUnitMainGenerator.java
@@ -83,11 +83,43 @@ class SingleUnitMainGenerator {
/** Creates the main.c file for deployments with a single execution units. */
public AbstractUnit createSingleUnitMain() {
String includes = createIncludes();
+ String auxFuns = createAuxiliaryFunctions();
String initCode = createInitCode();
String sensorVariables = createVariables();
String workerCode = createWorkerCode(deployedComponents, deployedPorts);
return getSingleUnitMainCFile(executionUnit.getName(), executionUnit.getCycleTime(),
- includes, initCode, workerCode, sensorVariables);
+ includes, initCode, auxFuns, workerCode, sensorVariables);
+ }
+
+ /** Creates the code for auxiliary functions. */
+ private String createAuxiliaryFunctions() {
+ StringBuilder sb = new StringBuilder();
+ Set<String> singletonInitDone = new HashSet<>();
+ for(PlatformConnectorUnit pcu : platformConnector2ExecutableBase.keySet()) {
+ ExecutableBase<?> exec = platformConnector2ExecutableBase.get(pcu);
+ String sPostfix = null;
+ if(exec instanceof ISingletonInitializationExecutable) {
+ ISingletonInitializationExecutable singletonExec =
+ (ISingletonInitializationExecutable)exec;
+ // check if function definition was already included
+ String ident = singletonExec.getSingletonIdentifier();
+ sPostfix = singletonPostfixMap.get(ident);
+ if(!singletonInitDone.contains(ident)) {
+ singletonInitDone.add(ident);
+ String def = singletonExec.getSingletonAuxiliaryFunctions(sPostfix);
+ sb.append(def != null ? def : "");
+ }
+ }
+ // sPostfix is set by first if-block or remains null
+ if(exec instanceof IInstanceInitializationExecutable) {
+ IInstanceInitializationExecutable initExec =
+ (IInstanceInitializationExecutable)exec;
+ String iPostfix = instancePostfixMap.get(initExec);
+ String def = initExec.getInstanceAuxiliaryFunctions(iPostfix, sPostfix);
+ sb.append(def != null ? def : "");
+ }
+ }
+ return sb.toString();
}
/** Creates the includes of the system headers. */
@@ -137,24 +169,26 @@ class SingleUnitMainGenerator {
Set<String> singletonInitDone = new HashSet<>();
for(PlatformConnectorUnit pcu : platformConnector2ExecutableBase.keySet()) {
ExecutableBase<?> exec = platformConnector2ExecutableBase.get(pcu);
- String sPrefix = null;
+ String sPostfix = null;
if(exec instanceof ISingletonInitializationExecutable) {
ISingletonInitializationExecutable singletonExec =
(ISingletonInitializationExecutable)exec;
// check if variable declaration was already included
String ident = singletonExec.getSingletonIdentifier();
- sPrefix = singletonPostfixMap.get(ident);
+ sPostfix = singletonPostfixMap.get(ident);
if(!singletonInitDone.contains(ident)) {
singletonInitDone.add(ident);
- sb.append(singletonExec.getSingletonVariableDeclarationCode(sPrefix));
+ String def = singletonExec.getSingletonVariableDeclarationCode(sPostfix);
+ sb.append(def != null ? def : "");
}
}
- // sPrefix is set by first if-block or remains null
+ // sPostfix is set by first if-block or remains null
if(exec instanceof IInstanceInitializationExecutable) {
IInstanceInitializationExecutable initExec =
(IInstanceInitializationExecutable)exec;
- String iPrefix = instancePostfixMap.get(initExec);
- sb.append(initExec.getVariableDeclaration(iPrefix, sPrefix));
+ String iPostfix = instancePostfixMap.get(initExec);
+ String def = initExec.getVariableDeclaration(iPostfix, sPostfix);
+ sb.append(def != null ? def : "");
}
}
return sb.toString();
@@ -192,22 +226,6 @@ class SingleUnitMainGenerator {
// // extractRGBforLEDButton(p);
// // }
// }
- // if(useUS) {
- // sb.append("uint16_t ultra_sonic_A;\n");
- // sb.append("uint64_t us_A_last_cb_time = 0;\n");
- // sb.append("char* uid_us_A = \"zpW\";\n");
- // sb.append("void us_A_callback(uint16_t distance, void *data) {\n");
- // sb.append("ultra_sonic_A = distance;\n");
- // sb.append("us_A_last_cb_time = time_util_get_current_micros();\n");
- // sb.append("}\n");
- // sb.append("uint16_t ultra_sonic_B;\n");
- // sb.append("uint64_t us_B_last_cb_time = 0;\n");
- // sb.append("char* uid_us_B = \"zqN\";\n");
- // sb.append("void us_B_callback(uint16_t distance, void *data) {\n");
- // sb.append("ultra_sonic_B = distance;\n");
- // sb.append("us_B_last_cb_time = time_util_get_current_micros();\n");
- // sb.append("}\n\n");
- // }
// if(useLaser) {
// sb.append("int16_t laser_distance;\n");
// sb.append("uint64_t laser_last_cb_time = 0;\n");
@@ -296,17 +314,17 @@ class SingleUnitMainGenerator {
/** Creates the read code for the given receiver and port. */
private String createWriteCode(Transmitter transmitter, OutputPort outport) {
ExecutableBase<?> exec = platformConnector2ExecutableBase.get(transmitter);
- String sPrefix = null;
+ String sPostfix = null;
if(exec instanceof ISingletonExecutable) {
- sPrefix =
+ sPostfix =
singletonPostfixMap.get(((ISingletonExecutable)exec).getSingletonIdentifier());
}
- String iPrefix = instancePostfixMap.get(exec);
+ String iPostfix = instancePostfixMap.get(exec);
if(exec instanceof IWriteableExecutable) {
IWriteableExecutable wexec = (IWriteableExecutable)exec;
String sourceVariable = getPortIdentifier(outport);
- String writeCode = wexec.getWriteCode(iPrefix, sPrefix, outport, sourceVariable);
- String novalCode = wexec.getNoValWriteCode(iPrefix, sPrefix, outport);
+ String writeCode = wexec.getWriteCode(iPostfix, sPostfix, outport, sourceVariable);
+ String novalCode = wexec.getNoValWriteCode(iPostfix, sPostfix, outport);
if(novalCode != null) {
String novalVariable = getPortNoValIdentifier(sourceVariable);
return "if (" + novalVariable + ") {\n" + novalCode + "}\n else {\n" + writeCode +
@@ -321,23 +339,23 @@ class SingleUnitMainGenerator {
/** Creates the read code for the given receiver and port. */
private String createReadCode(Receiver receiver, InputPort inport) {
ExecutableBase<?> exec = platformConnector2ExecutableBase.get(receiver);
- String sPrefix = null;
+ String sPostfix = null;
if(exec instanceof ISingletonExecutable) {
- sPrefix =
+ sPostfix =
singletonPostfixMap.get(((ISingletonExecutable)exec).getSingletonIdentifier());
}
- String iPrefix = instancePostfixMap.get(exec);
+ String iPostfix = instancePostfixMap.get(exec);
if(exec instanceof IReadableExecutable) {
IReadableExecutable rexec = (IReadableExecutable)exec;
String targetVariable = getPortIdentifier(inport);
- String readCode = rexec.getReadCode(iPrefix, sPrefix, inport, targetVariable);
- String novalCode = rexec.getNoValReadCode(iPrefix, sPrefix, inport);
+ String readCode = rexec.getReadCode(iPostfix, sPostfix, inport, targetVariable);
+ String novalCode = rexec.getNoValReadCode(iPostfix, sPostfix, inport);
if(novalCode != null) {
return "if (" + novalCode + ") {\n" + readCode + "}\"";
}
return readCode;
}
- return "FIXME\"No executable available to read " + inport.getName() + " from " +
+ return "FIXME(\"No executable available to read " + inport.getName() + " from " +
receiver.getName() + "\");\n";
}
@@ -347,23 +365,25 @@ class SingleUnitMainGenerator {
Set<String> singletonInitDone = new HashSet<>();
for(PlatformConnectorUnit pcu : platformConnector2ExecutableBase.keySet()) {
ExecutableBase<?> exec = platformConnector2ExecutableBase.get(pcu);
- String sPrefix = null;
+ String sPostfix = null;
if(exec instanceof ISingletonInitializationExecutable) {
ISingletonInitializationExecutable singletonExec =
(ISingletonInitializationExecutable)exec;
String ident = singletonExec.getSingletonIdentifier();
- sPrefix = singletonPostfixMap.get(ident);
+ sPostfix = singletonPostfixMap.get(ident);
if(!singletonInitDone.contains(ident)) {
singletonInitDone.add(ident);
- sb.append(singletonExec.getSingletonInitializationCode(sPrefix));
+ String code = singletonExec.getSingletonInitializationCode(sPostfix);
+ sb.append(code != null ? code : "");
}
}
- // sPrefix is set in the first if-block or is null
+ // sPostfix is set in the first if-block or is null
if(exec instanceof IInstanceInitializationExecutable) {
IInstanceInitializationExecutable initExec =
(IInstanceInitializationExecutable)exec;
- String iPrefix = instancePostfixMap.get(initExec);
- sb.append(initExec.getInitializationCode(iPrefix, sPrefix));
+ String iPostfix = instancePostfixMap.get(initExec);
+ String code = initExec.getInitializationCode(iPostfix, sPostfix);
+ sb.append(code != null ? code : "");
}
}
return sb.toString();
@@ -400,40 +420,6 @@ class SingleUnitMainGenerator {
// String port = executionUnit.getCameraServerPort();
// sb.append("camera_client_initialize(\"" + addr + "\", \"" + port + "\");\n");
// }
- // if(useUS || useLaser || useDigits || useACC) {
- // sb.append("IPConnection brick_connection;\n");
- // sb.append("ipcon_create(&brick_connection);\n");
- // sb.append("if(ipcon_connect(&brick_connection, BRICK_HOST, BRICK_PORT) < 0) {\n");
- // sb.append("perror(\"Failed to connect to brick sub-system.\");\n");
- // sb.append("return 1;\n");
- // sb.append("}\n\n");
- // }
- // if(useUS) {
- // System.out.println("useUs");
- // for(Pair<PlatformConnectorUnit, Port> p : deployedPorts) {
- // if(createdUsSensors >= 2)
- // break;
- // if(p.getFirst() instanceof UltraSonicSensor) {
- // UltraSonicSensor sensor = (UltraSonicSensor)p.getFirst();
- // if(createdUsSensors == 0) {
- // sb.append("DistanceUS DistanceUS_A;\n");
- // sb.append("uid_us_A = \"" + sensor.getUniqueBrickletID() + "\";\n");
- // sb.append("distance_us_create(&DistanceUS_A, \"" +
- // sensor.getUniqueBrickletID() + "\", &brick_connection);\n");
- // sb.append("distance_us_register_callback(&DistanceUS_A, DISTANCE_US_CALLBACK_DISTANCE, (void*)us_A_callback, NULL);\n");
- // sb.append("distance_us_set_distance_callback_period(&DistanceUS_A, 10);\n");
- // } else if(createdUsSensors == 1) {
- // sb.append("DistanceUS DistanceUS_B;\n");
- // sb.append("uid_us_B = \"" + sensor.getUniqueBrickletID() + "\";\n");
- // sb.append("distance_us_create(&DistanceUS_B, \"" +
- // sensor.getUniqueBrickletID() + "\", &brick_connection);\n");
- // sb.append("distance_us_register_callback(&DistanceUS_B, DISTANCE_US_CALLBACK_DISTANCE, (void*)us_B_callback, NULL);\n");
- // sb.append("distance_us_set_distance_callback_period(&DistanceUS_B, 10);\n");
- // }
- // createdUsSensors++;
- // }
- // }
- // }
// if(useLaser) {
// for(Pair<PlatformConnectorUnit, Port> p : deployedPorts) {
// if(p.getFirst() instanceof LaserRangeSensor) {
diff --git a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/brick/.ratings b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/brick/.ratings
index bfb8ec0d..b1913551 100644
--- a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/brick/.ratings
+++ b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/brick/.ratings
@@ -1,2 +1,2 @@
-BrickExecutableBase.java d2a673b444a431747e479c92c2e880c2c5b95251 RED
-UltraSonicSensorExecutable.java 118f81db427f895bc447dbb5c57aab47a0c1a1d7 RED
+BrickExecutableBase.java e50fae1024e2f95953ff5cb2b56eb0250918021c YELLOW
+UltraSonicSensorExecutable.java 7e121aa85b389b04f4e30fa54d695331082cb4b6 YELLOW
diff --git a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/brick/BrickExecutableBase.java b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/brick/BrickExecutableBase.java
index d2a673b4..e50fae10 100644
--- a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/brick/BrickExecutableBase.java
+++ b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/brick/BrickExecutableBase.java
@@ -41,7 +41,7 @@ abstract class BrickExecutableBase<T extends EObject> extends BrickLibraryExecut
/** {@inheritDoc} */
@Override
public String getSingletonVariableDeclarationCode(String singletonPostfix) {
- return "IPConnection " + getConnectionVariable(singletonPostfix) + ";\n";
+ return "static IPConnection " + getConnectionVariable(singletonPostfix) + ";\n";
}
/** {@inheritDoc} */
@@ -65,6 +65,6 @@ abstract class BrickExecutableBase<T extends EObject> extends BrickLibraryExecut
/** Returns the connection variable name. */
protected final String getConnectionVariable(String postfix) {
- return "brick_connection" + postfix;
+ return "brick_connection_" + postfix;
}
}
diff --git a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/brick/UltraSonicSensorExecutable.java b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/brick/UltraSonicSensorExecutable.java
index 118f81db..7e121aa8 100644
--- a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/brick/UltraSonicSensorExecutable.java
+++ b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/brick/UltraSonicSensorExecutable.java
@@ -42,34 +42,46 @@ public class UltraSonicSensorExecutable extends BrickExecutableBase<UltraSonicSe
/** {@inheritDoc} */
@Override
public String getVariableDeclaration(String postfix, String singletonPostfix) {
- return null;
+ StringBuilder sb = new StringBuilder();
+ sb.append("static DistanceUS ultra_sonic_device_" + postfix + ";\n");
+ sb.append("static uint16_t ultra_sonic_value_" + postfix + " = 0;\n");
+ sb.append("static uint64_t ultra_sonic_last_cb_time_" + postfix + " = 0;\n");
+ return sb.toString();
}
/** {@inheritDoc} */
@Override
public String getInstanceAuxiliaryFunctions(String postfix, String singletonPostfix) {
- // TODO Auto-generated method stub
- return null;
+ StringBuilder sb = new StringBuilder();
+ sb.append("void ultra_sonic_callback_" + postfix + "(uint16_t distance, void *data) {\n");
+ sb.append("ultra_sonic_value_" + postfix + " = distance;\n");
+ sb.append("ultra_sonic_last_cb_time_" + postfix + " = time_util_get_current_micros();\n");
+ sb.append("}\n\n");
+ return sb.toString();
}
/** {@inheritDoc} */
@Override
public String getInitializationCode(String postfix, String singletonPostfix) {
- // TODO Auto-generated method stub
- return null;
+ StringBuilder sb = new StringBuilder();
+ sb.append("distance_us_create(&ultra_sonic_device_" + postfix + ", \"" +
+ modelElement.getUniqueBrickletID() + "\", &" +
+ getConnectionVariable(singletonPostfix) + ");\n");
+ sb.append("distance_us_register_callback(&ultra_sonic_device_" + postfix +
+ ", DISTANCE_US_CALLBACK_DISTANCE, (void*)ultra_sonic_callback_" + postfix +
+ ", NULL);\n");
+ sb.append("distance_us_set_distance_callback_period(&ultra_sonic_device_" + postfix +
+ ", 10);\n");
+ return sb.toString();
}
/** {@inheritDoc} */
@Override
- public String getReadCode(String prefix, String singletonPrefix, InputPort logicalSignal,
+ public String getReadCode(String postfix, String singletonPostfix, InputPort logicalSignal,
String targetVariable) {
- // sb.append("DistanceUS DistanceUS_A;\n");
- // sb.append("uid_us_A = \"" + sensor.getUniqueBrickletID() + "\";\n");
- // sb.append("distance_us_create(&DistanceUS_A, \"" +
- // sensor.getUniqueBrickletID() + "\", &brick_connection);\n");
- // sb.append("distance_us_register_callback(&DistanceUS_A, DISTANCE_US_CALLBACK_DISTANCE, (void*)us_A_callback, NULL);\n");
- // sb.append("distance_us_set_distance_callback_period(&DistanceUS_A, 10);\n");
- return null;
+ StringBuilder sb = new StringBuilder();
+ sb.append(targetVariable + " = " + "ultra_sonic_value_" + postfix + ";\n");
+ return sb.toString();
}
/** {@inheritDoc} */
diff --git a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/rumblepad/.ratings b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/rumblepad/.ratings
index 53c0d3ae..b17487a4 100644
--- a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/rumblepad/.ratings
+++ b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/rumblepad/.ratings
@@ -20,6 +20,6 @@ Left_StickYExecutable.java cc2b36f9bca913dc1956f34495cf9c77acb13c88 YELLOW
R2PositionExecutable.java 19f778392841d02d281fd856564b75e1333dffaa YELLOW
Right_StickXExecutable.java 97656a2ae56a70eac88153b123f2cd9c584af967 YELLOW
Right_StickYExecutable.java f3d942123ca47d0ddbf32f4f46bfaf2b21732653 YELLOW
-RumblepadExecutableBase.java be65c6bb0b4d6a86123c616787fe4bf2ddcc68a1 YELLOW
+RumblepadExecutableBase.java 39b4d75bed6526d82f5baa420b2415b271157df9 YELLOW
SimpleRumbleFeatureExecutable.java 413b6fb3f5847f0d09f52341c98b95f74c352016 YELLOW
StickExecutableBase.java 4e1188b3e3a3b6d53a6387d2cf472c89c27b7449 YELLOW
diff --git a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/rumblepad/RumblepadExecutableBase.java b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/rumblepad/RumblepadExecutableBase.java
index be65c6bb..39b4d75b 100644
--- a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/rumblepad/RumblepadExecutableBase.java
+++ b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/rumblepad/RumblepadExecutableBase.java
@@ -35,7 +35,7 @@ abstract class RumblepadExecutableBase<T extends EObject> extends PiHALLibraryEx
/** {@inheritDoc} */
@Override
public final String getSingletonVariableDeclarationCode(String singletonPostfix) {
- return "static gamepad_configuration_t rumblepad_config_" + singletonPostfix + ";\n";
+ return "static rumblepad_configuration_t rumblepad_config_" + singletonPostfix + ";\n";
}
/** {@inheritDoc} */
@@ -54,7 +54,7 @@ abstract class RumblepadExecutableBase<T extends EObject> extends PiHALLibraryEx
sb.append(postfixedVar + "->device_id = \"/dev/input/js0\";\n");
sb.append(postfixedVar + "->waiting_sleep_in_micros = 50;\n");
sb.append(postfixedVar + "->axis_callback = NULL;\n");
- sb.append(postfixedVar + "->button_callback = NULL;");
+ sb.append(postfixedVar + "->button_callback = NULL;\n");
sb.append("rumblepad_initialize(" + postfixedVar + ");\n\n");
return sb.toString();
}
diff --git a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/.ratings b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/.ratings
index 9f890542..69fefbf9 100644
--- a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/.ratings
+++ b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/.ratings
@@ -1 +1 @@
-RasPiCTemplates.java d9eeaef85fefbd705275be87b2be5aaa5f78c6f7 YELLOW
+RasPiCTemplates.java 6a3abac9f5ac98e0162118e608562aa2a7a1953c YELLOW
diff --git a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/RasPiCTemplates.java b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/RasPiCTemplates.java
index fd1089c7..6a3abac9 100644
--- a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/RasPiCTemplates.java
+++ b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/RasPiCTemplates.java
@@ -55,13 +55,14 @@ public final class RasPiCTemplates {
}
/** Returns the 'main.c' file configured using the given arguments. */
- public static AbstractUnit
- getSingleUnitMainCFile(String unitName, int cycletimeInMillis, String systemIncludes,
- String systemInitCode, String workerCode, String sensorVariables) {
+ public static AbstractUnit getSingleUnitMainCFile(String unitName, int cycletimeInMillis,
+ String systemIncludes, String systemInitCode, String auxFunction, String workerCode,
+ String sensorVariables) {
StringTemplate template = makeTemplate("SingleUnitMainFile.stg", "MainFile");
template.setAttribute("UNIT_NAME", unitName);
template.setAttribute("CYCLE_TIME_IN_MILLIS", cycletimeInMillis);
template.setAttribute("SYSTEM_INCLUDES", systemIncludes);
+ template.setAttribute("AUXILIARY_FUNCTIONS", auxFunction);
template.setAttribute("SYSTEM_INIT_CODE", systemInitCode);
template.setAttribute("WORKER_CODE", workerCode);
template.setAttribute("SENSOR_VARIABLES", sensorVariables);
diff --git a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/SingleUnitMainFile.stg b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/SingleUnitMainFile.stg
index 7bde6d53..32095a1b 100644
--- a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/SingleUnitMainFile.stg
+++ b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/SingleUnitMainFile.stg
@@ -4,6 +4,7 @@ MainFile(UNIT_NAME,
CYCLE_TIME_IN_MILLIS,
SYSTEM_INCLUDES,
SYSTEM_INIT_CODE,
+ AUXILIARY_FUNCTIONS,
WORKER_CODE,
SENSOR_VARIABLES) ::= <<
// due to current data dictionary declaration of GENTYPE_boolean
@@ -29,6 +30,8 @@ const int cycle_time = $CYCLE_TIME_IN_MILLIS$;
$SENSOR_VARIABLES$
+$AUXILIARY_FUNCTIONS$
+
static void worker() {
step++;
$WORKER_CODE$
diff --git a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/transform/brick/.ratings b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/transform/brick/.ratings
new file mode 100644
index 00000000..ca9895f2
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/transform/brick/.ratings
@@ -0,0 +1 @@
+UltraSonicTransformation.java d4f9f72befdd6f8d89532826f761f59e6808f120 YELLOW
diff --git a/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/transform/brick/UltraSonicTransformation.java b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/transform/brick/UltraSonicTransformation.java
new file mode 100644
index 00000000..d4f9f72b
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/transform/brick/UltraSonicTransformation.java
@@ -0,0 +1,29 @@
+/*-------------------------------------------------------------------------+
+| Copyright 2018 fortiss GmbH |
+| |
+| Licensed under the Apache License, Version 2.0 (the "License"); |
+| you may not use this file except in compliance with the License. |
+| You may obtain a copy of the License at |
+| |
+| http://www.apache.org/licenses/LICENSE-2.0 |
+| |
+| Unless required by applicable law or agreed to in writing, software |
+| distributed under the License is distributed on an "AS IS" BASIS, |
+| WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
+| See the License for the specific language governing permissions and |
+| limitations under the License. |
++--------------------------------------------------------------------------*/
+package org.fortiss.af3.platform.raspberry.generator.transform.brick;
+
+import org.fortiss.af3.platform.raspberry.generator.executable.brick.UltraSonicSensorExecutable;
+import org.fortiss.af3.platform.raspberry.generator.transform.RasPiGeneratorTransformationBase;
+import org.fortiss.af3.platform.raspberry.model.brick.UltraSonicSensor;
+import org.fortiss.af3.platform.raspberry.model.gamepad.Button1;
+
+/** Transformation for {@link Button1}. */
+public class UltraSonicTransformation extends RasPiGeneratorTransformationBase {
+ /** Constructor. */
+ public UltraSonicTransformation() {
+ super(UltraSonicSensor.class, UltraSonicSensorExecutable.class);
+ }
+}
diff --git a/org.fortiss.af3.platform.raspberry/test-data/model/Basismodel_advancedBlinker2.af3_23 b/org.fortiss.af3.platform.raspberry/test-data/model/Basismodel_advancedBlinker2.af3_23
new file mode 100644
index 00000000..9ab50f72
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/test-data/model/Basismodel_advancedBlinker2.af3_23
@@ -0,0 +1,28771 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<org-fortiss-af3-project:FileProject xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:annotation="http://www.fortiss.org/af3/platform/hierarchic/annotation" xmlns:org-fortiss-af3-component="http://www.fortiss.org/af3/component" xmlns:org-fortiss-af3-component-annotation="http://www.fortiss.org/af3/component/annotation" xmlns:org-fortiss-af3-component-behavior-code="http://www.fortiss.org/af3/component/behavior/code" xmlns:org-fortiss-af3-deployment="http://www.fortiss.org/af3/deployment" xmlns:org-fortiss-af3-expression="http://www.fortiss.org/af3/expression" xmlns:org-fortiss-af3-expression-definitions="http://www.fortiss.org/af3/expression/definitions" xmlns:org-fortiss-af3-expression-terms="http://www.fortiss.org/af3/expression/terms" xmlns:org-fortiss-af3-expression-terms-imperative="http://www.fortiss.org/af3/expression/terms/imperative" xmlns:org-fortiss-af3-expression-types="http://www.fortiss.org/af3/expression/types" xmlns:org-fortiss-af3-mira="http://www.fortiss.org/af3/mira" xmlns:org-fortiss-af3-mira-glossary="http://www.fortiss.org/af3/mira/glossary" xmlns:org-fortiss-af3-mira-verification="http://www.fortiss.org/af3/mira/verification" xmlns:org-fortiss-af3-operatorpanel="http://www.fortiss.org/af3/operatorpanel" xmlns:org-fortiss-af3-operatorpanel-viewpanel="http://www.fortiss.org/af3/operatorpanel/viewpanel" xmlns:org-fortiss-af3-platform="http://www.fortiss.org/af3/platform" xmlns:org-fortiss-af3-platform-annotation="http://www.fortiss.org/af3/platform/annotation" xmlns:org-fortiss-af3-platform-raspberry="http://www.fortiss.org/af3/platform/raspberry" xmlns:org-fortiss-af3-platform-raspberry-motorcontrol="http://www.fortiss.org/af3/platform/raspberry/motorcontrol" xmlns:org-fortiss-af3-platform-raspberry-rumblepad="http://www.fortiss.org/af3/platform/raspberry/rumblepad" xmlns:org-fortiss-af3-platform-raspberry_1="http://www.fortiss.org/af3/platform/raspberry/brick" xmlns:org-fortiss-af3-project="http://www.fortiss.org/af3/project" xmlns:org-fortiss-af3-project-configuration="http://www.fortiss.org/af3/project/configuration" xmlns:org-fortiss-af3-project-development="http://www.fortiss.org/af3/project/development" xmlns:org-fortiss-af3-project-execution="http://www.fortiss.org/af3/project/execution" xmlns:org-fortiss-af3-safety-annotation="http://www.fortiss.org/af3/safety/annotation" xmlns:org-fortiss-af3-specification="http://www.fortiss.org/af3/specification" xmlns:org-fortiss-af3-state="http://www.fortiss.org/af3/state" xmlns:org-fortiss-af3-timing-annotation="http://www.fortiss.org/af3/timing/annotation" xmlns:org-fortiss-tooling-base-model-layout="http://www.fortiss.org/tooling/base/model/layout" xmlns:org-fortiss-tooling-kernel-constraints="http://www.fortiss.org/tooling/base/model/element/constraints" xmi:id="17279" id="17279" name="Basismodel" af3Version="2.10.0.201611281046">
+ <rootElements xsi:type="org-fortiss-af3-project:ProjectConfiguration" xmi:id="1" id="1">
+ <configurationElements xsi:type="org-fortiss-af3-project-configuration:TypeSystemConfiguration" xmi:id="2" id="2">
+ <typesystem xsi:type="org-fortiss-af3-expression:MicroTypeSystem"/>
+ </configurationElements>
+ <configurationElements xsi:type="org-fortiss-af3-project-configuration:DevelopmentProcessConfiguration" xmi:id="3" id="3">
+ <constraintInstances xsi:type="org-fortiss-af3-specification:TimedOutConstraintInstance" constraintName="org.fortiss.af3.specification.constraint.DeterminismConstraint">
+ <status xsi:type="org-fortiss-tooling-kernel-constraints:OutdatedConstraintInstanceStatus"/>
+ </constraintInstances>
+ <development xsi:type="org-fortiss-af3-project-development:ConstraintBasedDevelopmentProcess" currentObjective="4" constraintInstanceContainer="3">
+ <configurations xmi:id="4" id="4" name="Default configuration"/>
+ </development>
+ </configurationElements>
+ </rootElements>
+ <rootElements xsi:type="org-fortiss-af3-expression:DataDictionary" xmi:id="5" id="5">
+ <typeDefinitions xsi:type="org-fortiss-af3-expression-definitions:Enumeration" xmi:id="97" id="97" name="KeyEvent">
+ <members xmi:id="98" id="98" name="pressed"/>
+ <members xmi:id="100" id="100" name="notPressed"/>
+ </typeDefinitions>
+ <typeDefinitions xsi:type="org-fortiss-af3-expression-definitions:Structure" xmi:id="4955" id="4955" name="DriverAssistanceOnOffCommands">
+ <members xmi:id="4956" id="4956" name="acc">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_Commands" def="7964"/>
+ </members>
+ <members xmi:id="4957" id="4957" name="laneKeep">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_Commands" def="7964"/>
+ </members>
+ </typeDefinitions>
+ <typeDefinitions xsi:type="org-fortiss-af3-expression-definitions:Structure" xmi:id="7958" id="7958" name="DriverAssistanceEvents">
+ <members xmi:id="7959" id="7959" name="acc">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_Keys" def="7961"/>
+ </members>
+ <members xmi:id="7960" id="7960" name="laneKeep">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_Keys" def="7961"/>
+ </members>
+ </typeDefinitions>
+ <typeDefinitions xsi:type="org-fortiss-af3-expression-definitions:Enumeration" xmi:id="7961" id="7961" name="DA_Keys">
+ <members xmi:id="7962" id="7962" name="NotPressed"/>
+ <members xmi:id="7963" id="7963" name="Pressed"/>
+ </typeDefinitions>
+ <typeDefinitions xsi:type="org-fortiss-af3-expression-definitions:Enumeration" xmi:id="7964" id="7964" name="DA_Commands">
+ <members xmi:id="7965" id="7965" name="KeepCurrentState"/>
+ <members xmi:id="7966" id="7966" name="Off"/>
+ <members xmi:id="7967" id="7967" name="On"/>
+ </typeDefinitions>
+ <typeDefinitions xsi:type="org-fortiss-af3-expression-definitions:Enumeration" xmi:id="6275" id="6275" name="EngineMode">
+ <members xmi:id="9641" id="9641" name="NoOp"/>
+ <members xmi:id="9642" id="9642" name="Switch"/>
+ </typeDefinitions>
+ <typeDefinitions xsi:type="org-fortiss-af3-expression-definitions:Enumeration" xmi:id="6272" id="6272" name="DriveMode">
+ <members xmi:id="9643" id="9643" name="Parking"/>
+ <members xmi:id="6274" id="6274" name="Forward"/>
+ <members xmi:id="6278" id="6278" name="Backward"/>
+ <members xmi:id="6614" id="6614" name="Change"/>
+ </typeDefinitions>
+ <typeDefinitions xsi:type="org-fortiss-af3-expression-definitions:Structure" xmi:id="9644" id="9644" name="DriveModeSettings">
+ <members xmi:id="9645" id="9645" name="DriveMode">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveMode" def="6272"/>
+ </members>
+ <members xmi:id="6271" id="6271" name="EngineMode">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="EngineMode" def="6275"/>
+ </members>
+ </typeDefinitions>
+ <typeDefinitions xsi:type="org-fortiss-af3-expression-definitions:Structure" xmi:id="13763" id="13763" name="DriveModeCommands">
+ <members xmi:id="13764" id="13764" name="Button3">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="KeyEvent" def="97"/>
+ </members>
+ <members xmi:id="13765" id="13765" name="Button4">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="KeyEvent" def="97"/>
+ </members>
+ <members xmi:id="13766" id="13766" name="Button1">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="KeyEvent" def="97"/>
+ </members>
+ <members xmi:id="13767" id="13767" name="Button2">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="KeyEvent" def="97"/>
+ </members>
+ </typeDefinitions>
+ <typeDefinitions xsi:type="org-fortiss-af3-expression-definitions:Structure" xmi:id="15427" id="15427" name="LDCameraData" comment="camera data for lane detection">
+ <members xmi:id="15428" id="15428" name="orientation" comment="Lane Detection Camera: not fixed, but currently: orientation to the middle of the lane (in rad). parallel to the lines is 0. to the left is positiv, to the right negativ">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </members>
+ <members xmi:id="15429" id="15429" name="movement" comment="speed of the rover in m/s (velocity is already in the system)">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </members>
+ <members xmi:id="15430" id="15430" name="distance_left" comment="Lane Detection Camera: distance to the left line (in m)">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </members>
+ <members xmi:id="15431" id="15431" name="distance_right" comment="Lane Detection Camera: distance to the right line (in m)">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </members>
+ <members xmi:id="15432" id="15432" name="present_left" comment="Lane Detection Camera: true if left line ist present">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ </members>
+ <members xmi:id="15433" id="15433" name="present_right" comment="Lane Detection Camera: true if right line ist present">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ </members>
+ </typeDefinitions>
+ <typeDefinitions xsi:type="org-fortiss-af3-expression-definitions:Structure" xmi:id="16177" id="16177" name="DA_TurnOff_Commands" comment="if DA moduls should be turned off">
+ <members xmi:id="16178" id="16178" name="acc" comment="true if adaptive cruise control should be turned off">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ </members>
+ <members xmi:id="16179" id="16179" name="laneKeep" comment="true if lane keeping should be turned off">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ </members>
+ </typeDefinitions>
+ <typeDefinitions xsi:type="org-fortiss-af3-expression-definitions:Structure" xmi:id="17793" id="17793" name="LightSetup" comment="Configuration for all lights">
+ <members xmi:id="17794" id="17794" name="backLeft">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightConfig" def="17831"/>
+ </members>
+ <members xmi:id="17795" id="17795" name="backRight">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightConfig" def="17831"/>
+ </members>
+ </typeDefinitions>
+ <typeDefinitions xsi:type="org-fortiss-af3-expression-definitions:Enumeration" xmi:id="17796" id="17796" name="LightColor" comment="Color of a light">
+ <members xmi:id="17797" id="17797" name="Red"/>
+ <members xmi:id="17798" id="17798" name="Orange"/>
+ <members xmi:id="17799" id="17799" name="White"/>
+ <members xmi:id="17861" id="17861" name="Disabled"/>
+ </typeDefinitions>
+ <typeDefinitions xsi:type="org-fortiss-af3-expression-definitions:Structure" xmi:id="17831" id="17831" name="LightConfig" comment="Configuration for one light">
+ <members xmi:id="17832" id="17832" name="color">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightColor" def="17796"/>
+ </members>
+ <members xmi:id="17833" id="17833" name="blinkSpeed">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ </members>
+ </typeDefinitions>
+ <typeDefinitions xsi:type="org-fortiss-af3-expression-definitions:Structure" xmi:id="17890" id="17890" name="RGBColor" comment="a RGB Color">
+ <members xmi:id="17891" id="17891" name="r">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ </members>
+ <members xmi:id="17892" id="17892" name="g">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ </members>
+ <members xmi:id="17893" id="17893" name="b">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ </members>
+ </typeDefinitions>
+ <functions xmi:id="1236" id="1236">
+ <function xmi:id="1237" id="1237" name="myabs" comment="Absolute Value"/>
+ <parameters>
+ <variable identifier="_V"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="1238" id="1238" name="sgn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ </arguments>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="2534" id="2534">
+ <function xmi:id="2535" id="2535" name="arctan" comment="Arcus Tangens Approximation"/>
+ <parameters>
+ <variable identifier="_V"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="10673" id="10673" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="1.0"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.28"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ </arguments>
+ </arguments>
+ </value>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="10674" id="10674" name="pi"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="2.0"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.28"/>
+ </arguments>
+ </arguments>
+ </value>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Negate"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="3346" id="3346" name="_sqrt"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="1.0"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="2.0"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="3216" id="3216">
+ <function xmi:id="3217" id="3217" name="_sqrt" comment="Internally used by sqrt"/>
+ <parameters>
+ <variable identifier="_X"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <parameters>
+ <variable identifier="_V"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.5"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_X"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ </arguments>
+ </arguments>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="3276" id="3276">
+ <function xmi:id="3277" id="3277" name="pow" comment="Warning! Recursive Function!"/>
+ <parameters>
+ <variable identifier="_V"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <parameters>
+ <variable identifier="_N"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_N"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_N"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="1.0"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="3330" id="3330" name="pow"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Negate"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_N"/>
+ </arguments>
+ </arguments>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_N"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="3331" id="3331" name="pow"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_N"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </arguments>
+ </arguments>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="4025" id="4025">
+ <function xmi:id="4026" id="4026" name="min"/>
+ <parameters>
+ <variable identifier="_a"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <parameters>
+ <variable identifier="_b"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_a"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_b"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_a"/>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_b"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="4027" id="4027">
+ <function xmi:id="4028" id="4028" name="max"/>
+ <parameters>
+ <variable identifier="_a"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <parameters>
+ <variable identifier="_b"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_a"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_b"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_a"/>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_b"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="4052" id="4052">
+ <function xmi:id="4053" id="4053" name="rad2deg" comment="Radians to Degree"/>
+ <parameters>
+ <variable identifier="_A"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_A"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="4055" id="4055" name="pi"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="180.0"/>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="4056" id="4056">
+ <function xmi:id="4057" id="4057" name="deg2rad" comment="Degree to Radians"/>
+ <parameters>
+ <variable identifier="_A"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_A"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="180.0"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="4060" id="4060" name="pi"/>
+ </arguments>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5628" id="5628">
+ <function xmi:id="5629" id="5629" name="MAX_BRAKE_VALUE" comment="Maximum value of brake / most negative acceleration of this car/rover"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="-25.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5632" id="5632">
+ <function xmi:id="5633" id="5633" name="EMERGENCY_TIME" comment="depends on the emergency requirement 4.1: time (in seconds) until a crash would be invevitable under continious present conditions (and emergency brake must be enabled)"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ </functions>
+ <functions xmi:id="5724" id="5724">
+ <function xmi:id="5725" id="5725" name="linConvert" comment="gives an output (double) corresponding to a given input (double) through linear interpolation on two proportional ranges (min and max for output and input)"/>
+ <parameters>
+ <variable identifier="input"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <parameters>
+ <variable identifier="inputMax"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <parameters>
+ <variable identifier="inputMin"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <parameters>
+ <variable identifier="outputMax"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <parameters>
+ <variable identifier="outputMin"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="inputMax"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="inputMin"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="outputMin"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="outputMax"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="outputMin"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="inputMax"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="inputMin"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="input"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="inputMin"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="outputMin"/>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5726" id="5726">
+ <function xmi:id="5727" id="5727" name="STEERING_ANGLE_STRAIGHT_MIN" comment="0° bzw rad"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5728" id="5728">
+ <function xmi:id="5729" id="5729" name="STEERING_VALUE_LEFT_MIN" comment="-1°"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="6000.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5730" id="5730">
+ <function xmi:id="5731" id="5731" name="STEERING_VALUE_STRAIGHT_MAX" comment="0° bzw rad"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="6000.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5732" id="5732">
+ <function xmi:id="5733" id="5733" name="STEERING_VALUE_LEFT_MAX" comment="-45°"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="4200.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5735" id="5735">
+ <function xmi:id="5736" id="5736" name="STEERING_VALUE_RIGHT_MAX" comment="+45°"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="7800.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5737" id="5737">
+ <function xmi:id="5738" id="5738" name="STEERING_VALUE_RIGHT_MIN" comment="+1°"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="6000.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5740" id="5740">
+ <function xmi:id="5741" id="5741" name="STEERING_ANGLE_LEFT_MAX" comment="-45° in rad"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Negate"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6281" id="6281" name="pi"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="4.0"/>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5743" id="5743">
+ <function xmi:id="5744" id="5744" name="STEERING_ANGLE_LEFT_MIN" comment="-1° in rad"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Negate"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6288" id="6288" name="pi"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="180.0"/>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5746" id="5746">
+ <function xmi:id="5747" id="5747" name="STEERING_ANGLE_RIGHT_MAX" comment="+45° in rad"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6283" id="6283" name="pi"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="4.0"/>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5749" id="5749">
+ <function xmi:id="5750" id="5750" name="STEERING_ANGLE_RIGHT_MIN" comment="+1° in rad"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6289" id="6289" name="pi"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="180.0"/>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5751" id="5751">
+ <function xmi:id="5752" id="5752" name="STEERING_ANGLE_STRAIGHT_MAX" comment="0° bzw rad"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5753" id="5753">
+ <function xmi:id="5754" id="5754" name="STEERING_VALUE_STRAIGHT_MIN" comment="0° bzw rad"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="6000.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5819" id="5819">
+ <function xmi:id="5820" id="5820" name="STEERING_ANGLE_MIN" comment="-45° in rad"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Negate"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6285" id="6285" name="pi"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="4.0"/>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5822" id="5822">
+ <function xmi:id="5823" id="5823" name="STEERING_ANGLE_MAX" comment="+45° in rad"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6286" id="6286" name="pi"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="4.0"/>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="6128" id="6128">
+ <function xmi:id="6129" id="6129" name="COEFFICIENT_CONTROLLER_I" comment="Coefficient for the integral part in the motor value controller"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="6114" id="6114">
+ <function xmi:id="6115" id="6115" name="COEFFICIENT_CONTROLLER_P" comment="Coefficient for the proportional part in the motor value controller"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="6126" id="6126">
+ <function xmi:id="6127" id="6127" name="COEFFICIENT_CONTROLLER_D" comment="Coefficient for the differential part in the motor value controller"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="7157" id="7157">
+ <function xmi:id="7158" id="7158" name="DELTA_TIME" comment="The duration of one time step in seconds"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.01"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="7168" id="7168">
+ <function xmi:id="7169" id="7169" name="COEFFICIENT_CONTROLLER_MAX_ERROR_SUM" comment="The maximum error integral in the PID controller"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="100.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="7406" id="7406">
+ <function xmi:id="7407" id="7407" name="SAMPLING_TIME_DISTANCE" comment="Time the distance sensor needs to output a new distance value"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="1.0"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="11290" id="11290" name="TICK_TIME"/>
+ </arguments>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="7411" id="7411">
+ <function xmi:id="7412" id="7412" name="TICK_TIME" comment="real time till next tick in AF3 (or rather time between two ticks)"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.05"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="7413" id="7413">
+ <function xmi:id="7414" id="7414" name="SAMPLING_TIME_VELOCITY" comment="Time the velocity sensor (or acceleration sensor) needs to output a new velocity value of this rover"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="1.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="7437" id="7437">
+ <function xmi:id="7438" id="7438" name="ERRORSUM_ADAPTATION" comment="If the PID controller ist limited by acceleration boundaries, errorsum (for the I part) shouldnt increase too much (result: overswing). That´s why the new error for errorsum should be smaller (0-10 % or 0.0-0.1*error)"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.1"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="7072" id="7072">
+ <function xmi:id="7073" id="7073" name="NATURAL_ACCELERATION"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="20.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="7795" id="7795">
+ <function xmi:id="7796" id="7796" name="COEFFICIENT_CONTROLLER_F" comment="Coefficient for the feed forward part in the motor value controller"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="1.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="9472" id="9472">
+ <function xmi:id="9473" id="9473" name="MAX_EXPECTED_BRAKE_VALUE" comment="Maximum value of brake / most negative acceleration of the obstacle in front (worst case: normal car with an average most negative acceleration of -10 m/s^2)"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="-30.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="9474" id="9474">
+ <function xmi:id="9475" id="9475" name="EB_BUFFER_FACTOR" comment="Needed for Emergency Brake calculation. Is a factor for the rover velocity and the result of this is the distance buffer between the rover and the front obstacle (after both did an EB)"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.5"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5915" id="5915">
+ <function xmi:id="5916" id="5916" name="BRAKE_DEADZONE" comment="Deadzone for the brakePedal where input gets ignored"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.025"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5674" id="5674">
+ <function xmi:id="9646" id="9646" name="gear1" comment="First Gear, using X*abs(X) instead of X^2 to retain the sign of the input (used in reverse)"/>
+ <parameters>
+ <variable identifier="_X"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_X"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="10977" id="10977" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_X"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.1"/>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="9647" id="9647">
+ <function xmi:id="9648" id="9648" name="gear2" comment="Second Gear"/>
+ <parameters>
+ <variable identifier="_X"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6438" id="6438" name="pow"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_X"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.25"/>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5681" id="5681">
+ <function xmi:id="9652" id="9652" name="gear3" comment="Third Gear"/>
+ <parameters>
+ <variable identifier="_X"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_X"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.4"/>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="9653" id="9653">
+ <function xmi:id="9654" id="9654" name="gear4" comment="Fourth Gear"/>
+ <parameters>
+ <variable identifier="_X"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_X"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.6"/>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="9655" id="9655">
+ <function xmi:id="9656" id="9656" name="gear5" comment="Fifth Gear"/>
+ <parameters>
+ <variable identifier="_X"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_X"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.8"/>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5687" id="5687">
+ <function xmi:id="5688" id="5688" name="gear6" comment="Sixth Gear"/>
+ <parameters>
+ <variable identifier="_X"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_X"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="5739" id="5739">
+ <function xmi:id="9657" id="9657" name="MAX_SPEED" comment="Maximum speed of the vehicle (m/s)"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="28"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="6395" id="6395">
+ <function xmi:id="6396" id="6396" name="VELOCITY_DEADZONE" comment="Range, where speed is small enough to be considered being equal to zero"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.1"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="10388" id="10388">
+ <function xmi:id="10389" id="10389" name="EB_VELOCITY" comment="returns the target velocity, which we want while emergency brake ist active"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11068" id="11068">
+ <function xmi:id="11069" id="11069" name="PRE_BOUNDARIES_FACTOR" comment="factor for MaxVelocityDiff in PID component "Premature Boundaries""/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="4.0"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="11086" id="11086" name="TICK_TIME"/>
+ </arguments>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11888" id="11888">
+ <function xmi:id="11889" id="11889" name="MOTOR_VALUE_MIN" comment="-30 m/s"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="-30.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11922" id="11922">
+ <function xmi:id="11923" id="11923" name="MOTOR_VALUE_STILL_MIN" comment="0 m/s"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11924" id="11924">
+ <function xmi:id="11925" id="11925" name="MOTOR_VALUE_BACKWARD_MAX" comment="-20 m/s"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="-20.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11926" id="11926">
+ <function xmi:id="11927" id="11927" name="MOTOR_VALUE_MAX" comment="60 m/s"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="60.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11928" id="11928">
+ <function xmi:id="11929" id="11929" name="MOTOR_VALUE_FORWARD_MAX" comment="30 m/s"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="15.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11930" id="11930">
+ <function xmi:id="11931" id="11931" name="MOTOR_VALUE_OUT_STILL_MIN" comment="0 m/s"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="6000.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11932" id="11932">
+ <function xmi:id="11933" id="11933" name="MOTOR_VALUE_FORWARD_MIN" comment="0 m/s"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11934" id="11934">
+ <function xmi:id="11935" id="11935" name="MOTOR_VALUE_BACKWARD_MIN" comment="0 m/s"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11936" id="11936">
+ <function xmi:id="11937" id="11937" name="MOTOR_VALUE_STILL_MAX" comment="0 m/s"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11938" id="11938">
+ <function xmi:id="11939" id="11939" name="MOTOR_VALUE_OUT_STILL_MAX" comment="0 m/s"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="6000.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11944" id="11944">
+ <function xmi:id="11945" id="11945" name="MOTOR_VALUE_OUT_BACKWARD_MAX" comment=""/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="4200.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11946" id="11946">
+ <function xmi:id="11947" id="11947" name="MOTOR_VALUE_OUT_FORWARD_MIN" comment="0 m/s"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="6000.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11948" id="11948">
+ <function xmi:id="11949" id="11949" name="MOTOR_VALUE_OUT_FORWARD_MAX" comment=""/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="7800.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11950" id="11950">
+ <function xmi:id="11951" id="11951" name="MOTOR_VALUE_OUT_BACKWARD_MIN" comment="0 m/s"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="6000.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="12050" id="12050">
+ <function xmi:id="12051" id="12051" name="STICK_INPUT_SCALING"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="1.0"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="32768.0"/>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="11128" id="11128">
+ <function xmi:id="11129" id="11129" name="scaleSteering"/>
+ <parameters>
+ <variable identifier="_V"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </parameters>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.9"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_V"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="11132" id="11132" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="14510" id="14510">
+ <function xmi:id="14511" id="14511" name="INACCURACY"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.1"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="14938" id="14938">
+ <function xmi:id="14939" id="14939" name="STICK_THRESHOLD"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.5"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="15627" id="15627">
+ <function xmi:id="15628" id="15628" name="ROVER_WIDTH" comment="rover width in m"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.285"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="16051" id="16051">
+ <function xmi:id="16052" id="16052" name="STEERING_DEADZONE" comment="field (negative to positive) in which a steering angle of 0 can be assumed"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16166" id="16166" name="pi"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="180.0"/>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="16145" id="16145">
+ <function xmi:id="16146" id="16146" name="COEFFICIENT_LK_CONTROLLER_P" comment="Coefficient for the proportional part in the lane keeping controller"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.5"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="16147" id="16147">
+ <function xmi:id="16148" id="16148" name="COEFFICIENT_LK_CONTROLLER_D" comment="Coefficient for the differential part in the lane keeping controller"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.02"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="16149" id="16149">
+ <function xmi:id="16150" id="16150" name="COEFFICIENT_LK_CONTROLLER_I" comment="Coefficient for the integral part in the lane keeping controller"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.1"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="16152" id="16152">
+ <function xmi:id="16153" id="16153" name="SAMPLING_TIME_LANE_DETECTION"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="1.0"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="16382" id="16382">
+ <function xmi:id="16383" id="16383" name="LD_DISTANCE_ERROR_DEADZONE" comment="field (in m) in which a difference of the lane detection distances does not matter (because it is too small -> sensor inaccuracy)"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.01"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="16491" id="16491">
+ <function xmi:id="16492" id="16492" name="COEFFICIENT_ACC_CONTROLLER_P" comment="Coefficient for the proportinal part in the acc controller"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.3"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="16819" id="16819">
+ <function xmi:id="16820" id="16820" name="ACC_BUFFER_FACTOR"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="1.5"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="16832" id="16832">
+ <function xmi:id="16833" id="16833" name="Z_INPUT_SCALING"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="1.0"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="1024.0"/>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="17260" id="17260">
+ <function xmi:id="17261" id="17261" name="RUMBLE_MAX"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="32768"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ </functions>
+ <functions xmi:id="17277" id="17277">
+ <function xmi:id="17278" id="17278" name="ACC_MIN_DISTANCE"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.5"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ <functions xmi:id="17894" id="17894">
+ <function xmi:id="17895" id="17895" name="colorRed" comment="Generates a RGB Color for red light"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="r">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="255"/>
+ </members>
+ <members name="g">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </members>
+ <members name="b">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </members>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="RGBColor" def="17890"/>
+ </functions>
+ <functions xmi:id="17896" id="17896">
+ <function xmi:id="17897" id="17897" name="colorOrange" comment="Generates a RGB Color for orange light"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="r">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="255"/>
+ </members>
+ <members name="g">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="96"/>
+ </members>
+ <members name="b">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </members>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="RGBColor" def="17890"/>
+ </functions>
+ <functions xmi:id="17898" id="17898">
+ <function xmi:id="17899" id="17899" name="colorWhite" comment="Generates a RGB Color for white light"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="r">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="255"/>
+ </members>
+ <members name="g">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="255"/>
+ </members>
+ <members name="b">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="255"/>
+ </members>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="RGBColor" def="17890"/>
+ </functions>
+ <functions xmi:id="17902" id="17902">
+ <function xmi:id="17903" id="17903" name="colorBlack" comment="Generates a RGB Color for no light"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="r">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </members>
+ <members name="g">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </members>
+ <members name="b">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </members>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="RGBColor" def="17890"/>
+ </functions>
+ <functions xmi:id="18019" id="18019">
+ <function xmi:id="18020" id="18020" name="lightSetupHazards" comment="Generates a LightSetup for hazard lights"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="backLeft">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="blinkSpeed">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </members>
+ <members name="color">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18140" id="18140" name="Orange"/>
+ </value>
+ </members>
+ </value>
+ </members>
+ <members name="backRight">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="blinkSpeed">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </members>
+ <members name="color">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18141" id="18141" name="Orange"/>
+ </value>
+ </members>
+ </value>
+ </members>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightSetup" def="17793"/>
+ </functions>
+ <functions xmi:id="18023" id="18023">
+ <function xmi:id="18024" id="18024" name="lightSetupBrake" comment="Generates a LightSetup for brake lights"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="backLeft">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="blinkSpeed">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </members>
+ <members name="color">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18142" id="18142" name="Red"/>
+ </value>
+ </members>
+ </value>
+ </members>
+ <members name="backRight">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="blinkSpeed">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </members>
+ <members name="color">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18143" id="18143" name="Red"/>
+ </value>
+ </members>
+ </value>
+ </members>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightSetup" def="17793"/>
+ </functions>
+ <functions xmi:id="18025" id="18025">
+ <function xmi:id="18026" id="18026" name="lightSetupSignalLeft" comment="Generates a LightSetup for left turning signal"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="backLeft">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="blinkSpeed">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </members>
+ <members name="color">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18144" id="18144" name="Orange"/>
+ </value>
+ </members>
+ </value>
+ </members>
+ <members name="backRight">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="blinkSpeed">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </members>
+ <members name="color">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18145" id="18145" name="Disabled"/>
+ </value>
+ </members>
+ </value>
+ </members>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightSetup" def="17793"/>
+ </functions>
+ <functions xmi:id="18027" id="18027">
+ <function xmi:id="18028" id="18028" name="lightSetupSignalRight" comment="Generates a LightSetup for right turning signal"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="backLeft">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="blinkSpeed">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </members>
+ <members name="color">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18146" id="18146" name="Disabled"/>
+ </value>
+ </members>
+ </value>
+ </members>
+ <members name="backRight">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="blinkSpeed">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </members>
+ <members name="color">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18147" id="18147" name="Orange"/>
+ </value>
+ </members>
+ </value>
+ </members>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightSetup" def="17793"/>
+ </functions>
+ <functions xmi:id="18267" id="18267">
+ <function xmi:id="18268" id="18268" name="lightSetupReverse" comment="Generates a LightSetup for reverse lights"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="backLeft">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="blinkSpeed">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </members>
+ <members name="color">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18269" id="18269" name="White"/>
+ </value>
+ </members>
+ </value>
+ </members>
+ <members name="backRight">
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="blinkSpeed">
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </members>
+ <members name="color">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18270" id="18270" name="White"/>
+ </value>
+ </members>
+ </value>
+ </members>
+ </value>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightSetup" def="17793"/>
+ </functions>
+ <functions xmi:id="18850" id="18850">
+ <function xmi:id="18851" id="18851" name="STEERING_ANGLE_SIGNAL_THRESHOLD" comment="Threshold where the turning signal will be disabled"/>
+ <definition>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.25"/>
+ </statements>
+ </definition>
+ <returnType xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </functions>
+ </rootElements>
+ <rootElements xsi:type="org-fortiss-af3-project-execution:ExecutionConfigurationStore" xmi:id="4505" id="4505">
+ <configurations xmi:id="4506" id="4506" name="Execonf" comment="" idReference="4392"/>
+ <configurations xmi:id="4659" id="4659" name="Deployment" comment="" idReference="4629"/>
+ <configurations xmi:id="13111" id="13111" name="Deployment" comment="" idReference="12911"/>
+ </rootElements>
+ <rootElements xsi:type="org-fortiss-af3-component:ComponentArchitecture" xmi:id="4780" id="4780" name="Component Architecture" referencedBy="//@rootElements.6/@componentArchitectureReference">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="4781" id="4781" name="Vehicle Architecture" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="4789" id="4789" name="System" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="4799" id="4799" name="Driver Assistance" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="8035" id="8035" name="Adaptive Cruise Control" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="8163" id="8163" name="MaxVelocityMemory" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="8164" id="8164" stronglyCausal="true"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="8165" id="8165"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="8166" id="8166"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="8167" id="8167"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="8242" id="8242">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="MaxVelocityInput"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxVelocityOutput"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
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+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10226" id="10226">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="10228" id="10228" name="MaxVelocityInput" comment="" outgoing="13260">
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+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="180"/>
+ </connectors>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="241" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="10210" id="10210" name="TargetVelocityCoordinator" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="10211" id="10211"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="10068" id="10068"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="10069" id="10069"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="10212" id="10212"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="10088" id="10088">
+ <body>
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+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ACC_On"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ACC_On"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriverAssistanceCommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriverAssistanceCommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="acc"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17778" id="17778" name="On"/>
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+ </arguments>
+ </guard>
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+ <variable identifier="MaxVelocityOutput"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ </statements>
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+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxVelocityInput"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="MaxVelocityOutput"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
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+ <variable identifier="MaxVelocityOutput"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxVelocityInput"/>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxVelocityInput"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetVelocityIn"/>
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+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxVelocityInput"/>
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
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+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="-4.0"/>
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+ </thenBlock>
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
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+ </elseBlock>
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+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetVelocityIn"/>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
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+ <thenBlock>
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+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="-4.0"/>
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+ </thenBlock>
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="1.0"/>
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+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetVelocity"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
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+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10230" id="10230" name="MaxVelocityInput" comment="" incoming="13260">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10231" id="10231">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="240" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="13243" id="13243" name="TargetVelocity" comment="" outgoing="13247">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13244" id="13244">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="10223" id="10223" name="MaxVelocityOutput" comment="" outgoing="13259">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10254" id="10254">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
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+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13309" id="13309" name="Velocity" comment="" incoming="13311">
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="-0.5"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17600" id="17600" name="pow"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="2.0"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17601" id="17601" name="MAX_BRAKE_VALUE"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17602" id="17602" name="ACC_BUFFER_FACTOR"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="-0.5"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17603" id="17603" name="pow"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityFrontObstacle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="2.0"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17604" id="17604" name="MAX_EXPECTED_BRAKE_VALUE"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16396" id="16396" name="TargetDistance" comment="" outgoing="16459">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16397" id="16397">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16425" id="16425" name="VelocityFrontObstacle" comment="Velocity of the obstacle in front (distanceFront)" incoming="16427">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16426" id="16426">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16430" id="16430" name="DistanceFront" comment="" incoming="16432">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16431" id="16431">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16435" id="16435" name="Velocity" comment="" incoming="16437">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16436" id="16436">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="240"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="288" y="252"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="277" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="16404" id="16404" name="P Controller" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="16405" id="16405"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="16406" id="16406"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="16407" id="16407"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="16408" id="16408"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="16409" id="16409">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetDistance"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceFront"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityFrontObstacle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityFrontObstacle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.1"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceFront"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17282" id="17282" name="ACC_MIN_DISTANCE"/>
+ </arguments>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetVelocity"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetVelocity"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityFrontObstacle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17283" id="17283" name="COEFFICIENT_ACC_CONTROLLER_P"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetDistance"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceFront"/>
+ </arguments>
+ </arguments>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetVelocity"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16411" id="16411" name="TargetDistance" comment="" incoming="16459">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16412" id="16412">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16460" id="16460" name="TargetVelocity" comment="" outgoing="16464">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16461" id="16461">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16455" id="16455" name="Velocity" comment="" incoming="16457">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16456" id="16456">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="180"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16445" id="16445" name="DistanceFront" comment="" incoming="16447">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16446" id="16446">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16450" id="16450" name="VelocityFrontObstacle" comment="Velocity of the obstacle in front (distanceFront)" incoming="16452">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16451" id="16451">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="696" y="252"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="8036" id="8036"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="8037" id="8037"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="8038" id="8038"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="8039" id="8039"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13259" id="13259" name="MaxVelocityOutput" comment="" source="10223" target="10225">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13260" id="13260" name="MaxVelocityInput" comment="" source="10228" target="10230">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13247" id="13247" name="TargetVelocity" comment="" source="13243" target="13245">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13311" id="13311" name="" comment="" source="16453" target="13309">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="612" y="48"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16459" id="16459" name="TargetDistance" comment="" source="16396" target="16411">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16427" id="16427" name="VelocityFrontObstacle" comment="" source="16448" target="16425">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="324" y="120"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16432" id="16432" name="DistanceFront" comment="" source="16443" target="16430">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="432" y="84"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16437" id="16437" name="Velocity" comment="" source="16453" target="16435">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="540" y="48"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16447" id="16447" name="" comment="" source="16443" target="16445">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="816" y="84"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16452" id="16452" name="" comment="" source="16448" target="16450">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="732" y="120"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16457" id="16457" name="" comment="" source="16453" target="16455">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="888" y="48"/>
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+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16464" id="16464" name="TargetVelocityIn" comment="" source="16460" target="16462">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16484" id="16484" name="ACC_On" comment="" source="16480" target="16482">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16704" id="16704" name="DriverAssistanceCommand" comment="" source="16946" target="16702">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16936" id="16936" name="MaxAcceleration" comment="" source="16932" target="16934">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16443" id="16443" name="DistanceFront" comment="" incoming="8058" outgoing="16432 16447">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16444" id="16444">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="192" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16448" id="16448" name="VelocityFrontObstacle" comment="Velocity of the obstacle in front (distanceFront)" incoming="8072" outgoing="16427 16452">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16449" id="16449">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="192" y="108"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="312"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16934" id="16934" name="MaxAcceleration" comment="" incoming="16936" outgoing="8118">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16935" id="16935">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1020" y="420"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="13245" id="13245" name="TargetVelocity" comment="" incoming="13247" outgoing="8127">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13246" id="13246">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1020" y="384"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="252" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16453" id="16453" name="Velocity" comment="" incoming="13207" outgoing="13311 16437 16457">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16454" id="16454">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="192" y="36"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="228"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16480" id="16480" name="ACC_On" comment="" incoming="16477" outgoing="16484">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16481" id="16481">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="192" y="372"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16946" id="16946" name="DriverAssistanceCommand" comment="" incoming="16948" outgoing="16704">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16947" id="16947">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceOnOffCommands" def="4955"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="192" y="420"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="468" y="264"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="361" height="157"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="8040" id="8040" name="Driver Assistance Coordinator" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="8041" id="8041"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="8042" id="8042"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="8043" id="8043"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="8044" id="8044"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="8128" id="8128">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetVelocityDA"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetVelocity"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="MaxAccelerationDA"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxAcceleration"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringAngleDA"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8084" id="8084" name="SteeringAngleDA" comment="-1000 if LK should be deactivated and -2000 if LK is off (NoVal ist an error). Otherwise the regulated steering output" outgoing="8088">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8085" id="8085">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="588" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8091" id="8091" name="TargetVelocityDA" comment="" outgoing="8095">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8092" id="8092">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="312" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8098" id="8098" name="MaxAccelerationDA" comment="" outgoing="8102">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8099" id="8099">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8116" id="8116" name="MaxAcceleration" comment="" incoming="8118">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8117" id="8117">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="372"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8125" id="8125" name="TargetVelocity" comment="" incoming="8127">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8126" id="8126">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="552"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15547" id="15547" name="SteeringAngle" comment="-1000 if LK should be deactivated and -2000 if LK is off (NoVal ist an error). Otherwise the regulated steering output" incoming="15549">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15548" id="15548">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15834" id="15834" name="LK_On" comment="" incoming="15836">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15835" id="15835">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="192"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15843" id="15843" name="ACC_On" comment="" incoming="15845">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15844" id="15844">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="240"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="168" y="480"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="697" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15536" id="15536" name="Lane Keeping" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15635" id="15635" name="LK Controller" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="15636" id="15636"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="15637" id="15637"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="15638" id="15638"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="15639" id="15639"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="15668" id="15668">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LK_On"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LDCameraData"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringCommand"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="RumbleLKIn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LK_On"/>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LDCameraData"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="present_left"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LDCameraData"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="present_right"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringCommand"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="RumbleLKIn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringCommand"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="RumbleLKIn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringCommand"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="3"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="RumbleLKIn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15651" id="15651" name="LDCameraData" comment="" incoming="15653">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15652" id="15652">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LDCameraData" def="15427"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15656" id="15656" name="RumbleLKIn" comment="" outgoing="15660">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15657" id="15657">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15931" id="15931" name="LK_On" comment="" incoming="15933">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15932" id="15932">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15967" id="15967" name="SteeringCommand" comment="1 if steering should be regulated and 2 if LK should be deactivated and 3 if LK is off" outgoing="15971">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15968" id="15968">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="180"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15946" id="15946" name="LK Regulation" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15989" id="15989" name="Sum" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="15990" id="15990"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="15991" id="15991"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="15992" id="15992"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="15993" id="15993"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="15994" id="15994">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Coef_P"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Coef_I"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Coef_D"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringAngleRegulated"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16236" id="16236" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Coef_P"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Coef_I"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Coef_D"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16237" id="16237" name="STEERING_DEADZONE"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringAngleRegulated"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringAngleRegulated"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Coef_P"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Coef_I"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Coef_D"/>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16316" id="16316" name="SteeringAngleRegulated" comment="" outgoing="16320">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16317" id="16317">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16030" id="16030" name="Coef_P" comment="" incoming="16032">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16031" id="16031">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16039" id="16039" name="Coef_I" comment="" incoming="16041">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16040" id="16040">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16048" id="16048" name="Coef_D" comment="" incoming="16050">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16049" id="16049">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="288"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="108" y="324"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="361" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="16009" id="16009" name="P term" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="16010" id="16010"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="16011" id="16011"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="16012" id="16012"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="16013" id="16013"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="16091" id="16091">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Error"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Error"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Coef_P"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Coef_P"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16377" id="16377" name="COEFFICIENT_LK_CONTROLLER_P"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Error"/>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16028" id="16028" name="Coef_P" comment="" outgoing="16032">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16029" id="16029">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16080" id="16080" name="Error" comment="positive error means drift to the left - negative to th right" incoming="16082">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16081" id="16081">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="108" y="168"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="121" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="16014" id="16014" name="I term" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="16015" id="16015"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="16016" id="16016"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="16017" id="16017"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="16018" id="16018"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="16092" id="16092">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Error"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Error"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Coef_I"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ErrorSumOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Coef_I"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16375" id="16375" name="COEFFICIENT_LK_CONTROLLER_I"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16376" id="16376" name="SAMPLING_TIME_LANE_DETECTION"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ErrorSumIn"/>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:Var" identifier="BoundariesActive"/>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ErrorSumOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ErrorSumIn"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ErrorSumOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ErrorSumIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Error"/>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16037" id="16037" name="Coef_I" comment="" outgoing="16041">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16038" id="16038">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16073" id="16073" name="Error" comment="positive error means drift to the left - negative to th right" incoming="16075">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16074" id="16074">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="121" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="16019" id="16019" name="D term" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="16020" id="16020"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="16021" id="16021"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="16022" id="16022"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="16023" id="16023"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="16093" id="16093">
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Coef_D"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Coef_D"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" orientation="EAST"/>
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+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="16057" id="16057"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="16058" id="16058"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="16059" id="16059"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="16090" id="16090">
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
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+ </containedElements>
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+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="16096" id="16096"/>
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+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="16098" id="16098"/>
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+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ErrorSumOut"/>
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngleRegulated_In"/>
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+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16349" id="16349" name="BoundariesActive" comment="" source="16345" target="16347">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="900" y="360"/>
+ <points x="900" y="288"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16356" id="16356" name="BoundariesActive" comment="" source="16352" target="16354">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="312" y="288"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16374" id="16374" name="LastErrorIn" comment="" source="16370" target="16372">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="684" y="48"/>
+ </layoutData>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16325" id="16325" name="SteeringAngleRegulated" comment="" incoming="16327" outgoing="15980">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16326" id="16326">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="276" y="480"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16062" id="16062" name="LDCameraData" comment="" incoming="15987" outgoing="16066">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16063" id="16063">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LDCameraData" def="15427"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="48" y="36"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="288" y="180"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15951" id="15951" name="LK Coordinator" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="15952" id="15952"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="15953" id="15953"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="15954" id="15954"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="15955" id="15955"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="15988" id="15988">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringCommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngleRegulated"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringAngle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringCommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringAngle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngleRegulated"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringCommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringAngle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="-1000.0"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringAngle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="-2000.0"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15958" id="15958" name="SteeringAngle" comment="-1000 if LK should be deactivated and -2000 if LK is off (NoVal ist an error). Otherwise the regulated steering output" outgoing="15962">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15959" id="15959">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15969" id="15969" name="SteeringCommand" comment="1 if steering should be regulated and 2 if LK should be deactivated and 3 if LK is off" incoming="15971">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15970" id="15970">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15978" id="15978" name="SteeringAngleRegulated" comment="" incoming="15980">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15979" id="15979">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="180" y="324"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="15537" id="15537"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="15538" id="15538"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="15539" id="15539"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="15540" id="15540"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15653" id="15653" name="LDCameraData" comment="" source="15983" target="15651">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15660" id="15660" name="RumbleLKIn" comment="" source="15656" target="15658">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15933" id="15933" name="LK_On" comment="" source="15929" target="15931">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15962" id="15962" name="SteeringAngle" comment="" source="15958" target="15960">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15971" id="15971" name="SteeringCommand" comment="" source="15967" target="15969">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15980" id="15980" name="SteeringAngleRegulated" comment="" source="16325" target="15978">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15987" id="15987" name="LDCameraData" comment="" source="15983" target="16062">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="396" y="60"/>
+ </layoutData>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15960" id="15960" name="SteeringAngle" comment="-1000 if LK should be deactivated and -2000 if LK is off (NoVal ist an error). Otherwise the regulated steering output" incoming="15962" outgoing="15549">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15961" id="15961">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="276" y="468"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="216" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15983" id="15983" name="LDCameraData" comment="" incoming="15556" outgoing="15653 15987">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15984" id="15984">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LDCameraData" def="15427"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="240" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15658" id="15658" name="RumbleLKIn" comment="" incoming="15660" outgoing="15616">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15659" id="15659">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="96" y="468"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15929" id="15929" name="LK_On" comment="" incoming="15820" outgoing="15933">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15930" id="15930">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="96" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="216"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="36" y="264"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="301" height="157"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15596" id="15596" name="Rumble Delay" comment="against strongly causal cycle">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="15597" id="15597" stronglyCausal="true"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="15598" id="15598"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="15599" id="15599"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="15600" id="15600"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="15617" id="15617">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RumbleLKIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RumbleLKIn"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="RumbleLK"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="RumbleLK"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15603" id="15603" name="RumbleLK" comment="Rumble LaneKeeping aktive: 3x 0,5 sec rumble and 0,25 sec pause" outgoing="15607">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15604" id="15604">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15614" id="15614" name="RumbleLKIn" comment="" incoming="15616">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15615" id="15615">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="36" y="480"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="145" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15800" id="15800" name="State Memory" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15846" id="15846" name="Lane Keeping" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="15847" id="15847"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="15848" id="15848"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="15849" id="15849"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="15850" id="15850"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="15884" id="15884">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="15885" id="15885" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="15886" id="15886" name="Off" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="15887" id="15887" initial="true">
+ <idleTransitionsSpecifications xmi:id="15888" id="15888">
+ <actions stringRepresentation="LK_On = false">
+ <variable identifier="LK_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="15901" id="15901" name="Exit" comment="" outgoing="15903">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.3370531459259951"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="15906" id="15906" name="Entry" comment="" incoming="15907">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.6183794300718801"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="15898" id="15898" name="On" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="15899" id="15899">
+ <idleTransitionsSpecifications xmi:id="15900" id="15900">
+ <actions stringRepresentation="LK_On = true">
+ <variable identifier="LK_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="15902" id="15902" name="Entry" comment="" incoming="15903">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.313472611823808"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="15905" id="15905" name="Exit" comment="" outgoing="15907">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.6814535479687924"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="270" y="75"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="15889" id="15889">
+ <idleTransitionsSpecifications xmi:id="15890" id="15890"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="15903" id="15903" name="Activated" comment="" source="15901" target="15902">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="15904" id="15904">
+ <guard stringRepresentation="DriverAssistanceCommand != NoVal && DriverAssistanceCommand.laneKeep == On()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriverAssistanceCommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriverAssistanceCommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="laneKeep"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="15909" id="15909" name="On"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="LK_On = true">
+ <variable identifier="LK_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="15907" id="15907" name="Deactivated" comment="" source="15905" target="15906">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="15908" id="15908">
+ <guard stringRepresentation="DriverAssistanceCommand != NoVal && DriverAssistanceCommand.laneKeep == Off()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriverAssistanceCommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriverAssistanceCommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="laneKeep"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="15910" id="15910" name="Off"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="LK_On = false">
+ <variable identifier="LK_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15860" id="15860" name="DriverAssistanceCommand" comment="" incoming="15862">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15861" id="15861">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceOnOffCommands" def="4955"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15872" id="15872" name="LK_On" comment="" outgoing="15876">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15873" id="15873">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="84" y="132"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="205" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15851" id="15851" name="Adaptive Cruise Control" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="15852" id="15852"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="15853" id="15853"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="15854" id="15854"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="15855" id="15855"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="15891" id="15891">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="15892" id="15892" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="15911" id="15911" name="Off" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="15912" id="15912" initial="true">
+ <idleTransitionsSpecifications xmi:id="15913" id="15913">
+ <actions stringRepresentation="ACC_On = false">
+ <variable identifier="ACC_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="15914" id="15914" name="Exit" comment="" outgoing="15921">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.3370531459259951"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="15915" id="15915" name="Entry" comment="" incoming="15924">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.6183794300718801"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="15916" id="15916" name="On" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="15917" id="15917">
+ <idleTransitionsSpecifications xmi:id="15918" id="15918">
+ <actions stringRepresentation="ACC_On = true">
+ <variable identifier="ACC_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="15919" id="15919" name="Entry" comment="" incoming="15921">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.313472611823808"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="15920" id="15920" name="Exit" comment="" outgoing="15924">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.6814535479687924"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="270" y="75"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="15896" id="15896">
+ <idleTransitionsSpecifications xmi:id="15897" id="15897"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="15921" id="15921" name="Activated" comment="" source="15914" target="15919">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="15922" id="15922">
+ <guard stringRepresentation="DriverAssistanceCommand != NoVal && DriverAssistanceCommand.acc == On()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriverAssistanceCommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriverAssistanceCommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="acc"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="15923" id="15923" name="On"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="ACC_On = true">
+ <variable identifier="ACC_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="15924" id="15924" name="Deactivated" comment="" source="15920" target="15915">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="15925" id="15925">
+ <guard stringRepresentation="DriverAssistanceCommand != NoVal && DriverAssistanceCommand.acc == Off()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriverAssistanceCommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriverAssistanceCommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="acc"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="15926" id="15926" name="Off"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="ACC_On = false">
+ <variable identifier="ACC_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15867" id="15867" name="DriverAssistanceCommand" comment="" incoming="15869">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15868" id="15868">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceOnOffCommands" def="4955"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15879" id="15879" name="ACC_On" comment="" outgoing="15883">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15880" id="15880">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="312" y="132"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="15801" id="15801"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="15802" id="15802"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="15803" id="15803"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="15804" id="15804"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15862" id="15862" name="DriverAssistanceCommand" comment="" source="16941" target="15860">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="192" y="36"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15869" id="15869" name="DriverAssistanceCommand" comment="" source="16941" target="15867">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="420" y="36"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15876" id="15876" name="LK_On" comment="" source="15872" target="15874">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15883" id="15883" name="ACC_On" comment="" source="15879" target="16473">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16941" id="16941" name="DriverAssistanceCommand" comment="" incoming="16943" outgoing="15862 15869">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16942" id="16942">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceOnOffCommands" def="4955"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="36" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15874" id="15874" name="LK_On" comment="" incoming="15876" outgoing="15820 15836">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15875" id="15875">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="180" y="288"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16473" id="16473" name="ACC_On" comment="" incoming="15883" outgoing="15845 16477">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16474" id="16474">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="408" y="288"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="276" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="228" y="144"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="313" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="4800" id="4800"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="4801" id="4801"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="4802" id="4802"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="4803" id="4803"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8058" id="8058" name="DistanceFront" comment="" source="8054" target="16443">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8072" id="8072" name="VelocityFrontObstacle" comment="" source="8068" target="16448">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8088" id="8088" name="SteeringAngleDA" comment="" source="8084" target="8086">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8095" id="8095" name="TargetVelocityDA" comment="" source="8091" target="8093">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8102" id="8102" name="MaxAccelerationDA" comment="" source="8098" target="8100">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8118" id="8118" name="MaxAcceleration" comment="" source="16934" target="8116">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8127" id="8127" name="TargetVelocity" comment="" source="13245" target="8125">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13207" id="13207" name="Velocity" comment="" source="13203" target="16453">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15549" id="15549" name="SteeringAngle" comment="" source="15960" target="15547">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15556" id="15556" name="LDCameraData" comment="" source="15552" target="15983">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15607" id="15607" name="RumbleLK" comment="" source="15603" target="15605">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15616" id="15616" name="RumbleLKIn" comment="" source="15658" target="15614">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15820" id="15820" name="LK_On" comment="" source="15874" target="15929">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15836" id="15836" name="LK_On" comment="" source="15874" target="15834">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="264" y="228"/>
+ <points x="372" y="228"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15845" id="15845" name="ACC_On" comment="" source="16473" target="15843">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="516" y="228"/>
+ <points x="420" y="228"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16477" id="16477" name="ACC_On" comment="" source="16473" target="16480">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16943" id="16943" name="DriverAssistanceCommand" comment="" source="16944" target="16941">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16948" id="16948" name="DriverAssistanceCommand" comment="" source="16944" target="16946">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="564" y="24"/>
+ </layoutData>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8100" id="8100" name="MaxAccelerationDA" comment="" incoming="8102" outgoing="4884">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8101" id="8101">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="252" y="600"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8086" id="8086" name="SteeringAngleDA" comment="-1000 if LK should be deactivated and -2000 if LK is off (NoVal ist an error). Otherwise the regulated steering output" incoming="8088" outgoing="4893">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8087" id="8087">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="756" y="600"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="288" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8093" id="8093" name="TargetVelocityDA" comment="" incoming="8095" outgoing="4975">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8094" id="8094">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="480" y="600"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="192" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8054" id="8054" name="DistanceFront" comment="" incoming="8004" outgoing="8058">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8055" id="8055">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="612" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13203" id="13203" name="Velocity" comment="" incoming="8799" outgoing="13207">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13204" id="13204">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="696" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8068" id="8068" name="VelocityFrontObstacle" comment="Velocity of the obstacle in front (distanceFront)" incoming="8009" outgoing="8072">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8069" id="8069">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="780" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="204"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16944" id="16944" name="Control_DA" comment="" incoming="7957" outgoing="16943 16948">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16945" id="16945">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceOnOffCommands" def="4955"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="372" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15552" id="15552" name="LDCameraData" comment="" incoming="15479" outgoing="15556">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15553" id="15553">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LDCameraData" def="15427"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="96" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="288"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15605" id="15605" name="RumbleLK" comment="Rumble LaneKeeping aktive: 3x 0,5 sec rumble and 0,25 sec pause" incoming="15607">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15606" id="15606">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="96" y="600"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="216" y="432"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="337" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="4804" id="4804" name="Manual Driving" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="5874" id="5874" name="ThrottleFusion" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="5875" id="5875"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="5876" id="5876"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5877" id="5877"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="5878" id="5878"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="5914" id="5914">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="BrakePedal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="BrakePedal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12707" id="12707" name="BRAKE_DEADZONE"/>
+ </arguments>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Automatic_On"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Automatic_On"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetVelocityMD"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ThrottleAutomatic"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12708" id="12708" name="MAX_SPEED"/>
+ </arguments>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearAutomatic"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetVelocityMD"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ThrottleManual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12709" id="12709" name="MAX_SPEED"/>
+ </arguments>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearManual"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="MaxAccelerationMD"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxAcceleration"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="MaxAccelerationMD"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Negate"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxAcceleration"/>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="BrakePedal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12710" id="12710" name="BRAKE_DEADZONE"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetVelocityMD"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="MaxAccelerationMD"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="BrakePedal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12711" id="12711" name="MAX_BRAKE_VALUE"/>
+ </arguments>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="MaxAccelerationMD"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Negate"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="BrakePedal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12712" id="12712" name="MAX_BRAKE_VALUE"/>
+ </arguments>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ </statements>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5883" id="5883" name="MaxAcceleration" comment="" incoming="12273">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5884" id="5884">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12255" id="12255" name="BrakePedal" comment="" incoming="12257">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12256" id="12256">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="9751" id="9751" name="ThrottleManual" comment="" incoming="12274">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="9752" id="9752">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12263" id="12263" name="MaxAccelerationMD" comment="" outgoing="12267">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12264" id="12264">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12268" id="12268" name="TargetVelocityMD" comment="" outgoing="12272">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12269" id="12269">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12160" id="12160" name="Velocity" comment="" incoming="12275">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12161" id="12161">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="11460" id="11460" name="ThrottleAutomatic" comment="" incoming="12276">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11461" id="11461">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12471" id="12471" name="Automatic_On" comment="" incoming="12473">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12472" id="12472">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="120" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12651" id="12651" name="GearManual" comment="" incoming="12653">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12652" id="12652">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12662" id="12662" name="Gear" comment="" outgoing="12666">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12663" id="12663">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="97" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12698" id="12698" name="GearAutomatic" comment="" incoming="12700">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12699" id="12699">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="672" y="180"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="205" height="121"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="9757" id="9757" name="EngineMode" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="9758" id="9758"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="9759" id="9759"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="9760" id="9760"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="9761" id="9761"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="5826" id="5826">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="5827" id="5827" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="5828" id="5828" name="Eco2" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="5829" id="5829" initial="true">
+ <idleTransitionsSpecifications xmi:id="5830" id="5830">
+ <actions stringRepresentation="MaxAcceleration=2.0">
+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="2.0"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="5866" id="5866" name="Exit" comment="" outgoing="5868">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.5140906986121581"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="10036" id="10036" name="Entry" comment="" incoming="10037">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.299849476456476"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="5833" id="5833" name="Sport1" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="5834" id="5834">
+ <idleTransitionsSpecifications xmi:id="5835" id="5835">
+ <actions stringRepresentation="MaxAcceleration=4.0">
+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="4.0"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="5867" id="5867" name="Entry" comment="" incoming="5868">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.670143048475027"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="10029" id="10029" name="Exit" comment="" outgoing="10031">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.5191461142465229"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="328" y="76"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="10012" id="10012" name="Sport2" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="10013" id="10013">
+ <idleTransitionsSpecifications xmi:id="10014" id="10014">
+ <actions stringRepresentation="MaxAcceleration=4.0">
+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="4.0"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="10018" id="10018" name="Exit" comment="" outgoing="10020">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.6971734436886945"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="10030" id="10030" name="Entry" comment="" incoming="10031">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.4181469983996315"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="360" y="228"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="10015" id="10015" name="Eco1" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="10016" id="10016">
+ <idleTransitionsSpecifications xmi:id="10017" id="10017">
+ <actions stringRepresentation="MaxAcceleration=2.0">
+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="2.0"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="10019" id="10019" name="Entry" comment="" incoming="10020">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.3805063771123649"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="10035" id="10035" name="Exit" comment="" outgoing="10037">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.3397056595989996"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="108" y="240"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="5831" id="5831">
+ <idleTransitionsSpecifications xmi:id="5832" id="5832"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="5868" id="5868" name="sport" comment="" source="5866" target="5867">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="5869" id="5869">
+ <guard stringRepresentation="DriveMode != NoVal && DriveMode.EngineMode == Switch()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EngineMode"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6398" id="6398" name="Switch"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="MaxAcceleration=4.0">
+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="4.0"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="10020" id="10020" name="eco" comment="" source="10018" target="10019">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="10021" id="10021">
+ <guard stringRepresentation="DriveMode != NoVal && DriveMode.EngineMode == Switch()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EngineMode"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="10033" id="10033" name="Switch"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="MaxAcceleration=2.0">
+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="2.0"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="10031" id="10031" name="released" comment="" source="10029" target="10030">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="10032" id="10032">
+ <guard stringRepresentation="DriveMode != NoVal && DriveMode.EngineMode == NoOp()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EngineMode"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="10034" id="10034" name="NoOp"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="MaxAcceleration=4.0">
+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="4.0"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="10037" id="10037" name="released" comment="" source="10035" target="10036">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="10038" id="10038">
+ <guard stringRepresentation="DriveMode != NoVal && DriveMode.EngineMode == NoOp()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EngineMode"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="10039" id="10039" name="NoOp"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="MaxAcceleration=2">
+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12235" id="12235" name="DriveMode" comment="" incoming="12237">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12236" id="12236">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeSettings" def="9644"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5881" id="5881" name="MaxAcceleration" comment="" outgoing="12273">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5882" id="5882">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="192" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="168"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="5723" id="5723" name="DrivingMode" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="9764" id="9764"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="9765" id="9765"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="9766" id="9766"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="9767" id="9767"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="9939" id="9939">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="15118" id="15118" name="Parking"/>
+ </arguments>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="GasPedalOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="GearShiftOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="15119" id="15119" name="Forward"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="GasPedalOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedalIn"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="GearShiftOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShiftIn"/>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="15120" id="15120" name="Backward"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="GasPedalOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Negate"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedalIn"/>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="GearShiftOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="StateNew"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ </value>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="StateNew"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="StateOld"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="GearShiftOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="GasPedalOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12240" id="12240" name="DriveMode" comment="" incoming="12242">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12241" id="12241">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeSettings" def="9644"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12230" id="12230" name="GasPedalIn" comment="" incoming="12232">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12231" id="12231">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12225" id="12225" name="GearShiftIn" comment="" incoming="12227">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12226" id="12226">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11448" id="11448" name="GasPedalOut" comment="" outgoing="12277 12278">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11449" id="11449">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11453" id="11453" name="GearShiftOut" comment="" outgoing="12279 12280">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11454" id="11454">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12585" id="12585" name="StateNew" comment="" outgoing="12589">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12586" id="12586">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveMode" def="6272"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12596" id="12596" name="StateOld" comment="" incoming="12598">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12597" id="12597">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveMode" def="6272"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="264"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="10083" id="10083" name="Scale" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="10084" id="10084"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="10085" id="10085"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="10086" id="10086"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="10087" id="10087"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="10166" id="10166">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringAngleMD"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17280" id="17280" name="scaleSteering"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17281" id="17281" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringWheel"/>
+ </value>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringAngleMD"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringWheel"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12250" id="12250" name="SteeringWheel" comment="" incoming="12252">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12251" id="12251">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12258" id="12258" name="SteeringAngleMD" comment="" outgoing="12262">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12259" id="12259">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12162" id="12162" name="Velocity" comment="" incoming="12281">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12163" id="12163">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="408" y="36"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="12164" id="12164" name="Automatic" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="12165" id="12165"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="12166" id="12166"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="12167" id="12167"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="12168" id="12168"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="12169" id="12169" name="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="12170" id="12170" name="Gearbox" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="12171" id="12171" name="Gear1" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="12172" id="12172" initial="true">
+ <idleTransitionsSpecifications xmi:id="12173" id="12173">
+ <actions stringRepresentation="Throttle=gear1(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12673" id="12673" name="gear1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=1">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="11345" id="11345" name="Exit" comment="" outgoing="11397">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.6370985893475756"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="12175" id="12175" name="Entry" comment="" incoming="11400">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.6714496051147665"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="12176" id="12176" name="Entry1" comment="" incoming="11427">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.3030816085227003"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="12177" id="12177" name="Entry2" comment="" incoming="11430">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.1801892830972098"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="12178" id="12178" name="Entry3" comment="" incoming="11433">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-3.0860941483440762"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="12179" id="12179" name="Entry4" comment="" incoming="11436">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="3.6662520491509265"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="12180" id="12180" name="Entry5" comment="" incoming="11439">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.8782494456033576"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="151" y="81"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="12181" id="12181" name="Gear2" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="12182" id="12182">
+ <idleTransitionsSpecifications xmi:id="11354" id="11354">
+ <actions stringRepresentation="Throttle=gear2(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12674" id="12674" name="gear2"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=2">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="12183" id="12183" name="Entry" comment="" incoming="11397">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.498091544796509"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="12184" id="12184" name="Exit" comment="" outgoing="11400">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.2048917862850832"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="11358" id="11358" name="Exit1" comment="" outgoing="11403">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.6986598247214632"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="11359" id="11359" name="Entry1" comment="" incoming="11406">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.10220671810725353"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="12185" id="12185" name="Exit2" comment="" outgoing="11433">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="3.0750244898139694"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="141" y="275"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="11361" id="11361" name="Gear3" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="11362" id="11362">
+ <idleTransitionsSpecifications xmi:id="12186" id="12186">
+ <actions stringRepresentation="Throttle=gear3(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12675" id="12675" name="gear3"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=3">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="3"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="12188" id="12188" name="Entry" comment="" incoming="11403">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.7441970937399125"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="12189" id="12189" name="Exit" comment="" outgoing="11406">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.2778948311872336"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="12190" id="12190" name="Exit1" comment="" outgoing="11409">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.5182132651839548"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="12191" id="12191" name="Entry1" comment="" incoming="11412">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.3805063771123649"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="12192" id="12192" name="Exit2" comment="" outgoing="11427">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.770701364777131"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="392" y="81"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="12193" id="12193" name="Gear4" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="12194" id="12194">
+ <idleTransitionsSpecifications xmi:id="12195" id="12195">
+ <actions stringRepresentation="Throttle=gear4(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12676" id="12676" name="gear4"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=4">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="4"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="12197" id="12197" name="Entry" comment="" incoming="11409">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.6374266921106404"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="12198" id="12198" name="Exit" comment="" outgoing="11412">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.9138202672156002"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="12199" id="12199" name="Exit1" comment="" outgoing="11415">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.9899882879187156"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="12200" id="12200" name="Entry1" comment="" incoming="11418">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.3759925140943508"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="12201" id="12201" name="Exit2" comment="" outgoing="11436">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-3.2980915447965096"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="390" y="282"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="12202" id="12202" name="Gear5" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="12203" id="12203">
+ <idleTransitionsSpecifications xmi:id="12204" id="12204">
+ <actions stringRepresentation="Throttle=gear5(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12677" id="12677" name="gear5"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=5">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="5"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="12206" id="12206" name="Entry" comment="" incoming="11415">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.903611428581404"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="11384" id="11384" name="Exit" comment="" outgoing="11418">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.426294832040614"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="11385" id="11385" name="Exit1" comment="" outgoing="11421">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.6475682180646747"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="11386" id="11386" name="Entry1" comment="" incoming="11424">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.7399748839758713"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="11387" id="11387" name="Exit2" comment="" outgoing="11430">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.8632929945846817"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="596" y="77"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="11388" id="11388" name="Gear6" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="11389" id="11389">
+ <idleTransitionsSpecifications xmi:id="11390" id="11390">
+ <actions stringRepresentation="Throttle=gear6(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12678" id="12678" name="gear6"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=6">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="6"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="11392" id="11392" name="Entry" comment="" incoming="11421">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.2612427838495885"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="11393" id="11393" name="Exit" comment="" outgoing="11424">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.0428659894792065"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="11394" id="11394" name="Exit1" comment="" outgoing="11439">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.45319846610996845"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="609" y="280"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="11395" id="11395">
+ <idleTransitionsSpecifications xmi:id="11396" id="11396"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="11397" id="11397" name="shiftUp" comment="" source="11345" target="12183">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="11398" id="11398">
+ <guard stringRepresentation="Velocity != NoVal && Velocity >= 0 && (GasPedal >= 0.8 && Velocity/MAX_SPEED() >= gear1(0.7))">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.8"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12371" id="12371" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12372" id="12372" name="gear1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.7"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear2(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12679" id="12679" name="gear2"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=2">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="11400" id="11400" name="shiftDown" comment="" source="12184" target="12175">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="11401" id="11401">
+ <guard stringRepresentation="(GasPedal <= 0.3 && Velocity/MAX_SPEED() <= gear2(0.4)) || Velocity/MAX_SPEED() <= gear2(0.2)">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.3"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12399" id="12399" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12400" id="12400" name="gear2"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.4"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12401" id="12401" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12402" id="12402" name="gear2"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.2"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear1(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12680" id="12680" name="gear1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=1">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="11403" id="11403" name="shiftUp" comment="" source="11358" target="12188">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="11404" id="11404">
+ <guard stringRepresentation="GasPedal >= 0.8 && Velocity/MAX_SPEED() >= gear2(0.7)">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.8"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12373" id="12373" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12374" id="12374" name="gear2"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.7"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear3(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12681" id="12681" name="gear3"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=3">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="3"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="11406" id="11406" name="shiftDown" comment="" source="12189" target="11359">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="11407" id="11407">
+ <guard stringRepresentation="(GasPedal <= 0.3 && Velocity/MAX_SPEED() <= gear3(0.4)) || Velocity/MAX_SPEED() <= gear3(0.2)">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.3"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12403" id="12403" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12404" id="12404" name="gear3"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.4"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12405" id="12405" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12406" id="12406" name="gear3"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.2"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear2(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12682" id="12682" name="gear2"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=2">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="11409" id="11409" name="shiftUp" comment="" source="12190" target="12197">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="11410" id="11410">
+ <guard stringRepresentation="GasPedal >= 0.8 && Velocity/MAX_SPEED() >= gear3(0.7)">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.8"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12379" id="12379" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12380" id="12380" name="gear3"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.7"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear4(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12683" id="12683" name="gear4"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=4">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="4"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="11412" id="11412" name="shiftDown" comment="" source="12198" target="12191">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="11413" id="11413">
+ <guard stringRepresentation="(GasPedal <= 0.3 && Velocity/MAX_SPEED() <= gear4(0.4)) || Velocity/MAX_SPEED() <= gear4(0.2)">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.3"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12407" id="12407" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12408" id="12408" name="gear4"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.4"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12409" id="12409" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12410" id="12410" name="gear4"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.2"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear3(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12684" id="12684" name="gear3"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=3">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="3"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="11415" id="11415" name="shiftUp" comment="" source="12199" target="12206">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="11416" id="11416">
+ <guard stringRepresentation="GasPedal >= 0.8 && Velocity/MAX_SPEED() >= gear4(0.7)">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.8"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12381" id="12381" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12382" id="12382" name="gear4"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.7"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear5(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12685" id="12685" name="gear5"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=5">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="5"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="11418" id="11418" name="shiftDown" comment="" source="11384" target="12200">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="11419" id="11419">
+ <guard stringRepresentation="(GasPedal <= 0.3 && Velocity/MAX_SPEED() <= gear5(0.4)) || Velocity/MAX_SPEED() <= gear5(0.2)">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.3"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12411" id="12411" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12412" id="12412" name="gear5"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.4"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12413" id="12413" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12414" id="12414" name="gear5"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.2"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear4(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12686" id="12686" name="gear4"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=4">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="4"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="11421" id="11421" name="shiftUp" comment="" source="11385" target="11392">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="11422" id="11422">
+ <guard stringRepresentation="GasPedal >= 0.8 && Velocity/MAX_SPEED() >= gear5(0.7)">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.8"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12383" id="12383" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12384" id="12384" name="gear5"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.7"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear6(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12687" id="12687" name="gear6"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=6">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="6"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="11424" id="11424" name="shiftDown" comment="" source="11393" target="11386">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="11425" id="11425">
+ <guard stringRepresentation="(GasPedal <= 0.3 && Velocity/MAX_SPEED() <= gear6(0.4)) || Velocity/MAX_SPEED() <= gear6(0.2)">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.3"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12415" id="12415" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12416" id="12416" name="gear6"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.4"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12417" id="12417" name="MAX_SPEED"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12418" id="12418" name="gear6"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.2"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear5(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12688" id="12688" name="gear5"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=5">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="5"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="11427" id="11427" name="reset" comment="" source="12192" target="12176">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="11428" id="11428">
+ <guard stringRepresentation="GearShift==0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear1(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12690" id="12690" name="gear1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=1">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="11430" id="11430" name="reset" comment="" source="11387" target="12177">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="11431" id="11431">
+ <guard stringRepresentation="GearShift==0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear1(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12691" id="12691" name="gear1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=1">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="419" y="55"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="11433" id="11433" name="reset" comment="" source="12185" target="12178">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="11434" id="11434">
+ <guard stringRepresentation="GearShift==0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear1(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12689" id="12689" name="gear1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=1">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="118" y="222"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="11436" id="11436" name="reset" comment="" source="12201" target="12179">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="11437" id="11437">
+ <guard stringRepresentation="GearShift==0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear1(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12692" id="12692" name="gear1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=1">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="119" y="338"/>
+ <points x="61" y="240"/>
+ <points x="90" y="119"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="11439" id="11439" name="reset" comment="" source="11394" target="12180">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="11440" id="11440">
+ <guard stringRepresentation="GearShift==0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear1(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12693" id="12693" name="gear1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=1">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="733" y="198"/>
+ <points x="692" y="75"/>
+ <points x="336" y="39"/>
+ </layoutData>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="11455" id="11455" name="GearShift" comment="" incoming="12280">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11456" id="11456">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="11450" id="11450" name="GasPedal" comment="" incoming="12278">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11451" id="11451">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11458" id="11458" name="Throttle" comment="" outgoing="12276">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11459" id="11459">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="192"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="11476" id="11476" name="Velocity" comment="" incoming="12282">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11477" id="11477">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="120"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12696" id="12696" name="Gear" comment="" outgoing="12700">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12697" id="12697">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="EAST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="396" y="384"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="11087" id="11087" name="VelocityMem" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="11088" id="11088" stronglyCausal="true"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="12208" id="12208"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="12209" id="12209"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="12210" id="12210"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="12211" id="12211">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="VelocityOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityIn"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LoopOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityIn"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="VelocityOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LoopIn"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LoopOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LoopIn"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12245" id="12245" name="VelocityIn" comment="" incoming="12247">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12246" id="12246">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12218" id="12218" name="LoopOut" comment="" outgoing="12222">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12219" id="12219">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="73" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11474" id="11474" name="VelocityOut" comment="" outgoing="12275 12281 12282">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11475" id="11475">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12220" id="12220" name="LoopIn" comment="" incoming="12222">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12221" id="12221">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="420" y="120"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="121" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="6500" id="6500" name="Manual" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="6501" id="6501"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="6502" id="6502"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="6503" id="6503"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="9809" id="9809"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="9810" id="9810" name="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="9811" id="9811" name="Gearbox" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="9812" id="9812" name="Gear1" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="9813" id="9813" initial="true">
+ <idleTransitionsSpecifications xmi:id="9814" id="9814">
+ <actions stringRepresentation="Throttle=gear1(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12626" id="12626" name="gear1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=1">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="9816" id="9816" name="Exit" comment="" outgoing="9850">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.6370985893475756"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="9817" id="9817" name="Entry" comment="" incoming="9852">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.6714496051147665"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="9818" id="9818" name="Entry1" comment="" incoming="6583">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.3030816085227003"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="6514" id="6514" name="Entry2" comment="" incoming="6585">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.1801892830972098"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="6515" id="6515" name="Entry3" comment="" incoming="9867">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-3.0860941483440762"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="6516" id="6516" name="Entry4" comment="" incoming="9869">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="3.6662520491509265"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="6517" id="6517" name="Entry5" comment="" incoming="9871">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.8782494456033576"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="151" y="81"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="9819" id="9819" name="Gear2" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="9820" id="9820">
+ <idleTransitionsSpecifications xmi:id="9821" id="9821">
+ <actions stringRepresentation="Throttle=gear2(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12627" id="12627" name="gear2"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=2">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="9823" id="9823" name="Entry" comment="" incoming="9850">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.498091544796509"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="6523" id="6523" name="Exit" comment="" outgoing="9852">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.2048917862850832"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="6524" id="6524" name="Exit1" comment="" outgoing="6567">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.6986598247214632"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="6525" id="6525" name="Entry1" comment="" incoming="6569">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.10220671810725353"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="6526" id="6526" name="Exit2" comment="" outgoing="9867">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="3.0750244898139694"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="141" y="275"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="9824" id="9824" name="Gear3" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="9825" id="9825">
+ <idleTransitionsSpecifications xmi:id="9826" id="9826">
+ <actions stringRepresentation="Throttle=gear3(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12628" id="12628" name="gear3"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=3">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="3"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="9828" id="9828" name="Entry" comment="" incoming="6567">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.7441970937399125"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="6532" id="6532" name="Exit" comment="" outgoing="6569">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.2778948311872336"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="6533" id="6533" name="Exit1" comment="" outgoing="9855">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.5182132651839548"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="9829" id="9829" name="Entry1" comment="" incoming="9857">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.3805063771123649"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="9830" id="9830" name="Exit2" comment="" outgoing="6583">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.770701364777131"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="392" y="81"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="9831" id="9831" name="Gear4" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="9832" id="9832">
+ <idleTransitionsSpecifications xmi:id="9833" id="9833">
+ <actions stringRepresentation="Throttle=gear4(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12629" id="12629" name="gear4"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=4">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="4"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="9835" id="9835" name="Entry" comment="" incoming="9855">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.6374266921106404"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="9836" id="9836" name="Exit" comment="" outgoing="9857">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.9138202672156002"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="6542" id="6542" name="Exit1" comment="" outgoing="9859">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.9899882879187156"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="6543" id="6543" name="Entry1" comment="" incoming="9861">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.3759925140943508"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="6544" id="6544" name="Exit2" comment="" outgoing="9869">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-3.2980915447965096"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="390" y="282"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="6545" id="6545" name="Gear5" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="9837" id="9837">
+ <idleTransitionsSpecifications xmi:id="9838" id="9838">
+ <actions stringRepresentation="Throttle=gear5(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12630" id="12630" name="gear5"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=5">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="5"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="6549" id="6549" name="Entry" comment="" incoming="9859">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.903611428581404"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="9839" id="9839" name="Exit" comment="" outgoing="9861">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.426294832040614"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="9840" id="9840" name="Exit1" comment="" outgoing="9863">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.6475682180646747"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="9841" id="9841" name="Entry1" comment="" incoming="9865">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.7399748839758713"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="9842" id="9842" name="Exit2" comment="" outgoing="6585">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.8632929945846817"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="596" y="77"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="9843" id="9843" name="Gear6" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="9844" id="9844">
+ <idleTransitionsSpecifications xmi:id="9845" id="9845">
+ <actions stringRepresentation="Throttle=gear6(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12631" id="12631" name="gear6"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=6">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="6"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="6558" id="6558" name="Entry" comment="" incoming="9863">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.2612427838495885"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="6559" id="6559" name="Exit" comment="" outgoing="9865">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.0428659894792065"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="9847" id="9847" name="Exit1" comment="" outgoing="9871">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.45319846610996845"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="609" y="280"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="9848" id="9848">
+ <idleTransitionsSpecifications xmi:id="9849" id="9849"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="9850" id="9850" name="shiftUp" comment="" source="9816" target="9823">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="9851" id="9851">
+ <guard stringRepresentation="GearShift == 1">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear2(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12632" id="12632" name="gear2"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=2">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="9852" id="9852" name="shiftDown" comment="" source="6523" target="9817">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="9853" id="9853">
+ <guard stringRepresentation="GearShift == -1">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="-1"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear1(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12633" id="12633" name="gear1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=1">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="6567" id="6567" name="shiftUp" comment="" source="6524" target="9828">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="6568" id="6568">
+ <guard stringRepresentation="GearShift==1">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear3(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12634" id="12634" name="gear3"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=3">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="3"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="6569" id="6569" name="shiftDown" comment="" source="6532" target="6525">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="9854" id="9854">
+ <guard stringRepresentation="GearShift==-1">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="-1"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear2(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12635" id="12635" name="gear2"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=2">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="9855" id="9855" name="shiftUp" comment="" source="6533" target="9835">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="9856" id="9856">
+ <guard stringRepresentation="GearShift==1">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear4(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12636" id="12636" name="gear4"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=4">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="4"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="9857" id="9857" name="shiftDown" comment="" source="9836" target="9829">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="9858" id="9858">
+ <guard stringRepresentation="GearShift==-1">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="-1"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear3(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12637" id="12637" name="gear3"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=3">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="3"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="9859" id="9859" name="shiftUp" comment="" source="6542" target="6549">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="9860" id="9860">
+ <guard stringRepresentation="GearShift==1">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear5(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12638" id="12638" name="gear5"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=5">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="5"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="9861" id="9861" name="shiftDown" comment="" source="9839" target="6543">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="9862" id="9862">
+ <guard stringRepresentation="GearShift==-1">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="-1"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear4(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12639" id="12639" name="gear4"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=4">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="4"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="9863" id="9863" name="shiftUp" comment="" source="9840" target="6558">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="9864" id="9864">
+ <guard stringRepresentation="GearShift==1">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear6(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12640" id="12640" name="gear6"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=6">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="6"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="9865" id="9865" name="shiftDown" comment="" source="6559" target="9841">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="9866" id="9866">
+ <guard stringRepresentation="GearShift==-1">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="-1"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear5(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12641" id="12641" name="gear5"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=5">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="5"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="6583" id="6583" name="reset" comment="" source="9830" target="9818">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="6584" id="6584">
+ <guard stringRepresentation="GearShift==0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear1(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12642" id="12642" name="gear1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=1">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="6585" id="6585" name="reset" comment="" source="9842" target="6514">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="6586" id="6586">
+ <guard stringRepresentation="GearShift==0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear1(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12643" id="12643" name="gear1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=1">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="419" y="55"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="9867" id="9867" name="reset" comment="" source="6526" target="6515">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="9868" id="9868">
+ <guard stringRepresentation="GearShift==0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear1(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12644" id="12644" name="gear1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=1">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="118" y="222"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="9869" id="9869" name="reset" comment="" source="6544" target="6516">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="9870" id="9870">
+ <guard stringRepresentation="GearShift==0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear1(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12645" id="12645" name="gear1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=1">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="119" y="338"/>
+ <points x="61" y="240"/>
+ <points x="90" y="119"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="9871" id="9871" name="reset" comment="" source="9847" target="6517">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="6592" id="6592">
+ <guard stringRepresentation="GearShift==0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShift"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Throttle=gear1(GasPedal)">
+ <variable identifier="Throttle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12646" id="12646" name="gear1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GasPedal"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" Gear=1">
+ <variable identifier="Gear"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="733" y="198"/>
+ <points x="692" y="75"/>
+ <points x="336" y="39"/>
+ </layoutData>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="9872" id="9872" name="GearShift" comment="" incoming="12279">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="6607" id="6607">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="9873" id="9873" name="GasPedal" comment="" incoming="12277">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="9874" id="9874">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="9875" id="9875" name="Throttle" comment="" outgoing="12274">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="9876" id="9876">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="192"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12649" id="12649" name="Gear" comment="" outgoing="12653">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12650" id="12650">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="192" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="396" y="264"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="12576" id="12576" name="Mem" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="12577" id="12577" stronglyCausal="true"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="12578" id="12578"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="12579" id="12579"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="12580" id="12580"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="12608" id="12608">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="StateOld"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="StateNew"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12587" id="12587" name="StateNew" comment="" incoming="12589">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12588" id="12588">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveMode" def="6272"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="97"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12594" id="12594" name="StateOld" comment="" outgoing="12598">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12595" id="12595">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveMode" def="6272"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="180" y="384"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="121" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="4805" id="4805"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="4806" id="4806"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="4807" id="4807"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="4808" id="4808"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12273" id="12273" name="MaxAcceleration" comment="" source="5881" target="5883">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12274" id="12274" name="Throttle" comment="" source="9875" target="9751">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12275" id="12275" name="" comment="" source="11474" target="12160">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="588" y="156"/>
+ <points x="636" y="156"/>
+ <points x="636" y="204"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12276" id="12276" name="Throttle" comment="" source="11458" target="11460">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="744" y="396"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12277" id="12277" name="GasPedal" comment="" source="11448" target="9873">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12278" id="12278" name="" comment="" source="11448" target="11450">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="372" y="276"/>
+ <points x="372" y="396"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12279" id="12279" name="GearShift" comment="" source="11453" target="9872">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12280" id="12280" name="" comment="" source="11453" target="11455">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="360" y="324"/>
+ <points x="360" y="444"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12281" id="12281" name="Velocity" comment="" source="11474" target="12162">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="588" y="156"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12282" id="12282" name="" comment="" source="11474" target="11476">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="636" y="156"/>
+ <points x="636" y="360"/>
+ <points x="528" y="360"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12222" id="12222" name="Loop" comment="" source="12218" target="12220">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12227" id="12227" name="GearShift" comment="" source="12223" target="12225">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12232" id="12232" name="GasPedal" comment="" source="12228" target="12230">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12237" id="12237" name="DriveMode" comment="" source="13744" target="12235">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="96" y="240"/>
+ <points x="96" y="216"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12242" id="12242" name="" comment="" source="13744" target="12240">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="96" y="240"/>
+ <points x="96" y="276"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12247" id="12247" name="" comment="" source="12243" target="12245">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12252" id="12252" name="" comment="" source="12248" target="12250">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12257" id="12257" name="BrakePedal" comment="" source="12253" target="12255">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12262" id="12262" name="" comment="" source="12258" target="12260">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12267" id="12267" name="MaxAcceleration" comment="" source="12263" target="12265">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12272" id="12272" name="TargetVelocity" comment="" source="12268" target="12270">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12473" id="12473" name="Automatic_On" comment="" source="12469" target="12471">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12589" id="12589" name="StateNew" comment="" source="12585" target="12587">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12598" id="12598" name="StateOld" comment="" source="12594" target="12596">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12653" id="12653" name="Gear" comment="" source="12649" target="12651">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="720" y="324"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12666" id="12666" name="Gear" comment="" source="12662" target="12664">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12700" id="12700" name="Gear" comment="" source="12696" target="12698">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="768" y="444"/>
+ </layoutData>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12265" id="12265" name="MaxAccelerationMD" comment="" incoming="12267" outgoing="4866">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12266" id="12266">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="960" y="204"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12270" id="12270" name="TargetVelocityMD" comment="" incoming="12272" outgoing="4984">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12271" id="12271">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="960" y="252"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="204" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12228" id="12228" name="GasPedal" comment="" incoming="5291" outgoing="12232">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12229" id="12229">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="24" y="288"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="240"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12253" id="12253" name="BrakePedal" comment="" incoming="5300" outgoing="12257">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12254" id="12254">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="588" y="240"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12248" id="12248" name="SteeringWheel" comment="" incoming="5309" outgoing="12252">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12249" id="12249">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="24" y="60"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12223" id="12223" name="GearShift" comment="" incoming="5318" outgoing="12227">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12224" id="12224">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="24" y="312"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="312"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13744" id="13744" name="DriveMode" comment="" incoming="13746" outgoing="12237 12242">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13745" id="13745">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeSettings" def="9644"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="24" y="228"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12243" id="12243" name="Velocity" comment="" incoming="10003" outgoing="12247">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12244" id="12244">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="324" y="144"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12260" id="12260" name="SteeringAngleMD" comment="" incoming="12262" outgoing="10158">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12261" id="12261">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="960" y="60"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="300" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12469" id="12469" name="Automatic_On" comment="" incoming="12450" outgoing="12473">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12470" id="12470">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="792" y="384"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="277"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12664" id="12664" name="Gear" comment="" incoming="12666" outgoing="12466">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12665" id="12665">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="852" y="384"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="253" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="780" y="432"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="349" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="4812" id="4812" name="Coordinator" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="6878" id="6878" name="Max Acceleration" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="6879" id="6879"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="6880" id="6880"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="6881" id="6881"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="6882" id="6882"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="6914" id="6914">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxAccelerationEB"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Not"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ForceEBOff"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxAccelerationEB"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ACC_On_Correct"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ACC_On_Correct"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxAccelerationDA"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxAccelerationDA"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxAccelerationMD"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxAccelerationMD"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="MaxAcceleration"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18004" id="18004" name="MaxAcceleration" comment="" outgoing="6899">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18005" id="18005">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16249" id="16249" name="MaxAccelerationEB" comment="" incoming="16251">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16250" id="16250">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16254" id="16254" name="MaxAccelerationMD" comment="" incoming="16256">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16255" id="16255">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16200" id="16200" name="MaxAccelerationDA" comment="" incoming="16202">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16201" id="16201">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16269" id="16269" name="ACC_On_Correct" comment="is true, when ACC ist on and brake is not aktiv and DA velocity is higher than MD velocity" incoming="16271">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16270" id="16270">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17624" id="17624" name="ForceEBOff" comment="" incoming="17626">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17625" id="17625">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="792" y="156"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="217" height="145"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="6883" id="6883" name="Target Velocity" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="6884" id="6884"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="6885" id="6885"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="6886" id="6886"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="6887" id="6887"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="6971" id="6971">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxAccelerationEB"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Not"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ForceEBOff"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetVelocity"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17634" id="17634" name="EB_VELOCITY"/>
+ </value>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ACC_On_Correct"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ACC_On_Correct"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetVelocityDA"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetVelocity"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetVelocityDA"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetVelocity"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17635" id="17635" name="EB_VELOCITY"/>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetVelocityMD"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetVelocity"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetVelocityMD"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetVelocity"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17636" id="17636" name="EB_VELOCITY"/>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="6902" id="6902" name="TargetVelocity" comment="" outgoing="6906">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="6903" id="6903">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16274" id="16274" name="TargetVelocityMD" comment="" incoming="16276">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16275" id="16275">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16279" id="16279" name="TargetVelocityDA" comment="" incoming="16281">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16280" id="16280">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16264" id="16264" name="ACC_On_Correct" comment="is true, when ACC ist on and brake is not aktiv and DA velocity is higher than MD velocity" incoming="16266">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16265" id="16265">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16259" id="16259" name="MaxAccelerationEB" comment="" incoming="16261">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16260" id="16260">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17631" id="17631" name="ForceEBOff" comment="" incoming="17633">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17632" id="17632">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="792" y="288"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="217" height="145"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="6888" id="6888" name="Steering Angle" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="6889" id="6889"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="6890" id="6890"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="6891" id="6891"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="6892" id="6892"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="6972" id="6972">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngleMD"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LK_On_Correct"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Not"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LK_On_Correct"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16245" id="16245" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngleMD"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16246" id="16246" name="STEERING_DEADZONE"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringAngle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngleMD"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LK_On_Correct"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LK_On_Correct"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngleDA"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringAngle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngleDA"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringAngle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="6909" id="6909" name="SteeringAngle" comment="" outgoing="6913">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="6910" id="6910">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16195" id="16195" name="LK_On_Correct" comment="is true, when LaneKeeping is on and no manual steering" incoming="16197">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16196" id="16196">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="6984" id="6984" name="SteeringAngleMD" comment="" incoming="6986">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="6985" id="6985">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16242" id="16242" name="SteeringAngleDA" comment="-1000 if LK should be deactivated and -2000 if LK is off (NoVal ist an error). Otherwise the regulated steering output" incoming="16244">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16243" id="16243">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="396" y="576"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="8381" id="8381" name="DA States" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="8419" id="8419" name="Adaptive Cruise Control" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="8420" id="8420"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="8421" id="8421"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="8422" id="8422"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="8423" id="8423"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="8474" id="8474">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="8475" id="8475" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="8476" id="8476" name="Off" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="8477" id="8477" initial="true">
+ <idleTransitionsSpecifications xmi:id="8478" id="8478">
+ <actions stringRepresentation="acc = KeepCurrentState()">
+ <variable identifier="acc"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8632" id="8632" name="KeepCurrentState"/>
+ </value>
+ </actions>
+ <actions stringRepresentation="
acc_On = Off()">
+ <variable identifier="acc_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8633" id="8633" name="Off"/>
+ </value>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="8491" id="8491" name="Exit" comment="" outgoing="8493">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.24995839572194278"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="8496" id="8496" name="Entry" comment="" incoming="8497">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.5984188934785372"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="8488" id="8488" name="On" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="8489" id="8489">
+ <idleTransitionsSpecifications xmi:id="8490" id="8490">
+ <actions stringRepresentation="acc = KeepCurrentState()">
+ <variable identifier="acc"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8634" id="8634" name="KeepCurrentState"/>
+ </value>
+ </actions>
+ <actions stringRepresentation="
acc_On = On()">
+ <variable identifier="acc_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8635" id="8635" name="On"/>
+ </value>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="8492" id="8492" name="Entry" comment="" incoming="8493">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.636715714859559"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="8495" id="8495" name="Exit" comment="" outgoing="8497">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.8632929945846817"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="252" y="79"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="8479" id="8479">
+ <idleTransitionsSpecifications xmi:id="8480" id="8480"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="8493" id="8493" name="On pressed" comment="" source="8491" target="8492">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="8494" id="8494">
+ <guard stringRepresentation="DACommand.acc == Pressed()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DACommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="acc"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8501" id="8501" name="Pressed"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="acc = On()">
+ <variable identifier="acc"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8636" id="8636" name="On"/>
+ </value>
+ </actions>
+ <actions stringRepresentation="
acc_On = On()">
+ <variable identifier="acc_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8637" id="8637" name="On"/>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="8497" id="8497" name="Off pressed" comment="" source="8495" target="8496">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="8498" id="8498">
+ <guard stringRepresentation="((DA_TurnOff != NoVal) && DA_TurnOff.acc) || (DACommand != NoVal && DACommand.acc == Pressed())">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DA_TurnOff"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DA_TurnOff"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="acc"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DACommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DACommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="acc"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16502" id="16502" name="Pressed"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="acc = Off()">
+ <variable identifier="acc"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8638" id="8638" name="Off"/>
+ </value>
+ </actions>
+ <actions stringRepresentation="
acc_On = Off()">
+ <variable identifier="acc_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8639" id="8639" name="Off"/>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8445" id="8445" name="DACommand" comment="" incoming="8447">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8446" id="8446">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceEvents" def="7958"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8459" id="8459" name="acc" comment="" outgoing="8463">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8460" id="8460">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_Commands" def="7964"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8615" id="8615" name="acc_On" comment="" outgoing="8619">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8616" id="8616">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_Commands" def="7964"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10398" id="10398" name="DA_TurnOff" comment="for turning off the driver assistances: true if DA modul should be turned off" incoming="10400">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10399" id="10399">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_TurnOff_Commands" def="16177"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="96" y="228"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="8424" id="8424" name="Lane Keeping" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="8425" id="8425"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="8426" id="8426"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="8427" id="8427"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="8428" id="8428"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="8481" id="8481">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="8482" id="8482" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="8505" id="8505" name="Off" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="8506" id="8506" initial="true">
+ <idleTransitionsSpecifications xmi:id="8507" id="8507">
+ <actions stringRepresentation="laneKeep = KeepCurrentState()">
+ <variable identifier="laneKeep"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8640" id="8640" name="KeepCurrentState"/>
+ </value>
+ </actions>
+ <actions stringRepresentation="
laneKeep_On = Off()">
+ <variable identifier="laneKeep_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8641" id="8641" name="Off"/>
+ </value>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="8642" id="8642" name="Exit" comment="" outgoing="8644">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.6947382761967033"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="8647" id="8647" name="Entry" comment="" incoming="8648">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.5779019369622457"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="61" y="68"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="8511" id="8511" name="On" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="8512" id="8512">
+ <idleTransitionsSpecifications xmi:id="8513" id="8513">
+ <actions stringRepresentation="laneKeep = KeepCurrentState()">
+ <variable identifier="laneKeep"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8650" id="8650" name="KeepCurrentState"/>
+ </value>
+ </actions>
+ <actions stringRepresentation="
laneKeep_On = On()">
+ <variable identifier="laneKeep_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8651" id="8651" name="On"/>
+ </value>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="8643" id="8643" name="Entry" comment="" incoming="8644">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.516107613350564"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="8646" id="8646" name="Exit" comment="" outgoing="8648">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.723368324010564"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="241" y="75"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="8486" id="8486">
+ <idleTransitionsSpecifications xmi:id="8487" id="8487"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="8644" id="8644" name="On pressed" comment="" source="8642" target="8643">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="8645" id="8645">
+ <guard stringRepresentation="DACommand.laneKeep == Pressed()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DACommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="laneKeep"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8652" id="8652" name="Pressed"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="laneKeep = On()">
+ <variable identifier="laneKeep"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8654" id="8654" name="On"/>
+ </value>
+ </actions>
+ <actions stringRepresentation="
laneKeep_On = On()">
+ <variable identifier="laneKeep_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8655" id="8655" name="On"/>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="8648" id="8648" name="Off pressed" comment="" source="8646" target="8647">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="8649" id="8649">
+ <guard stringRepresentation="((DA_TurnOff != NoVal ) && DA_TurnOff.laneKeep) || (DACommand != NoVal && DACommand.laneKeep == Pressed())">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DA_TurnOff"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DA_TurnOff"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="laneKeep"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DACommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DACommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="laneKeep"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16505" id="16505" name="Pressed"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="laneKeep = Off()">
+ <variable identifier="laneKeep"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8656" id="8656" name="Off"/>
+ </value>
+ </actions>
+ <actions stringRepresentation="
laneKeep_On = Off()">
+ <variable identifier="laneKeep_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="8657" id="8657" name="Off"/>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8452" id="8452" name="DACommand" comment="" incoming="8454">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8453" id="8453">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceEvents" def="7958"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8468" id="8468" name="laneKeep" comment="" outgoing="8472">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8469" id="8469">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_Commands" def="7964"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8624" id="8624" name="laneKeep_On" comment="" outgoing="8628">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8625" id="8625">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_Commands" def="7964"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10393" id="10393" name="DA_TurnOff" comment="for turning off the driver assistances: true if DA modul should be turned off" incoming="10395">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10394" id="10394">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_TurnOff_Commands" def="16177"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="348" y="228"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="8429" id="8429" name="Aggregate" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="8430" id="8430"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="8431" id="8431"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="8432" id="8432"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="8433" id="8433"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="8473" id="8473">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Control_DA"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="acc">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="acc"/>
+ </members>
+ <members name="laneKeep">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="laneKeep"/>
+ </members>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DA_States"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="acc">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="acc_On"/>
+ </members>
+ <members name="laneKeep">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="laneKeep_On"/>
+ </members>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8436" id="8436" name="Control_DA" comment="" outgoing="8440">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8437" id="8437">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceOnOffCommands" def="4955"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8461" id="8461" name="acc" comment="" incoming="8463">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8462" id="8462">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_Commands" def="7964"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8470" id="8470" name="laneKeep" comment="" incoming="8472">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8471" id="8471">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_Commands" def="7964"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="420"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8606" id="8606" name="DA_States" comment="only On and Off - not "Keeping State"" outgoing="8610">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8607" id="8607">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceOnOffCommands" def="4955"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="276" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8617" id="8617" name="acc_On" comment="" incoming="8619">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8618" id="8618">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_Commands" def="7964"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8626" id="8626" name="laneKeep_On" comment="" incoming="8628">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8627" id="8627">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_Commands" def="7964"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="276"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="96" y="360"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="469" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="8382" id="8382"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="8383" id="8383"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="8384" id="8384"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="8385" id="8385"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8440" id="8440" name="Control_DA" comment="" source="8436" target="8550">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8447" id="8447" name="DACommand" comment="" source="8450" target="8445">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8454" id="8454" name="DACommand" comment="" source="8450" target="8452">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="384" y="120"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8463" id="8463" name="acc" comment="" source="8459" target="8461">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8472" id="8472" name="laneKeep" comment="" source="8468" target="8470">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8610" id="8610" name="DA_States" comment="" source="8606" target="16172">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8619" id="8619" name="acc_On" comment="" source="8615" target="8617">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8628" id="8628" name="laneKeep_On" comment="" source="8624" target="8626">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10395" id="10395" name="DA_TurnOff" comment="" source="10396" target="10393">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10400" id="10400" name="DA_TurnOff" comment="" source="10396" target="10398">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="192" y="60"/>
+ </layoutData>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8550" id="8550" name="Control_DA" comment="" incoming="8440" outgoing="8398">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8551" id="8551">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceOnOffCommands" def="4955"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="264" y="528"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8450" id="8450" name="DACommand" comment="" incoming="8411" outgoing="8447 8454">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8451" id="8451">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceEvents" def="7958"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="264" y="108"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16172" id="16172" name="DA_States" comment="only On and Off - not "Keeping State"" incoming="8610" outgoing="16171 16176">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16173" id="16173">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceOnOffCommands" def="4955"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="372" y="528"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10396" id="10396" name="DA_TurnOff" comment="for turning off the driver assistances: true if DA modul should be turned off" incoming="10386" outgoing="10395 10400">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10397" id="10397">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_TurnOff_Commands" def="16177"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="444" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="12" y="120"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="313" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="10270" id="10270" name="DA Plausibilization Test" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="10271" id="10271"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="10272" id="10272"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="10273" id="10273"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="10274" id="10274"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="10275" id="10275">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxAccelerationEB"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ACC_On_Correct"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LK_On_Correct"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ACC_TurnOff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LK_TurnOff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Shutdown"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Shutdown"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DA_States"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ACC_On_Correct"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LK_On_Correct"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ACC_TurnOff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LK_TurnOff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DA_States"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="acc"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16905" id="16905" name="On"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetVelocityDA"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxAccelerationMD"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxAccelerationMD"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetVelocityMD"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetVelocityMD"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetVelocityDA"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ACC_On_Correct"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ACC_TurnOff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ACC_On_Correct"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ACC_TurnOff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ACC_On_Correct"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ACC_TurnOff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ACC_On_Correct"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ACC_TurnOff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngleDA"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LK_On_Correct"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LK_TurnOff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DA_States"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="laneKeep"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16906" id="16906" name="On"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngleDA"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="-1000.0"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16907" id="16907" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngleMD"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16908" id="16908" name="STEERING_DEADZONE"/>
+ </arguments>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LK_On_Correct"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LK_TurnOff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LK_On_Correct"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LK_TurnOff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LK_On_Correct"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LK_TurnOff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16169" id="16169" name="DA_States" comment="only On and Off - not "Keeping State"" incoming="16171">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16170" id="16170">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceOnOffCommands" def="4955"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10287" id="10287" name="MaxAccelerationMD" comment="" incoming="10289">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10288" id="10288">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10294" id="10294" name="MaxAccelerationEB" comment="" incoming="10296">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10295" id="10295">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10301" id="10301" name="TargetVelocityMD" comment="" incoming="10303">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10302" id="10302">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="180"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10308" id="10308" name="TargetVelocityDA" comment="" incoming="10310">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10309" id="10309">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="216"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16267" id="16267" name="ACC_On_Correct" comment="is true, when ACC ist on and brake is not aktiv and DA velocity is higher than MD velocity" outgoing="16266 16271">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16268" id="16268">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="17990" id="17990" name="Shutdown" comment="true if EB is on" outgoing="10419 17994">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17991" id="17991">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16218" id="16218" name="ACC_TurnOff" comment="true if ACC should be turned off" outgoing="16222">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16219" id="16219">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16188" id="16188" name="SteeringAngleDA" comment="-1000 if LK should be deactivated and -2000 if LK is off (NoVal ist an error). Otherwise the regulated steering output" incoming="16190">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16189" id="16189">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="288"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16193" id="16193" name="LK_On_Correct" comment="is true, when LaneKeeping is on and no manual steering" outgoing="16197">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16194" id="16194">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="240" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16227" id="16227" name="LK_TurnOff" comment="true if LaneKeeping should be turned off" outgoing="16231">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16228" id="16228">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16902" id="16902" name="SteeringAngleMD" comment="" incoming="16904">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16903" id="16903">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="252"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="108" y="456"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="337" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="10366" id="10366" name="Prevent cycle" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="10367" id="10367" stronglyCausal="true"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="10368" id="10368"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="10369" id="10369"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="10370" id="10370"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="10387" id="10387">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DA_TurnOff_Out"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DA_TurnOff_In"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16213" id="16213" name="DA_TurnOff_In" comment="for turning off the driver assistances: true if DA modul should be turned off" incoming="16215">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16214" id="16214">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_TurnOff_Commands" def="16177"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="10382" id="10382" name="DA_TurnOff_Out" comment="for turning off the driver assistances: true if DA modul should be turned off" outgoing="10386">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10383" id="10383">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_TurnOff_Commands" def="16177"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="36" y="228"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="121" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="13768" id="13768" name="Preliminary DriveMode" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="13769" id="13769"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="13770" id="13770"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="13771" id="13771"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="13772" id="13772"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="13773" id="13773">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="13774" id="13774" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="13775" id="13775" name="Parking" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="13776" id="13776" initial="true">
+ <idleTransitionsSpecifications xmi:id="13777" id="13777">
+ <actions stringRepresentation="DriveMode = 0">
+ <variable identifier="DriveMode"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="13778" id="13778" name="Exit" comment="" outgoing="13798">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.29008693232102806"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="13779" id="13779" name="Exit1" comment="" outgoing="13802">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-3.0090411212931194"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="13780" id="13780" name="Input" comment="" incoming="13806">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.518921864832726"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="13781" id="13781" name="Input1" comment="" incoming="13812">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.8003224283875333"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="404" y="64"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="200" height="125"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="13782" id="13782" name="Forward" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="13783" id="13783">
+ <idleTransitionsSpecifications xmi:id="13784" id="13784">
+ <actions stringRepresentation="DriveMode = 100">
+ <variable identifier="DriveMode"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="100"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="13785" id="13785" name="Entry" comment="" incoming="13798">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.1681416732430239"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="13786" id="13786" name="Exit" comment="" outgoing="13812">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="3.6676536159318536"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="13787" id="13787" name="Entry1" comment="" incoming="13818">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.7807558705567024"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="13788" id="13788" name="Exit1" comment="" outgoing="13822">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.344146880338159"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="660" y="288"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="220" height="137"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="13789" id="13789" name="Backward" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="13790" id="13790">
+ <idleTransitionsSpecifications xmi:id="13791" id="13791">
+ <actions stringRepresentation="DriveMode = -100">
+ <variable identifier="DriveMode"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="-100"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="13792" id="13792" name="Entry" comment="" incoming="13802">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.890264869428953"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="13793" id="13793" name="Output" comment="" outgoing="13806">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.9065232188414105"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="13794" id="13794" name="Exit" comment="" outgoing="13818">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.42544963737004227"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="13795" id="13795" name="Entry1" comment="" incoming="13822">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.09432890732119"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="198" y="322"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="206" height="128"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="13796" id="13796">
+ <idleTransitionsSpecifications xmi:id="13797" id="13797"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="13798" id="13798" name="Transition Segment" comment="" source="13778" target="13785">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="13799" id="13799">
+ <guard stringRepresentation="DriveModeCommands != NoVal && DriveModeCommands.Button1 == pressed() && (Velocity == NoVal || myabs(Velocity) <= VELOCITY_DEADZONE())">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Button1"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="13946" id="13946" name="pressed"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="13947" id="13947" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="13948" id="13948" name="VELOCITY_DEADZONE"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="DriveMode = 100">
+ <variable identifier="DriveMode"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="100"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="13802" id="13802" name="Transition Segment" comment="" source="13779" target="13792">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="13803" id="13803">
+ <guard stringRepresentation="DriveModeCommands != NoVal && DriveModeCommands.Button3 == pressed() && (Velocity == NoVal || myabs(Velocity) <= VELOCITY_DEADZONE())">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Button3"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="13952" id="13952" name="pressed"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="13953" id="13953" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="13954" id="13954" name="VELOCITY_DEADZONE"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="DriveMode = -100">
+ <variable identifier="DriveMode"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="-100"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="13806" id="13806" name="Transition Segment" comment="" source="13793" target="13780">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="13807" id="13807">
+ <guard stringRepresentation="(DriveModeCommands != NoVal && DriveModeCommands.Button2 == pressed() && (Velocity == NoVal || myabs(Velocity) <= VELOCITY_DEADZONE())) || (EB_On != NoVal && (Velocity == NoVal || myabs(Velocity) <= VELOCITY_DEADZONE())) && (EB_On == true && !ForceEBOff)">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Button2"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17769" id="17769" name="pressed"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17770" id="17770" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17771" id="17771" name="VELOCITY_DEADZONE"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EB_On"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17772" id="17772" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17773" id="17773" name="VELOCITY_DEADZONE"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EB_On"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Not"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ForceEBOff"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="DriveMode = 0">
+ <variable identifier="DriveMode"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="13812" id="13812" name="Transition Segment" comment="" source="13786" target="13781">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="13813" id="13813">
+ <guard stringRepresentation="(DriveModeCommands != NoVal && DriveModeCommands.Button2 == pressed() && (Velocity == NoVal || myabs(Velocity) <= VELOCITY_DEADZONE())) || (EB_On != NoVal && (Velocity == NoVal || Velocity <= VELOCITY_DEADZONE())) && (EB_On == true && !ForceEBOff)">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Button2"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17774" id="17774" name="pressed"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17775" id="17775" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17776" id="17776" name="VELOCITY_DEADZONE"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EB_On"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17777" id="17777" name="VELOCITY_DEADZONE"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EB_On"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Not"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ForceEBOff"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="DriveMode = 0">
+ <variable identifier="DriveMode"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="13818" id="13818" name="Transition Segment" comment="" source="13794" target="13787">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="13819" id="13819">
+ <guard stringRepresentation="DriveModeCommands != NoVal && DriveModeCommands.Button1 == pressed() && (Velocity == NoVal || myabs(Velocity) <= VELOCITY_DEADZONE())">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Button1"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="13949" id="13949" name="pressed"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="13950" id="13950" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="13951" id="13951" name="VELOCITY_DEADZONE"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="DriveMode = 100">
+ <variable identifier="DriveMode"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="100"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="13822" id="13822" name="Transition Segment" comment="" source="13788" target="13795">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="13823" id="13823">
+ <guard stringRepresentation="DriveModeCommands != NoVal && DriveModeCommands.Button3 == pressed() && (Velocity == NoVal || myabs(Velocity) <= VELOCITY_DEADZONE())">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Button3"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="13943" id="13943" name="pressed"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="13944" id="13944" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="13945" id="13945" name="VELOCITY_DEADZONE"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="DriveMode = -100">
+ <variable identifier="DriveMode"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="-100"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="13826" id="13826" name="DriveMode" comment="" outgoing="13871">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13827" id="13827">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13874" id="13874" name="Velocity" comment="" incoming="13876">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13875" id="13875">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13895" id="13895" name="DriveModeCommands" comment="" incoming="13897">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13896" id="13896">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeCommands" def="13763"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13916" id="13916" name="EB_On" comment="" incoming="13918">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13917" id="13917">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17766" id="17766" name="ForceEBOff" comment="" incoming="17768">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17767" id="17767">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1260" y="192"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="205" height="97"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="13838" id="13838" name="DriveModeFusion" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="13839" id="13839"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="13840" id="13840"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="13841" id="13841"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="13842" id="13842"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="13843" id="13843">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Button4"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14387" id="14387" name="pressed"/>
+ </arguments>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DriveModeOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="DriveMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14388" id="14388" name="Change"/>
+ </value>
+ </members>
+ <members name="EngineMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14389" id="14389" name="Switch"/>
+ </value>
+ </members>
+ </value>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DriveModeOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="DriveMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14390" id="14390" name="Change"/>
+ </value>
+ </members>
+ <members name="EngineMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14391" id="14391" name="NoOp"/>
+ </value>
+ </members>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Button4"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14392" id="14392" name="pressed"/>
+ </arguments>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DriveModeOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="DriveMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14393" id="14393" name="Parking"/>
+ </value>
+ </members>
+ <members name="EngineMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14394" id="14394" name="Switch"/>
+ </value>
+ </members>
+ </value>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DriveModeOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="DriveMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14395" id="14395" name="Parking"/>
+ </value>
+ </members>
+ <members name="EngineMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14396" id="14396" name="NoOp"/>
+ </value>
+ </members>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Button4"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14397" id="14397" name="pressed"/>
+ </arguments>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DriveModeOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="DriveMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14398" id="14398" name="Forward"/>
+ </value>
+ </members>
+ <members name="EngineMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14399" id="14399" name="Switch"/>
+ </value>
+ </members>
+ </value>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DriveModeOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="DriveMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14400" id="14400" name="Forward"/>
+ </value>
+ </members>
+ <members name="EngineMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14401" id="14401" name="NoOp"/>
+ </value>
+ </members>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveModeCommands"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Button4"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14402" id="14402" name="pressed"/>
+ </arguments>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DriveModeOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="DriveMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14403" id="14403" name="Backward"/>
+ </value>
+ </members>
+ <members name="EngineMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14404" id="14404" name="Switch"/>
+ </value>
+ </members>
+ </value>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DriveModeOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="DriveMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14405" id="14405" name="Backward"/>
+ </value>
+ </members>
+ <members name="EngineMode">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14406" id="14406" name="NoOp"/>
+ </value>
+ </members>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13862" id="13862" name="DriveModeIn" comment="" incoming="13871">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13863" id="13863">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="13866" id="13866" name="DriveModeOut" comment="" outgoing="13870">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13867" id="13867">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeSettings" def="9644"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="156" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13888" id="13888" name="DriveModeCommands" comment="" incoming="13890">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13889" id="13889">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeCommands" def="13763"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="276"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1260" y="432"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="349" height="145"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="13898" id="13898" name="Delay" comment="prevent cycle">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="13899" id="13899" stronglyCausal="true"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="13900" id="13900"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="13901" id="13901"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="13902" id="13902"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="13919" id="13919">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxAccelerationEB"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="EB_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="EB_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13907" id="13907" name="MaxAccelerationEB" comment="" incoming="13909">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13908" id="13908">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="14053" id="14053" name="EB_On" comment="" outgoing="13918 14057">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14054" id="14054">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1104" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="16204" id="16204" name="merge TurnOffs" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="16205" id="16205"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="16206" id="16206"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="16207" id="16207"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="16208" id="16208"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="16232" id="16232">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DA_TurnOff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="acc">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ACC_TurnOff"/>
+ </members>
+ <members name="laneKeep">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LK_TurnOff"/>
+ </members>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16211" id="16211" name="DA_TurnOff" comment="for turning off the driver assistances: true if DA modul should be turned off" outgoing="16215">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16212" id="16212">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DA_TurnOff_Commands" def="16177"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16220" id="16220" name="ACC_TurnOff" comment="true if ACC should be turned off" incoming="16222">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16221" id="16221">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16229" id="16229" name="LK_TurnOff" comment="true if LaneKeeping should be turned off" incoming="16231">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16230" id="16230">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="156"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="48" y="600"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="17089" id="17089" name="Rumble" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="17138" id="17138" name="EBRumble" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="17139" id="17139"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="17140" id="17140"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="17141" id="17141"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="17142" id="17142"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="17143" id="17143">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="17144" id="17144" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="17145" id="17145" name="Init" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="17146" id="17146" initial="true">
+ <idleTransitionsSpecifications xmi:id="17147" id="17147">
+ <actions stringRepresentation="RumbleEB_In = 0">
+ <variable identifier="RumbleEB_In"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </actions>
+ <actions stringRepresentation="
counter = 0">
+ <variable identifier="counter"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="17148" id="17148" name="Exit" comment="" outgoing="17157">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.30092023436042514"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="17149" id="17149" name="Entry" comment="" incoming="17159">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.5182132651839548"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="17150" id="17150" name="State" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="17151" id="17151">
+ <idleTransitionsSpecifications xmi:id="17152" id="17152">
+ <actions stringRepresentation="RumbleEB_In = RUMBLE_MAX()">
+ <variable identifier="RumbleEB_In"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17214" id="17214" name="RUMBLE_MAX"/>
+ </value>
+ </actions>
+ <actions stringRepresentation="
counter = counter + 1">
+ <variable identifier="counter"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="counter"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </value>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="17153" id="17153" name="Entry" comment="" incoming="17157">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.5535900500422257"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="17154" id="17154" name="Exit" comment="" outgoing="17159">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.677945044588987"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="240" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="17155" id="17155">
+ <idleTransitionsSpecifications xmi:id="17156" id="17156"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="17157" id="17157" name="Transition Segment" comment="" source="17148" target="17153">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="17158" id="17158">
+ <guard stringRepresentation="RumbleEB != NoVal && RumbleEB && !ForceEBOff">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RumbleEB"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RumbleEB"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Not"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ForceEBOff"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="RumbleEB_In = 0">
+ <variable identifier="RumbleEB_In"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="17159" id="17159" name="Transition Segment" comment="" source="17154" target="17149">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="17160" id="17160">
+ <guard stringRepresentation="(RumbleEB == NoVal || !RumbleEB) && counter == 30 || ForceEBOff">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RumbleEB"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Not"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RumbleEB"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="counter"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="30"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ForceEBOff"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="RumbleEB_In = 0">
+ <variable identifier="RumbleEB_In"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <dataStateVariables xmi:id="17161" id="17161">
+ <variable identifier="counter"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TInt" lowerBound="0"/>
+ </dataStateVariables>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17206" id="17206" name="RumbleEB" comment="" incoming="17208">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17207" id="17207">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="17209" id="17209" name="RumbleEB_In" comment="" outgoing="17213">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17210" id="17210">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17754" id="17754" name="ForceEBOff" comment="" incoming="17756">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17755" id="17755">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="60" y="60"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="17219" id="17219" name="Lane Warning Rumble" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="17220" id="17220"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="17221" id="17221"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="17222" id="17222"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="17223" id="17223"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="17224" id="17224">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="17225" id="17225" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="17226" id="17226" name="Init" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="17227" id="17227" initial="true">
+ <idleTransitionsSpecifications xmi:id="17228" id="17228">
+ <actions stringRepresentation="RumbleEB_In = 0">
+ <variable identifier="RumbleEB_In"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </actions>
+ <actions stringRepresentation="
counter = 0">
+ <variable identifier="counter"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="17229" id="17229" name="Exit" comment="" outgoing="17239">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.30092023436042514"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="17230" id="17230" name="Entry" comment="" incoming="17241">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.5182132651839548"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="17231" id="17231" name="State" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="17232" id="17232">
+ <idleTransitionsSpecifications xmi:id="17233" id="17233">
+ <actions stringRepresentation="RumbleEB_In = RUMBLE_MAX()">
+ <variable identifier="RumbleEB_In"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17234" id="17234" name="RUMBLE_MAX"/>
+ </value>
+ </actions>
+ <actions stringRepresentation="
counter = counter + 1">
+ <variable identifier="counter"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="counter"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </value>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="17235" id="17235" name="Entry" comment="" incoming="17239">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.5535900500422257"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="17236" id="17236" name="Exit" comment="" outgoing="17241">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.677945044588987"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="240" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="17237" id="17237">
+ <idleTransitionsSpecifications xmi:id="17238" id="17238"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="17239" id="17239" name="Transition Segment" comment="" source="17229" target="17235">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="17240" id="17240">
+ <guard stringRepresentation="RumbleEB != NoVal && RumbleEB">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RumbleEB"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RumbleEB"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="RumbleEB_In = 0">
+ <variable identifier="RumbleEB_In"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="17241" id="17241" name="Transition Segment" comment="" source="17236" target="17230">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="17242" id="17242">
+ <guard stringRepresentation="(RumbleEB == NoVal || !RumbleEB) && counter == 100">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RumbleEB"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Not"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RumbleEB"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="counter"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="100"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="RumbleEB_In = 0">
+ <variable identifier="RumbleEB_In"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <dataStateVariables xmi:id="17243" id="17243">
+ <variable identifier="counter"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TInt" lowerBound="0"/>
+ </dataStateVariables>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17250" id="17250" name="RumbleEB" comment="" incoming="17252">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17251" id="17251">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="17253" id="17253" name="RumbleEB_In" comment="" outgoing="17257">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17254" id="17254">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="264" y="60"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="17090" id="17090"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="17091" id="17091"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="17092" id="17092"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="17093" id="17093"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17208" id="17208" name="" comment="" source="17204" target="17206">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17213" id="17213" name="" comment="" source="17209" target="17211">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17252" id="17252" name="" comment="" source="17248" target="17250">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17257" id="17257" name="" comment="" source="17253" target="17255">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17756" id="17756" name="ForceEBOff" comment="" source="17752" target="17754">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17248" id="17248" name="RumbleLW" comment="Rumble LaneWarning aktive: endless 1 sec rumble and 0,5 sec pause" incoming="17100" outgoing="17252">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17249" id="17249">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="360" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17204" id="17204" name="RumbleEB" comment="" incoming="17107" outgoing="17208">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17205" id="17205">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="156" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="17255" id="17255" name="RumbleWeak" comment="" incoming="17257" outgoing="17114">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17256" id="17256">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="360" y="216"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="17211" id="17211" name="RumbleStrong" comment="" incoming="17213" outgoing="17121">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17212" id="17212">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="156" y="216"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17752" id="17752" name="ForceEBOff" comment="" incoming="17749" outgoing="17756">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17753" id="17753">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="96" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1620" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="17983" id="17983" name="HazardControl" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="17984" id="17984"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="17985" id="17985"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="17986" id="17986"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="17987" id="17987"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="18018" id="18018">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Shutdown"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Shutdown"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="EnableHazards"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17992" id="17992" name="Shutdown" comment="true if EB is on" incoming="17994">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17993" id="17993">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18013" id="18013" name="EnableHazards" comment="" outgoing="18017">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18014" id="18014">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="336" y="672"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="121" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="4813" id="4813"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="4814" id="4814"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="4815" id="4815"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="4816" id="4816"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="6899" id="6899" name="MaxAcceleration" comment="" source="18004" target="18217">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="1116" y="216"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="6906" id="6906" name="TargetVelocity" comment="" source="6902" target="11356">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="1092" y="360"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="6913" id="6913" name="SteeringAngle" comment="" source="6909" target="18791">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="6986" id="6986" name="" comment="" source="16900" target="6984">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8398" id="8398" name="Control_DA" comment="" source="8550" target="8396">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8411" id="8411" name="DACommand" comment="" source="8407" target="8450">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10289" id="10289" name="MaxAccelerationMD" comment="" source="16252" target="10287">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="420" y="228"/>
+ <points x="264" y="228"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10296" id="10296" name="MaxAccelerationEB" comment="" source="16257" target="10294">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="372" y="204"/>
+ <points x="228" y="204"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10303" id="10303" name="TargetVelocityMD" comment="" source="16272" target="10301">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="468" y="252"/>
+ <points x="300" y="252"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10310" id="10310" name="TargetVelocityDA" comment="" source="16277" target="10308">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
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+ <points x="336" y="276"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10386" id="10386" name="DA_TurnOff" comment="" source="10382" target="10396">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10419" id="10419" name="Shutdown" comment="" source="17990" target="10422">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13871" id="13871" name="DriveMode" comment="" source="13826" target="13862">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13870" id="13870" name="DriveMode" comment="" source="13866" target="18224">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13876" id="13876" name="Velocity" comment="" source="13872" target="13874">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13890" id="13890" name="" comment="" source="13893" target="13888">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
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+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13897" id="13897" name="DriveModeCommands" comment="" source="13893" target="13895">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="1548" y="240"/>
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+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13909" id="13909" name="" comment="" source="16257" target="13907">
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+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13918" id="13918" name="EB_On" comment="" source="14053" target="13916">
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+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16171" id="16171" name="DA_States" comment="" source="16172" target="16169">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
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+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16190" id="16190" name="SteeringAngleDA" comment="" source="16240" target="16188">
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+ <points x="408" y="432"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="360" y="612"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16202" id="16202" name="MaxAccelerationDA" comment="" source="16198" target="16200">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16215" id="16215" name="DA_TurnOff" comment="" source="16211" target="16213">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16222" id="16222" name="ACC_TurnOff" comment="" source="16218" target="16220">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16231" id="16231" name="LK_TurnOff" comment="" source="16227" target="16229">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16244" id="16244" name="" comment="" source="16240" target="16242">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16251" id="16251" name="" comment="" source="16257" target="16249">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="372" y="132"/>
+ <points x="612" y="132"/>
+ <points x="612" y="252"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16256" id="16256" name="" comment="" source="16252" target="16254">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="420" y="228"/>
+ <points x="780" y="228"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16261" id="16261" name="" comment="" source="16257" target="16259">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="372" y="132"/>
+ <points x="612" y="132"/>
+ <points x="612" y="312"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16266" id="16266" name="ACC_On_Correct" comment="" source="16267" target="16264">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="684" y="492"/>
+ <points x="684" y="408"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16271" id="16271" name="" comment="" source="16267" target="16269">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="684" y="492"/>
+ <points x="684" y="276"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16276" id="16276" name="" comment="" source="16272" target="16274">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="468" y="384"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16281" id="16281" name="" comment="" source="16277" target="16279">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="516" y="204"/>
+ <points x="516" y="360"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16904" id="16904" name="SteeringAngleMD" comment="" source="16900" target="16902">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="516" y="408"/>
+ <points x="372" y="408"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17100" id="17100" name="RumbleLW" comment="" source="17096" target="17248">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17107" id="17107" name="RumbleEB" comment="" source="17103" target="17204">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17114" id="17114" name="RumbleWeak" comment="" source="17255" target="17112">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17121" id="17121" name="RumbleStrong" comment="" source="17211" target="17119">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17626" id="17626" name="" comment="" source="17764" target="17624">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="564" y="204"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17633" id="17633" name="" comment="" source="17764" target="17631">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="564" y="336"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17749" id="17749" name="" comment="" source="17764" target="17752">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="1356" y="60"/>
+ <points x="1356" y="108"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17768" id="17768" name="ForceEBOff" comment="" source="17764" target="17766">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="1356" y="60"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17994" id="17994" name="" comment="" source="17990" target="17992">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="288" y="648"/>
+ <points x="396" y="648"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18017" id="18017" name="EnableHazards" comment="" source="18013" target="18204">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18217" id="18217" name="MaxAcceleration" comment="" incoming="6899" outgoing="4848 11187 18221">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18218" id="18218">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1104" y="648"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="840" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18791" id="18791" name="SteeringAngle" comment="" incoming="6913" outgoing="4857 14166 18795">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18792" id="18792">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="492" y="720"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="756" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16252" id="16252" name="MaxAccelerationMD" comment="" incoming="4866" outgoing="10289 16256">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16253" id="16253">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="408" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="660"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16900" id="16900" name="SteeringAngleMD" comment="" incoming="10158" outgoing="6986 16904">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16901" id="16901">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="504" y="456"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="864"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16198" id="16198" name="MaxAccelerationDA" comment="" incoming="4884" outgoing="16202">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16199" id="16199">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="672" y="168"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16240" id="16240" name="SteeringAngleDA" comment="-1000 if LK should be deactivated and -2000 if LK is off (NoVal ist an error). Otherwise the regulated steering output" incoming="4893" outgoing="16190 16244">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16241" id="16241">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="456" y="456"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="288"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11356" id="11356" name="TargetVelocity" comment="" incoming="6906" outgoing="4966 11360">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11357" id="11357">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1080" y="648"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="288" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16277" id="16277" name="TargetVelocityDA" comment="" incoming="4975" outgoing="10310 16281">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16278" id="16278">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="504" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="192"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16272" id="16272" name="TargetVelocityMD" comment="" incoming="4984" outgoing="10303 16276">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16273" id="16273">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="456" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="768"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16257" id="16257" name="MaxAccelerationEB" comment="" incoming="5023" outgoing="10296 13909 16251 16261">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16258" id="16258">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="360" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="468"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8396" id="8396" name="Control_DA" comment="" incoming="8398" outgoing="7957">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8397" id="8397">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceOnOffCommands" def="4955"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="24" y="684"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8407" id="8407" name="DACommand" comment="" incoming="7985" outgoing="8411">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8408" id="8408">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceEvents" def="7958"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="156" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="10422" id="10422" name="Shutdown" comment="true if EB is on" incoming="10419" outgoing="10426">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10423" id="10423">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="276" y="780"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="552" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16174" id="16174" name="DA_States" comment="only On and Off - not "Keeping State"" incoming="16176" outgoing="11152">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16175" id="16175">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceOnOffCommands" def="4955"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="144" y="204"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="121" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18224" id="18224" name="DriveMode" comment="" incoming="13870" outgoing="13741 13746 14050 18228">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18225" id="18225">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeSettings" def="9644"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1416" y="648"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="552"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13872" id="13872" name="Velocity" comment="" incoming="13753" outgoing="13876">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13873" id="13873">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
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+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ErrorSumOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxErrorSum"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ErrorSum"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Error"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Negate"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxErrorSum"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ErrorSumOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Negate"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxErrorSum"/>
+ </value>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ErrorSumOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ErrorSum"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Error"/>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7045" id="7045" name="Error" comment="" incoming="7047">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7046" id="7046">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7099" id="7099" name="Output" comment="" outgoing="7103">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7100" id="7100">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7238" id="7238" name="ErrorSumOut" comment="The integral part" outgoing="7242">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7239" id="7239">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7259" id="7259" name="ErrorSum" comment="The integral part" incoming="7261">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7260" id="7260">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7217" id="7217" name="MaxErrorSum" comment="" incoming="7219">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7218" id="7218">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8377" id="8377" name="BoundariesActive" comment="" incoming="8379">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8378" id="8378">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7640" id="7640" name="TestOn" comment="" incoming="7642">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7641" id="7641">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7647" id="7647" name="Test_I" comment="" incoming="7649">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7648" id="7648">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10698" id="10698" name="Shutdown" comment="true if EB is on" incoming="10700">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10699" id="10699">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="264" y="348"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="157" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="7004" id="7004" name="Compute D" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="7005" id="7005"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="7006" id="7006"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="7007" id="7007"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="7008" id="7008"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="7033" id="7033">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Error"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastErrorIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Output"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TestOn"/>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Output"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Test_D"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="7526" id="7526" name="SAMPLING_TIME_VELOCITY"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Error"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastErrorIn"/>
+ </arguments>
+ </value>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Output"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="7527" id="7527" name="COEFFICIENT_CONTROLLER_D"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="7528" id="7528" name="SAMPLING_TIME_VELOCITY"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Error"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastErrorIn"/>
+ </arguments>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LastErrorOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Error"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7104" id="7104" name="Output" comment="" outgoing="7108">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7105" id="7105">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7270" id="7270" name="LastErrorOut" comment="The last error - to compute the derivative with the new error" outgoing="7274">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7271" id="7271">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7285" id="7285" name="LastErrorIn" comment="The last error - to compute the derivative with the new error" incoming="7287">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7286" id="7286">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7301" id="7301" name="Error" comment="" incoming="7303">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7302" id="7302">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7630" id="7630" name="TestOn" comment="" incoming="7632">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7631" id="7631">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7617" id="7617" name="Test_D" comment="" incoming="7619">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7618" id="7618">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="612" y="348"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="157" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="7009" id="7009" name="Error" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="7010" id="7010"/>
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+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="BoundariesActive"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7179" id="7179" name="OutputValue" comment="" outgoing="7183">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7180" id="7180">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7188" id="7188" name="Value" comment="" incoming="7190">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7189" id="7189">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7196" id="7196" name="MinValue" comment="" incoming="7198">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7197" id="7197">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7210" id="7210" name="MaxValue" comment="" incoming="7212">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7211" id="7211">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8347" id="8347" name="BoundariesActive" comment="" outgoing="8351">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8348" id="8348">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7943" id="7943" name="NoBoundaries" comment="" incoming="7945">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7944" id="7944">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10445" id="10445" name="TargetValue" comment="" incoming="10447">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10446" id="10446">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="120"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10452" id="10452" name="Shutdown" comment="true if EB is on" incoming="10454">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10453" id="10453">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="156"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="252" y="588"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="193" height="85"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="7231" id="7231" name="Error Sum" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="7232" id="7232" stronglyCausal="true"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="7233" id="7233"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="7234" id="7234"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="7235" id="7235"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="7262" id="7262">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ErrorSumOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ErrorSum"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7240" id="7240" name="ErrorSum" comment="The integral part" incoming="7242">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7241" id="7241">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7257" id="7257" name="ErrorSumOut" comment="The integral part" outgoing="7261">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7258" id="7258">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="444" y="348"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="157" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="7263" id="7263" name="Last Error" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="7264" id="7264" stronglyCausal="true"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="7265" id="7265"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="7266" id="7266"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="7267" id="7267"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="7288" id="7288">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LastErrorIn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastErrorOut"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7272" id="7272" name="LastErrorOut" comment="The last error - to compute the derivative with the new error" incoming="7274">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7273" id="7273">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7291" id="7291" name="LastErrorIn" comment="The last error - to compute the derivative with the new error" outgoing="7287">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7292" id="7292">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="792" y="348"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="145" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="7447" id="7447" name="Coefficient Testing" comment="(only for testing)">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="7448" id="7448"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="7449" id="7449"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="7450" id="7450"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="7451" id="7451"/>
+ <specifications xsi:type="org-fortiss-af3-operatorpanel:OperatorPanelSpecification" xmi:id="7513" id="7513" name="Operator Panel">
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPAreaInput" xmi:id="7514" id="7514" name="Area Input">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="24" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="37" height="325"/>
+ <output stringRepresentation="Test_P = _this_Y*2">
+ <variable identifier="Test_P"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this_Y"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </value>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPAreaInput" xmi:id="7515" id="7515" name="Area Input1">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="37" height="325"/>
+ <output stringRepresentation="Test_I = _this_Y*4">
+ <variable identifier="Test_I"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this_Y"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="4"/>
+ </value>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPAreaInput" xmi:id="7516" id="7516" name="Area Input2">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="120" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="37" height="325"/>
+ <output stringRepresentation="Test_D = _this_Y">
+ <variable identifier="Test_D"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this_Y"/>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="7517" id="7517" name="Label" comment="P">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="37" height="24"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="7518" id="7518" name="Copy of Label" comment="D">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="120"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="37" height="24"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="7519" id="7519" name="Copy of Label (2)" comment="I">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="37" height="24"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="7520" id="7520" name="Toggle Button" comment="TestOn" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="168" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="97" height="61"/>
+ <onSelect stringRepresentation="TestOn = true">
+ <variable identifier="TestOn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </onSelect>
+ <onDeselect stringRepresentation="TestOn = false">
+ <variable identifier="TestOn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </onDeselect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="7946" id="7946" name="Toggle Button1" comment="NoBoundaries" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="168" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="97" height="61"/>
+ <onSelect stringRepresentation="NoBoundaries = true">
+ <variable identifier="NoBoundaries"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </onSelect>
+ <onDeselect stringRepresentation="NoBoundaries = false">
+ <variable identifier="NoBoundaries"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </onDeselect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPTextDisplay" xmi:id="11347" id="11347" name="Text Display">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="24" y="348"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="37" height="25"/>
+ <reactions>
+ <itemInput xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Test_P"/>
+ </reactions>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPTextDisplay" xmi:id="11348" id="11348" name="Copy of Text Display">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="348"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="37" height="25"/>
+ <reactions>
+ <itemInput xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Test_I"/>
+ </reactions>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPTextDisplay" xmi:id="11349" id="11349" name="Copy of Copy of Text Display">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="120" y="348"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="37" height="25"/>
+ <reactions>
+ <itemInput xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Test_D"/>
+ </reactions>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7543" id="7543" name="TestOn" comment="" outgoing="7547">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7544" id="7544">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7536" id="7536" name="Test_D" comment="" outgoing="7540">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7537" id="7537">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7550" id="7550" name="Test_I" comment="" outgoing="7554">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7551" id="7551">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7557" id="7557" name="Test_P" comment="" outgoing="7561">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7558" id="7558">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11042" id="11042" name="NoBoundaries" comment="" outgoing="7945 11046">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11043" id="11043">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="984" y="720"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="277" height="121"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="7529" id="7529" name="Coefficient View" comment="(only for testing)">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="7530" id="7530"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="7531" id="7531"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="7532" id="7532"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="7533" id="7533"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="7657" id="7657">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TestOn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TestOn_In"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Test_P"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Test_P_In"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Test_I"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Test_I_In"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Test_D"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Test_D_In"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7538" id="7538" name="Test_D_In" comment="" incoming="7540">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7539" id="7539">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7545" id="7545" name="TestOn_In" comment="" incoming="7547">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7546" id="7546">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7552" id="7552" name="Test_I_In" comment="" incoming="7554">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7553" id="7553">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7559" id="7559" name="Test_P_In" comment="" incoming="7561">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7560" id="7560">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7615" id="7615" name="Test_D" comment="" outgoing="7619">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7616" id="7616">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7638" id="7638" name="TestOn" comment="" outgoing="7632 7637 7642">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7639" id="7639">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7645" id="7645" name="Test_I" comment="" outgoing="7649">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7646" id="7646">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7652" id="7652" name="Test_P" comment="" outgoing="7656">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7653" id="7653">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="684" y="720"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="121"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="7797" id="7797" name="Compute F" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="7798" id="7798"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="7799" id="7799"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="7800" id="7800"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="7801" id="7801"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="7809" id="7809">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="F"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="7819" id="7819" name="COEFFICIENT_CONTROLLER_F"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetValue"/>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7806" id="7806" name="TargetValue" comment="" incoming="7808">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7807" id="7807">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7814" id="7814" name="F" comment="" outgoing="7818">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7815" id="7815">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="960" y="348"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="145" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="8340" id="8340" name="Boundaries Active" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="8341" id="8341" stronglyCausal="true"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="8342" id="8342"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="8343" id="8343"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="8344" id="8344"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="8380" id="8380">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="BoundariesActiveOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="BoundariesActive"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8349" id="8349" name="BoundariesActive" comment="" incoming="8351">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8350" id="8350">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8375" id="8375" name="BoundariesActiveOut" comment="" outgoing="8379">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8376" id="8376">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="516" y="576"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="205" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="10999" id="10999" name="Premature Boundaries" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="11000" id="11000"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="11001" id="11001"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="11002" id="11002"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="11003" id="11003"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="11039" id="11039">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="NoBoundaries"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="NoBoundaries"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetValueUpdated"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetValue"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetValue"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxVelocityDiff"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SensorValue"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetValue"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SensorValue"/>
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+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="11079" id="11079" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxVelocityDiff"/>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ </arguments>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetValue"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SensorValue"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetValueUpdated"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SensorValue"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ </arguments>
+ </value>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetValueUpdated"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SensorValue"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
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+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="11083" id="11083" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxVelocityDiff"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="11084" id="11084" name="PRE_BOUNDARIES_FACTOR"/>
+ </arguments>
+ </arguments>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="TargetValueUpdated"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetValue"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
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+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11009" id="11009">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11013" id="11013" name="TargetValueUpdated" comment="" outgoing="11017">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11014" id="11014">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="11022" id="11022" name="SensorValue" comment="" incoming="11024">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11023" id="11023">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="5860" id="5860"/>
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+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5862" id="5862"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7020" id="7020" name="Velocity" comment="" source="11020" target="7018">
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
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+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="7121" id="7121"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="7122" id="7122"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="7123" id="7123"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7831" id="7831" name="MaxAcceleration" comment="" source="7827" target="7829">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7844" id="7844" name="MaxValue" comment="" source="7840" target="7842">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7851" id="7851" name="MinValue" comment="" source="7847" target="7849">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7858" id="7858" name="MaxErrorSum" comment="" source="7854" target="7856">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7872" id="7872" name="Velocity" comment="" source="7868" target="7870">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
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+ <points x="264" y="168"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7881" id="7881" name="" comment="" source="11049" target="7879">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
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+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="11053" id="11053" name="MaxVelocityDiff" comment="" source="11049" target="11056">
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+ <points x="60" y="168"/>
+ </layoutData>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7849" id="7849" name="MinValue" comment="" incoming="7851" outgoing="7132">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7850" id="7850">
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+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="EAST"/>
+ </connectors>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7827" id="7827" name="MaxAcceleration" comment="" incoming="7149" outgoing="7831">
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7868" id="7868" name="Velocity" comment="" incoming="7156" outgoing="7872">
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+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="5660" id="5660"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="6315" id="6315" name="Velocity" comment="" source="15220" target="11020">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
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+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="6320" id="6320" name="TargetVelocity" comment="" source="15150" target="11006">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
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+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="5757" id="5757" name="Init/NoVal" comment="">
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+ <actions stringRepresentation="SteeringValue = STEERING_VALUE_STRAIGHT_MIN()">
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+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.3764903344465229"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="5784" id="5784" name="Entry" comment="" incoming="5785">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.09406123462798634"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="5788" id="5788" name="Entry1" comment="" incoming="5789">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.5232132235179132"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="5792" id="5792" name="Entry2" comment="" incoming="5793">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.9572682446900944"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="482" y="44"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="164" height="103"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="5762" id="5762" name="Left" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="5763" id="5763">
+ <idleTransitionsSpecifications xmi:id="5764" id="5764">
+ <actions stringRepresentation="SteeringValue = linConvert(SteeringAngle, STEERING_ANGLE_LEFT_MAX(), STEERING_ANGLE_LEFT_MIN(), STEERING_VALUE_LEFT_MAX(), STEERING_VALUE_LEFT_MIN())">
+ <variable identifier="SteeringValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6157" id="6157" name="linConvert"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6158" id="6158" name="STEERING_ANGLE_LEFT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6159" id="6159" name="STEERING_ANGLE_LEFT_MIN"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6160" id="6160" name="STEERING_VALUE_LEFT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6161" id="6161" name="STEERING_VALUE_LEFT_MIN"/>
+ </arguments>
+ </value>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="5772" id="5772" name="Entry" comment="" incoming="5773">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.624797827170865"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="5791" id="5791" name="Exit" comment="" outgoing="5793">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.89432890732119"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="5795" id="5795" name="Exit1" comment="" outgoing="5797">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.4348513225853732"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="5800" id="5800" name="Entry1" comment="" incoming="5801">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.9807563535676704"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="5812" id="5812" name="Entry2" comment="" incoming="5813">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.42826415287665476"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="5815" id="5815" name="Exit2" comment="" outgoing="5817">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.07130746478529032"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="120" y="192"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="166" height="103"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="5765" id="5765" name="Straight" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="5766" id="5766">
+ <idleTransitionsSpecifications xmi:id="5767" id="5767">
+ <actions stringRepresentation="SteeringValue = linConvert(SteeringAngle, STEERING_ANGLE_STRAIGHT_MAX(), STEERING_ANGLE_STRAIGHT_MIN(), STEERING_VALUE_STRAIGHT_MAX(), STEERING_VALUE_STRAIGHT_MIN())">
+ <variable identifier="SteeringValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6162" id="6162" name="linConvert"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6163" id="6163" name="STEERING_ANGLE_STRAIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6164" id="6164" name="STEERING_ANGLE_STRAIGHT_MIN"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6165" id="6165" name="STEERING_VALUE_STRAIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6166" id="6166" name="STEERING_VALUE_STRAIGHT_MIN"/>
+ </arguments>
+ </value>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="5776" id="5776" name="Entry" comment="" incoming="5777">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.0831857871056343"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="5787" id="5787" name="Exit" comment="" outgoing="5789">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.396124127786657"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="5796" id="5796" name="Entry1" comment="" incoming="5797">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.7065659181994794"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="5799" id="5799" name="Exit1" comment="" outgoing="5801">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-3.108271657711546"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="5803" id="5803" name="Exit2" comment="" outgoing="5805">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.3383885512243589"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="5808" id="5808" name="Entry2" comment="" incoming="5809">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.12435499454676144"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="464" y="380"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="190" height="118"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="5768" id="5768" name="Right" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="5769" id="5769">
+ <idleTransitionsSpecifications xmi:id="5770" id="5770">
+ <actions stringRepresentation="SteeringValue = linConvert(SteeringAngle, STEERING_ANGLE_RIGHT_MAX(), STEERING_ANGLE_RIGHT_MIN(), STEERING_VALUE_RIGHT_MAX(), STEERING_VALUE_RIGHT_MIN())">
+ <variable identifier="SteeringValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6167" id="6167" name="linConvert"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6168" id="6168" name="STEERING_ANGLE_RIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6169" id="6169" name="STEERING_ANGLE_RIGHT_MIN"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6170" id="6170" name="STEERING_VALUE_RIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6171" id="6171" name="STEERING_VALUE_RIGHT_MIN"/>
+ </arguments>
+ </value>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="5780" id="5780" name="Entry" comment="" incoming="5781">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.5060476728689296"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="5783" id="5783" name="Exit" comment="" outgoing="5785">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.8227626539681683"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="5804" id="5804" name="Entry1" comment="" incoming="5805">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.5889433251945277"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="5807" id="5807" name="Exit1" comment="" outgoing="5809">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.1587989303424644"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="5811" id="5811" name="Exit2" comment="" outgoing="5813">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.904965493776252"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="5816" id="5816" name="Entry2" comment="" incoming="5817">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-3.2860941483440764"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="808" y="204"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="162" height="101"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="5760" id="5760">
+ <idleTransitionsSpecifications xmi:id="5761" id="5761"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="5773" id="5773" name="Left" comment="" source="5771" target="5772">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="5774" id="5774">
+ <guard stringRepresentation="SteeringAngle != NoVal && ((SteeringAngle >= STEERING_ANGLE_LEFT_MIN() && SteeringAngle <= STEERING_ANGLE_LEFT_MAX()) || (SteeringAngle <= STEERING_ANGLE_LEFT_MIN() && SteeringAngle >= STEERING_ANGLE_LEFT_MAX()))">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6172" id="6172" name="STEERING_ANGLE_LEFT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6173" id="6173" name="STEERING_ANGLE_LEFT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6174" id="6174" name="STEERING_ANGLE_LEFT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6175" id="6175" name="STEERING_ANGLE_LEFT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="SteeringValue = linConvert(SteeringAngle, STEERING_ANGLE_LEFT_MAX(), STEERING_ANGLE_LEFT_MIN(), STEERING_VALUE_LEFT_MAX(), STEERING_VALUE_LEFT_MIN())">
+ <variable identifier="SteeringValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6176" id="6176" name="linConvert"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6177" id="6177" name="STEERING_ANGLE_LEFT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6178" id="6178" name="STEERING_ANGLE_LEFT_MIN"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6179" id="6179" name="STEERING_VALUE_LEFT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6180" id="6180" name="STEERING_VALUE_LEFT_MIN"/>
+ </arguments>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="5777" id="5777" name="Straight" comment="" source="5775" target="5776">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="5778" id="5778">
+ <guard stringRepresentation="SteeringAngle != NoVal && ((SteeringAngle >= STEERING_ANGLE_STRAIGHT_MIN() && SteeringAngle <= STEERING_ANGLE_STRAIGHT_MAX()) || (SteeringAngle <= STEERING_ANGLE_STRAIGHT_MIN() && SteeringAngle >= STEERING_ANGLE_STRAIGHT_MAX()))">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6181" id="6181" name="STEERING_ANGLE_STRAIGHT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6182" id="6182" name="STEERING_ANGLE_STRAIGHT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6183" id="6183" name="STEERING_ANGLE_STRAIGHT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6184" id="6184" name="STEERING_ANGLE_STRAIGHT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="SteeringValue = linConvert(SteeringAngle, STEERING_ANGLE_STRAIGHT_MAX(), STEERING_ANGLE_STRAIGHT_MIN(), STEERING_VALUE_STRAIGHT_MAX(), STEERING_VALUE_STRAIGHT_MIN())">
+ <variable identifier="SteeringValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6185" id="6185" name="linConvert"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6186" id="6186" name="STEERING_ANGLE_STRAIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6187" id="6187" name="STEERING_ANGLE_STRAIGHT_MIN"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6188" id="6188" name="STEERING_VALUE_STRAIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6189" id="6189" name="STEERING_VALUE_STRAIGHT_MIN"/>
+ </arguments>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="5781" id="5781" name="Right" comment="" source="5779" target="5780">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="5782" id="5782">
+ <guard stringRepresentation="SteeringAngle != NoVal && ((SteeringAngle >= STEERING_ANGLE_RIGHT_MIN() && SteeringAngle <= STEERING_ANGLE_RIGHT_MAX()) || (SteeringAngle <= STEERING_ANGLE_RIGHT_MIN() && SteeringAngle >= STEERING_ANGLE_RIGHT_MAX()))">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6290" id="6290" name="STEERING_ANGLE_RIGHT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6291" id="6291" name="STEERING_ANGLE_RIGHT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6292" id="6292" name="STEERING_ANGLE_RIGHT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6293" id="6293" name="STEERING_ANGLE_RIGHT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="SteeringValue = linConvert(SteeringAngle, STEERING_ANGLE_RIGHT_MAX(), STEERING_ANGLE_RIGHT_MIN(), STEERING_VALUE_RIGHT_MAX(), STEERING_VALUE_RIGHT_MIN())">
+ <variable identifier="SteeringValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6194" id="6194" name="linConvert"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6195" id="6195" name="STEERING_ANGLE_RIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6196" id="6196" name="STEERING_ANGLE_RIGHT_MIN"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6197" id="6197" name="STEERING_VALUE_RIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6198" id="6198" name="STEERING_VALUE_RIGHT_MIN"/>
+ </arguments>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="5785" id="5785" name="NoVal" comment="" source="5783" target="5784">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="5786" id="5786">
+ <guard stringRepresentation="SteeringAngle == NoVal || SteeringAngle > STEERING_ANGLE_MAX() || SteeringAngle < STEERING_ANGLE_MIN()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6199" id="6199" name="STEERING_ANGLE_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6200" id="6200" name="STEERING_ANGLE_MIN"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="SteeringValue = STEERING_VALUE_STRAIGHT_MIN()">
+ <variable identifier="SteeringValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6201" id="6201" name="STEERING_VALUE_STRAIGHT_MIN"/>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="5789" id="5789" name="NoVal" comment="" source="5787" target="5788">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="5790" id="5790">
+ <guard stringRepresentation="SteeringAngle == NoVal || SteeringAngle > STEERING_ANGLE_MAX() || SteeringAngle < STEERING_ANGLE_MIN()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6202" id="6202" name="STEERING_ANGLE_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6203" id="6203" name="STEERING_ANGLE_MIN"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="SteeringValue = STEERING_VALUE_STRAIGHT_MIN()">
+ <variable identifier="SteeringValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6204" id="6204" name="STEERING_VALUE_STRAIGHT_MIN"/>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="5793" id="5793" name="NoVal" comment="" source="5791" target="5792">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="5794" id="5794">
+ <guard stringRepresentation="SteeringAngle == NoVal || SteeringAngle > STEERING_ANGLE_MAX() || SteeringAngle < STEERING_ANGLE_MIN()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6205" id="6205" name="STEERING_ANGLE_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6206" id="6206" name="STEERING_ANGLE_MIN"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="SteeringValue = STEERING_VALUE_STRAIGHT_MIN()">
+ <variable identifier="SteeringValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6207" id="6207" name="STEERING_VALUE_STRAIGHT_MIN"/>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="5797" id="5797" name="Straight" comment="" source="5795" target="5796">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="5798" id="5798">
+ <guard stringRepresentation="SteeringAngle != NoVal && ((SteeringAngle >= STEERING_ANGLE_STRAIGHT_MIN() && SteeringAngle <= STEERING_ANGLE_STRAIGHT_MAX()) || (SteeringAngle <= STEERING_ANGLE_STRAIGHT_MIN() && SteeringAngle >= STEERING_ANGLE_STRAIGHT_MAX()))">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6208" id="6208" name="STEERING_ANGLE_STRAIGHT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6209" id="6209" name="STEERING_ANGLE_STRAIGHT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6210" id="6210" name="STEERING_ANGLE_STRAIGHT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6211" id="6211" name="STEERING_ANGLE_STRAIGHT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="SteeringValue = linConvert(SteeringAngle, STEERING_ANGLE_STRAIGHT_MAX(), STEERING_ANGLE_STRAIGHT_MIN(), STEERING_VALUE_STRAIGHT_MAX(), STEERING_VALUE_STRAIGHT_MIN())">
+ <variable identifier="SteeringValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6212" id="6212" name="linConvert"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6213" id="6213" name="STEERING_ANGLE_STRAIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6214" id="6214" name="STEERING_ANGLE_STRAIGHT_MIN"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6215" id="6215" name="STEERING_VALUE_STRAIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6216" id="6216" name="STEERING_VALUE_STRAIGHT_MIN"/>
+ </arguments>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="5801" id="5801" name="Left" comment="" source="5799" target="5800">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="5802" id="5802">
+ <guard stringRepresentation="SteeringAngle != NoVal && ((SteeringAngle >= STEERING_ANGLE_LEFT_MIN() && SteeringAngle <= STEERING_ANGLE_LEFT_MAX()) || (SteeringAngle <= STEERING_ANGLE_LEFT_MIN() && SteeringAngle >= STEERING_ANGLE_LEFT_MAX()))">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6217" id="6217" name="STEERING_ANGLE_LEFT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6218" id="6218" name="STEERING_ANGLE_LEFT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6219" id="6219" name="STEERING_ANGLE_LEFT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6220" id="6220" name="STEERING_ANGLE_LEFT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="SteeringValue = linConvert(SteeringAngle, STEERING_ANGLE_LEFT_MAX(), STEERING_ANGLE_LEFT_MIN(), STEERING_VALUE_LEFT_MAX(), STEERING_VALUE_LEFT_MIN())">
+ <variable identifier="SteeringValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6221" id="6221" name="linConvert"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6222" id="6222" name="STEERING_ANGLE_LEFT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6223" id="6223" name="STEERING_ANGLE_LEFT_MIN"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6224" id="6224" name="STEERING_VALUE_LEFT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6225" id="6225" name="STEERING_VALUE_LEFT_MIN"/>
+ </arguments>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="5805" id="5805" name="Right" comment="" source="5803" target="5804">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="5806" id="5806">
+ <guard stringRepresentation="SteeringAngle != NoVal && ((SteeringAngle >= STEERING_ANGLE_RIGHT_MIN() && SteeringAngle <= STEERING_ANGLE_RIGHT_MAX()) || (SteeringAngle <= STEERING_ANGLE_RIGHT_MIN() && SteeringAngle >= STEERING_ANGLE_RIGHT_MAX()))">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6294" id="6294" name="STEERING_ANGLE_RIGHT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6295" id="6295" name="STEERING_ANGLE_RIGHT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6296" id="6296" name="STEERING_ANGLE_RIGHT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6297" id="6297" name="STEERING_ANGLE_RIGHT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="SteeringValue = linConvert(SteeringAngle, STEERING_ANGLE_RIGHT_MAX(), STEERING_ANGLE_RIGHT_MIN(), STEERING_VALUE_RIGHT_MAX(), STEERING_VALUE_RIGHT_MIN())">
+ <variable identifier="SteeringValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6230" id="6230" name="linConvert"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6231" id="6231" name="STEERING_ANGLE_RIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6232" id="6232" name="STEERING_ANGLE_RIGHT_MIN"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6233" id="6233" name="STEERING_VALUE_RIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6234" id="6234" name="STEERING_VALUE_RIGHT_MIN"/>
+ </arguments>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="5809" id="5809" name="Straight" comment="" source="5807" target="5808">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="5810" id="5810">
+ <guard stringRepresentation="SteeringAngle != NoVal && ((SteeringAngle >= STEERING_ANGLE_STRAIGHT_MIN() && SteeringAngle <= STEERING_ANGLE_STRAIGHT_MAX()) || (SteeringAngle <= STEERING_ANGLE_STRAIGHT_MIN() && SteeringAngle >= STEERING_ANGLE_STRAIGHT_MAX()))">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6235" id="6235" name="STEERING_ANGLE_STRAIGHT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6236" id="6236" name="STEERING_ANGLE_STRAIGHT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6237" id="6237" name="STEERING_ANGLE_STRAIGHT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6238" id="6238" name="STEERING_ANGLE_STRAIGHT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="SteeringValue = linConvert(SteeringAngle, STEERING_ANGLE_STRAIGHT_MAX(), STEERING_ANGLE_STRAIGHT_MIN(), STEERING_VALUE_STRAIGHT_MAX(), STEERING_VALUE_STRAIGHT_MIN())">
+ <variable identifier="SteeringValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6239" id="6239" name="linConvert"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6240" id="6240" name="STEERING_ANGLE_STRAIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6241" id="6241" name="STEERING_ANGLE_STRAIGHT_MIN"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6242" id="6242" name="STEERING_VALUE_STRAIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6243" id="6243" name="STEERING_VALUE_STRAIGHT_MIN"/>
+ </arguments>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="5813" id="5813" name="Left" comment="" source="5811" target="5812">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="5814" id="5814">
+ <guard stringRepresentation="SteeringAngle != NoVal && ((SteeringAngle >= STEERING_ANGLE_LEFT_MIN() && SteeringAngle <= STEERING_ANGLE_LEFT_MAX()) || (SteeringAngle <= STEERING_ANGLE_LEFT_MIN() && SteeringAngle >= STEERING_ANGLE_LEFT_MAX()))">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6244" id="6244" name="STEERING_ANGLE_LEFT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6245" id="6245" name="STEERING_ANGLE_LEFT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6246" id="6246" name="STEERING_ANGLE_LEFT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6247" id="6247" name="STEERING_ANGLE_LEFT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="SteeringValue = linConvert(SteeringAngle, STEERING_ANGLE_LEFT_MAX(), STEERING_ANGLE_LEFT_MIN(), STEERING_VALUE_LEFT_MAX(), STEERING_VALUE_LEFT_MIN())">
+ <variable identifier="SteeringValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6248" id="6248" name="linConvert"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6249" id="6249" name="STEERING_ANGLE_LEFT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6250" id="6250" name="STEERING_ANGLE_LEFT_MIN"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6251" id="6251" name="STEERING_VALUE_LEFT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6252" id="6252" name="STEERING_VALUE_LEFT_MIN"/>
+ </arguments>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="5817" id="5817" name="Right" comment="" source="5815" target="5816">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="5818" id="5818">
+ <guard stringRepresentation="SteeringAngle != NoVal && ((SteeringAngle >= STEERING_ANGLE_RIGHT_MIN() && SteeringAngle <= STEERING_ANGLE_RIGHT_MAX()) || (SteeringAngle <= STEERING_ANGLE_RIGHT_MIN() && SteeringAngle >= STEERING_ANGLE_RIGHT_MAX()))">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6298" id="6298" name="STEERING_ANGLE_RIGHT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6299" id="6299" name="STEERING_ANGLE_RIGHT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6300" id="6300" name="STEERING_ANGLE_RIGHT_MIN"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6301" id="6301" name="STEERING_ANGLE_RIGHT_MAX"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="SteeringValue = linConvert(SteeringAngle, STEERING_ANGLE_RIGHT_MAX(), STEERING_ANGLE_RIGHT_MIN(), STEERING_VALUE_RIGHT_MAX(), STEERING_VALUE_RIGHT_MIN())">
+ <variable identifier="SteeringValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6257" id="6257" name="linConvert"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6258" id="6258" name="STEERING_ANGLE_RIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6259" id="6259" name="STEERING_ANGLE_RIGHT_MIN"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6260" id="6260" name="STEERING_VALUE_RIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="6261" id="6261" name="STEERING_VALUE_RIGHT_MIN"/>
+ </arguments>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5675" id="5675" name="SteeringValue" comment="" outgoing="5679">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5676" id="5676">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5684" id="5684" name="SteeringAngle" comment="" incoming="5686">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5685" id="5685">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="636" y="204"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="265" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="4818" id="4818"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="4819" id="4819"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="4820" id="4820"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="4821" id="4821"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5679" id="5679" name="SteeringValue" comment="" source="5675" target="5677">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5686" id="5686" name="SteeringAngle" comment="" source="5682" target="5684">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5693" id="5693" name="Velocity" comment="" source="5689" target="15220">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5700" id="5700" name="Acceleration" comment="" source="5696" target="5698">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5714" id="5714" name="MaxAcceleration" comment="" source="5710" target="7145">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5721" id="5721" name="TargetVelocity" comment="" source="16582" target="15150">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10433" id="10433" name="Shutdown" comment="" source="10429" target="10436">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="11972" id="11972" name="VelocityValue" comment="" source="11975" target="15084">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16808" id="16808" name="MotorValue" comment="" source="16804" target="16806">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16806" id="16806" name="MotorValue" comment="" incoming="16808" outgoing="4830">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16807" id="16807">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="312" y="312"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="360" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5677" id="5677" name="SteeringValue" comment="" incoming="5679" outgoing="4839">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5678" id="5678">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="768" y="348"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="564" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5710" id="5710" name="MaxAcceleration" comment="" incoming="4848" outgoing="5714">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5711" id="5711">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="264" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="1032"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5682" id="5682" name="SteeringAngle" comment="" incoming="4857" outgoing="5686">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5683" id="5683">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="768" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="948"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16582" id="16582" name="TargetVelocity" comment="" incoming="4966" outgoing="5721">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16583" id="16583">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="360" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="480"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5696" id="5696" name="Acceleration" comment="" incoming="5039" outgoing="5700">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5697" id="5697">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="96" y="252"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5689" id="5689" name="Velocity" comment="" incoming="5046" outgoing="5693">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5690" id="5690">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="96" y="216"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10429" id="10429" name="Shutdown" comment="true if EB is on" incoming="10426" outgoing="10433">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10430" id="10430">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="444" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="744"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15084" id="15084" name="VelocityValue" comment="" incoming="11972" outgoing="11965 15088">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15085" id="15085">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="240" y="312"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="1176"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="24" y="816"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="1225" height="85"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="5010" id="5010" name="Safety Systems" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15275" id="15275" name="Emergency Brake" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15280" id="15280" name="Stopping distances comparison" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="15281" id="15281"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="15282" id="15282"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="15283" id="15283"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="15284" id="15284"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="15285" id="15285">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityFrontObstacle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="CriticalSituation"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceFront"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="CriticalSituation"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17644" id="17644" name="VELOCITY_DEADZONE"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityFrontObstacle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceFront"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="-0.5"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17645" id="17645" name="pow"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="2.0"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17646" id="17646" name="MAX_BRAKE_VALUE"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17647" id="17647" name="EB_BUFFER_FACTOR"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Negate"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17648" id="17648" name="MAX_BRAKE_VALUE"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityFrontObstacle"/>
+ </arguments>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="CriticalSituation"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </thenBlock>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceFront"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="-0.5"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17649" id="17649" name="pow"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="2.0"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17650" id="17650" name="MAX_BRAKE_VALUE"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17651" id="17651" name="EB_BUFFER_FACTOR"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="-0.5"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17652" id="17652" name="pow"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityFrontObstacle"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="2.0"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17653" id="17653" name="MAX_EXPECTED_BRAKE_VALUE"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="CriticalSituation"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </thenBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="CriticalSituation"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15295" id="15295" name="CriticalSituation" comment="" outgoing="15414">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15296" id="15296">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15402" id="15402" name="Velocity" comment="" incoming="15404">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15403" id="15403">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15397" id="15397" name="DistanceFront" comment="" incoming="15399">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15398" id="15398">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15392" id="15392" name="VelocityFrontObstacle" comment="Velocity of the obstacle in front (distanceFront)" incoming="15394">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15393" id="15393">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="240" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="289" height="169"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15303" id="15303" name="EB Coordinator" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="15304" id="15304"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="15305" id="15305"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="15306" id="15306"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="15307" id="15307"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="15416" id="15416">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="CriticalSituation"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="CriticalSituation"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Activated"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="15417" id="15417" name="Parking"/>
+ </arguments>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Activated"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15387" id="15387" name="DriveMode" comment="" incoming="15389">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15388" id="15388">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeSettings" def="9644"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15312" id="15312" name="Activated" comment="" outgoing="15415">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15313" id="15313">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15314" id="15314" name="CriticalSituation" comment="" incoming="15414">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15315" id="15315">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="240" y="252"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="289" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15316" id="15316" name="EB Memory" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="15317" id="15317"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="15318" id="15318"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="15319" id="15319"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="15320" id="15320"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="15321" id="15321">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="15322" id="15322" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="15323" id="15323" name="EB Off" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="15324" id="15324" initial="true">
+ <idleTransitionsSpecifications xmi:id="15325" id="15325">
+ <actions stringRepresentation="MaxAccelerationEB = NoVal">
+ <variable identifier="MaxAccelerationEB"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </actions>
+ <actions stringRepresentation=" RumbleEB = false">
+ <variable identifier="RumbleEB"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="15326" id="15326" name="Exit" comment="" outgoing="15336">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.7853981633974483"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="15327" id="15327" name="Entry" comment="" incoming="15339">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.2036224929766774"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="15328" id="15328" name="EB On" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="15329" id="15329">
+ <idleTransitionsSpecifications xmi:id="15330" id="15330">
+ <actions stringRepresentation="MaxAccelerationEB = MAX_BRAKE_VALUE()">
+ <variable identifier="MaxAccelerationEB"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16981" id="16981" name="MAX_BRAKE_VALUE"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" RumbleEB = true">
+ <variable identifier="RumbleEB"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="15332" id="15332" name="Entry" comment="" incoming="15336">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.892546881191539"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="15333" id="15333" name="Exit" comment="" outgoing="15339">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.223642957895671"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="314" y="76"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="15334" id="15334">
+ <idleTransitionsSpecifications xmi:id="15335" id="15335"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="15336" id="15336" name="Activated" comment="" source="15326" target="15332">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="15337" id="15337">
+ <guard stringRepresentation="Activated != NoVal && Activated == true">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Activated"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Activated"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="MaxAccelerationEB = MAX_BRAKE_VALUE()">
+ <variable identifier="MaxAccelerationEB"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16982" id="16982" name="MAX_BRAKE_VALUE"/>
+ </value>
+ </actions>
+ <actions stringRepresentation=" RumbleEB = true">
+ <variable identifier="RumbleEB"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="15339" id="15339" name="Deactivated" comment="" source="15333" target="15327">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="15340" id="15340">
+ <guard stringRepresentation="Activated != NoVal && Activated == false">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Activated"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Activated"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="MaxAccelerationEB = NoVal">
+ <variable identifier="MaxAccelerationEB"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </actions>
+ <actions stringRepresentation=" RumbleEB = false">
+ <variable identifier="RumbleEB"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15341" id="15341" name="Activated" comment="" incoming="15415">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15342" id="15342">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15380" id="15380" name="MaxAccelerationEB" comment="" outgoing="15384">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15381" id="15381">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="17262" id="17262" name="RumbleEB" comment="" outgoing="17266">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17263" id="17263">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="240" y="372"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="289" height="73"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="16983" id="16983" name="Delay" comment="(against cycle)">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="16984" id="16984" stronglyCausal="true"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="16985" id="16985"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="16986" id="16986"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="16987" id="16987"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="17002" id="17002">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="RumbleEB"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RumbleEB_In"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17264" id="17264" name="RumbleEB_In" comment="" incoming="17266">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17265" id="17265">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16997" id="16997" name="RumbleEB" comment="" outgoing="17001">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16998" id="16998">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="240" y="480"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="289" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="15276" id="15276"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="15277" id="15277"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="15278" id="15278"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="15279" id="15279"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15414" id="15414" name="CriticalSituation" comment="" source="15295" target="15314">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15415" id="15415" name="Activated" comment="" source="15312" target="15341">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15384" id="15384" name="MaxAccelerationEB" comment="" source="15380" target="15382">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15389" id="15389" name="DriveMode" comment="" source="15385" target="15387">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15394" id="15394" name="VelocityFrontObstacle" comment="" source="15390" target="15392">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15399" id="15399" name="DistanceFront" comment="" source="15395" target="15397">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15404" id="15404" name="Velocity" comment="" source="15400" target="15402">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17001" id="17001" name="RumbleEB" comment="" source="16997" target="16999">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17266" id="17266" name="" comment="" source="17262" target="17264">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15382" id="15382" name="MaxAccelerationEB" comment="" incoming="15384" outgoing="15351">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15383" id="15383">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="768" y="396"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="120" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15385" id="15385" name="DriveMode" comment="" incoming="15358" outgoing="15389">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15386" id="15386">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeSettings" def="9644"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="24" y="276"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="348"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15400" id="15400" name="Velocity" comment="" incoming="15365" outgoing="15404">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15401" id="15401">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="24" y="36"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15395" id="15395" name="DistanceFront" comment="" incoming="15372" outgoing="15399">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15396" id="15396">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="24" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="120"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15390" id="15390" name="VelocityFrontObstacle" comment="Velocity of the obstacle in front (distanceFront)" incoming="15379" outgoing="15394">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15391" id="15391">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="24" y="156"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="240"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16999" id="16999" name="RumbleEB" comment="" incoming="17001" outgoing="16973">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17000" id="17000">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="768" y="504"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="240" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="48" y="192"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="385" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15516" id="15516" name="Lane Warning" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="15517" id="15517" stronglyCausal="true"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="15518" id="15518"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="15519" id="15519"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="15520" id="15520"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="15535" id="15535">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LDCameraData"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="RumbleLW"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16909" id="16909" name="Forward"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LDCameraData"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="present_left"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LDCameraData"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="distance_left"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16910" id="16910" name="ROVER_WIDTH"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="2.0"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.05"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringWheel"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16911" id="16911" name="STEERING_ANGLE_LEFT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.5"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="RumbleLW"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </thenBlock>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LDCameraData"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="present_right"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LDCameraData"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="distance_right"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16912" id="16912" name="ROVER_WIDTH"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="2.0"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.05"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringWheel"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16913" id="16913" name="STEERING_ANGLE_RIGHT_MAX"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.5"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="RumbleLW"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </thenBlock>
+ </statements>
+ </thenBlock>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="RumbleLW"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15525" id="15525" name="LDCameraData" comment="" incoming="15527">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15526" id="15526">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LDCameraData" def="15427"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15530" id="15530" name="RumbleLW" comment="Rumble LaneWarning aktive: endless 1 sec rumble and 0,5 sec pause" outgoing="15534">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15531" id="15531">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15622" id="15622" name="DriveMode" comment="" incoming="15624">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15623" id="15623">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeSettings" def="9644"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16864" id="16864" name="SteeringWheel" comment="" incoming="16866">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16865" id="16865">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="240"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="456" y="192"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="313" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="5011" id="5011"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="5012" id="5012"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="5013" id="5013"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5014" id="5014"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15351" id="15351" name="MaxAccelerationEB" comment="" source="15382" target="15349">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15358" id="15358" name="DriveMode" comment="" source="15620" target="15385">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15365" id="15365" name="Velocity" comment="" source="15361" target="15400">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15372" id="15372" name="DistanceFront" comment="" source="15368" target="15395">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15379" id="15379" name="VelocityFrontObstacle" comment="" source="15375" target="15390">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15527" id="15527" name="LDCameraData" comment="" source="15523" target="15525">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15534" id="15534" name="RumbleLW" comment="" source="15530" target="17063">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15624" id="15624" name="DriveMode" comment="" source="15620" target="15622">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="408" y="108"/>
+ <points x="516" y="108"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16866" id="16866" name="SteeringWheel" comment="" source="16862" target="16864">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16973" id="16973" name="RumbleEB" comment="" source="16999" target="17070">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15349" id="15349" name="MaxAccelerationEB" comment="" incoming="15351" outgoing="5023">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15350" id="15350">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15368" id="15368" name="DistanceFront" comment="" incoming="8024" outgoing="15372">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15369" id="15369">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="168" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15361" id="15361" name="Velocity" comment="" incoming="8804" outgoing="15365">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15362" id="15362">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="60" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="156"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15375" id="15375" name="VelocityFrontObstacle" comment="Velocity of the obstacle in front (distanceFront)" incoming="8029" outgoing="15379">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15376" id="15376">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15620" id="15620" name="DriveMode" comment="" incoming="13741" outgoing="15358 15624">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15621" id="15621">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeSettings" def="9644"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="180" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15523" id="15523" name="LDCameraData" comment="" incoming="15486" outgoing="15527">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15524" id="15524">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LDCameraData" def="15427"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="600" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="17063" id="17063" name="RumbleLW" comment="Rumble LaneWarning aktive: endless 1 sec rumble and 0,5 sec pause" incoming="15534" outgoing="17067">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17064" id="17064">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="600" y="432"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16862" id="16862" name="SteeringWheel" comment="" incoming="16859" outgoing="16866">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16863" id="16863">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="696" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="192"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="17070" id="17070" name="RumbleEB" comment="" incoming="16973" outgoing="17074">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17071" id="17071">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="288" y="432"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="552" y="432"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="229" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="5024" id="5024" name="Sensor Data Fusion" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="6657" id="6657" name="Mapping" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="6658" id="6658"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="6659" id="6659"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="6660" id="6660"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="6661" id="6661"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="6662" id="6662">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="AccelerationOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Velocity"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityIn"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ButtonHome"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LDCameraData"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="movement">
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </members>
+ <members name="distance_left">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LD_Distance_Left"/>
+ </members>
+ <members name="distance_right">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LD_Distance_Right"/>
+ </members>
+ <members name="present_left">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LD_present_left"/>
+ </members>
+ <members name="present_right">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LD_present_right"/>
+ </members>
+ <members name="orientation">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LD_Orientation"/>
+ </members>
+ </value>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LDCameraData"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="movement">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityIn"/>
+ </members>
+ <members name="distance_left">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LD_Distance_Left"/>
+ </members>
+ <members name="distance_right">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LD_Distance_Right"/>
+ </members>
+ <members name="present_left">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LD_present_left"/>
+ </members>
+ <members name="present_right">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LD_present_right"/>
+ </members>
+ <members name="orientation">
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LD_Orientation"/>
+ </members>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="FrontObstacleCommand"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="FrontObstacleCommand"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DistanceFront"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceToFrontObstacle"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceToFrontLaser"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceToFrontUS"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DistanceFront"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceToFrontUS"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceToFrontLaser"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceToFrontUS"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceToFrontLaser"/>
+ </arguments>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DistanceFront"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceToFrontUS"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DistanceFront"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceToFrontLaser"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ButtonR2"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ButtonR2"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="GasPedal"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="GasPedal"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ButtonR2"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ButtonL2"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ButtonL2"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="BrakePedal"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="BrakePedal"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ButtonL2"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="SteeringWheel"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LeftStick_X"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18796" id="18796" name="STEERING_ANGLE_MAX"/>
+ </arguments>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="GearShift"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ButtonR1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ButtonR1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="GearShift"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ButtonL1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ButtonL1"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="GearShift"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="-1"/>
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+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ButtonSelect"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ButtonSelect"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RightStick_X"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RightStick_X"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DACommand"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="acc">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ </members>
+ <members name="laneKeep">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ </members>
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+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DACommand"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="acc">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ </members>
+ <members name="laneKeep">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18800" id="18800" name="NotPressed"/>
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+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RightStick_X"/>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RightStick_X"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DACommand"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
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+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ </members>
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+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DACommand"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:StructureConst">
+ <members name="acc">
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18803" id="18803" name="NotPressed"/>
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+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="9075" id="9075" name="VelocityIn" comment="" incoming="9077">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="9076" id="9076">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10653" id="10653" name="FrontObstacleCommand" comment="" incoming="10655">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10654" id="10654">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10660" id="10660" name="DistanceToFrontObstacle" comment="" incoming="10662">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10661" id="10661">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14630" id="14630" name="ButtonHome" comment="" incoming="14632">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14631" id="14631">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="276" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14639" id="14639" name="ButtonSelect" comment="" incoming="14641">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14640" id="14640">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="300" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14675" id="14675" name="LeftStick_Y" comment="" incoming="14677">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14676" id="14676">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="420" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15459" id="15459" name="LDCameraData" comment="" outgoing="15463">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15460" id="15460">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LDCameraData" def="15427"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="564" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15755" id="15755" name="LD_Distance_Left" comment="Lane Detection Camera: distance to the left line (in m)" incoming="15757">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15756" id="15756">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="600" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15762" id="15762" name="LD_Distance_Right" comment="Lane Detection Camera: distance to the right line (in m)" incoming="15764">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15763" id="15763">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="624" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15769" id="15769" name="LD_present_left" comment="Lane Detection Camera: true if left line ist present" incoming="15771">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15770" id="15770">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="648" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15776" id="15776" name="LD_present_right" comment="Lane Detection Camera: true if right line ist present" incoming="15778">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15777" id="15777">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="672" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15783" id="15783" name="LD_Orientation" comment="Lane Detection Camera: not fixed, but currently: orientation to the middle of the lane (in rad). parallel to the lines is 0. to the left is positiv, to the right negativ" incoming="15785">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15784" id="15784">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="696" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16789" id="16789" name="DistanceToFrontUS" comment="in meter" incoming="16791">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16790" id="16790">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="17707" id="17707" name="ForceEBOff" comment="" outgoing="17695">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17708" id="17708">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17718" id="17718" name="ForceEBOffOld" comment="" incoming="17720">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17719" id="17719">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18656" id="18656" name="DPadUp" comment="" incoming="18658">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18657" id="18657">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="324" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18663" id="18663" name="DPadLeft" comment="" incoming="18665">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18664" id="18664">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="348" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18670" id="18670" name="DPadRight" comment="" incoming="18672">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18671" id="18671">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="372" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18596" id="18596" name="EnableRightSignal" comment="" outgoing="18600">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18597" id="18597">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="696" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18603" id="18603" name="EnableLeftSignal" comment="" outgoing="18607">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18604" id="18604">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="672" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18610" id="18610" name="ToggleHazards" comment="" outgoing="18614">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18611" id="18611">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="648" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="348" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="193" height="745"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="9057" id="9057" name="Velocity" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="9058" id="9058"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="9059" id="9059"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="9060" id="9060"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="9061" id="9061"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="9092" id="9092">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ReturnOn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ReturnOn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
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+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
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+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="9067" id="9067">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
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+ </specifications>
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15103" id="15103" name="OwnVelocity" comment="" incoming="15105">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15104" id="15104">
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+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="EAST"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="157" height="121"/>
+ </containedElements>
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+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="9318" id="9318"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="9319" id="9319"/>
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+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="9321" id="9321"/>
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+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13974" id="13974" name="ButtonX" comment="" incoming="13976">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13975" id="13975">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="120" orientation="EAST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="348" y="768"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="193" height="157"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="12045" id="12045" name="Transform Input" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="12046" id="12046"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="11992" id="11992"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="11993" id="11993"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="11994" id="11994"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="12039" id="12039">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LeftStick_X"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LeftStick_XIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16844" id="16844" name="STICK_INPUT_SCALING"/>
+ </arguments>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LeftStick_Y"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Negate"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LeftStick_YIn"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16845" id="16845" name="STICK_INPUT_SCALING"/>
+ </arguments>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="RightStick_X"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RightStick_XIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16846" id="16846" name="STICK_INPUT_SCALING"/>
+ </arguments>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="RightStick_Y"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Negate"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RightStick_YIn"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16847" id="16847" name="STICK_INPUT_SCALING"/>
+ </arguments>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ButtonL2"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ButtonL2In"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16848" id="16848" name="Z_INPUT_SCALING"/>
+ </arguments>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ButtonR2"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ButtonR2In"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16849" id="16849" name="Z_INPUT_SCALING"/>
+ </arguments>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="11995" id="11995" name="LeftStick_XIn" comment="" incoming="11997">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11996" id="11996">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12000" id="12000" name="RightStick_XIn" comment="" incoming="12002">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12001" id="12001">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12005" id="12005" name="RightStick_YIn" comment="" incoming="12007">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12006" id="12006">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11978" id="11978" name="LeftStick_X" comment="" outgoing="11982">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11979" id="11979">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11983" id="11983" name="RightStick_X" comment="" outgoing="11987">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11984" id="11984">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11988" id="11988" name="RightStick_Y" comment="" outgoing="12047">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11989" id="11989">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14666" id="14666" name="LeftStick_YIn" comment="" incoming="14668">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14667" id="14667">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="14673" id="14673" name="LeftStick_Y" comment="" outgoing="14677">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14674" id="14674">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="14960" id="14960" name="ButtonL2" comment="" outgoing="14964">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14961" id="14961">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="14967" id="14967" name="ButtonR2" comment="" outgoing="14971">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14968" id="14968">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14976" id="14976" name="ButtonL2In" comment="" incoming="14978">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14977" id="14977">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14983" id="14983" name="ButtonR2In" comment="" incoming="14985">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14984" id="14984">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132" orientation="EAST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="924" y="432"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="157" height="169"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="13312" id="13312" name="Store State" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="13373" id="13373" name="Home" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="13374" id="13374"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="13375" id="13375"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="13376" id="13376"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="13377" id="13377"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="13378" id="13378">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="13379" id="13379" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="13380" id="13380" name="Released" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="13381" id="13381" initial="true">
+ <idleTransitionsSpecifications xmi:id="13382" id="13382">
+ <actions stringRepresentation="Out = NoVal">
+ <variable identifier="Out"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="13434" id="13434" name="Exit" comment="" outgoing="13436">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.4856220932974687"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="13439" id="13439" name="Entry" comment="" incoming="13440">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.4160645057238227"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="154" height="96"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="13423" id="13423" name="Pressed" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="13424" id="13424">
+ <idleTransitionsSpecifications xmi:id="13425" id="13425">
+ <actions stringRepresentation="Out = NoVal">
+ <variable identifier="Out"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="13435" id="13435" name="Entry" comment="" incoming="13436">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.436024475904582"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="13438" id="13438" name="Exit" comment="" outgoing="13440">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
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+ <actions stringRepresentation="Out = NoVal">
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+ <actions stringRepresentation="Out = 1">
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+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="18707" id="18707"/>
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+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="18712" id="18712" name="Released" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="18713" id="18713" initial="true">
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+ <actions stringRepresentation="Out = NoVal">
+ <variable identifier="Out"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </actions>
+ </idleTransitionsSpecifications>
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+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="18715" id="18715" name="Exit" comment="" outgoing="18724">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
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+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="18716" id="18716" name="Entry" comment="" incoming="18726">
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+ <actions stringRepresentation="Out = NoVal">
+ <variable identifier="Out"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <actions stringRepresentation="Out = 1">
+ <variable identifier="Out"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
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+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18773" id="18773" name="" comment="" source="18769" target="18771">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18778" id="18778" name="" comment="" source="18774" target="18776">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18783" id="18783" name="" comment="" source="18779" target="18781">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18788" id="18788" name="" comment="" source="18784" target="18786">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13523" id="13523" name="ButtonR1In" comment="" incoming="13330" outgoing="13527">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13524" id="13524">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="216" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13543" id="13543" name="ButtonL1In" comment="" incoming="13344" outgoing="13547">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13544" id="13544">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="480" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="13550" id="13550" name="ButtonL1" comment="" incoming="13552" outgoing="13351">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13551" id="13551">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="480" y="180"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="13530" id="13530" name="ButtonR1" comment="" incoming="13532" outgoing="13365">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13531" id="13531">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="216" y="180"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14657" id="14657" name="ButtonHomeIn" comment="" incoming="14616" outgoing="14661">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14658" id="14658">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="84" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="73" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14652" id="14652" name="ButtonSelectIn" comment="" incoming="14623" outgoing="14656">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14653" id="14653">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="348" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="14649" id="14649" name="ButtonHome" comment="" incoming="14651" outgoing="14632">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14650" id="14650">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="84" y="180"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="14644" id="14644" name="ButtonSelect" comment="" incoming="14646" outgoing="14641">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14645" id="14645">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="348" y="180"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18759" id="18759" name="DPadUp" comment="" incoming="18637" outgoing="18763">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18760" id="18760">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18769" id="18769" name="DPadLeft" comment="" incoming="18644" outgoing="18773">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18770" id="18770">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="120" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18779" id="18779" name="DPadRight" comment="" incoming="18651" outgoing="18783">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18780" id="18780">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18766" id="18766" name="DPadUpOut" comment="" incoming="18768" outgoing="18658">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18767" id="18767">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18776" id="18776" name="DPadLeftOut" comment="" incoming="18778" outgoing="18665">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18777" id="18777">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="120" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18786" id="18786" name="DPadRightOut" comment="" incoming="18788" outgoing="18672">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18787" id="18787">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="876" y="180"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="924" y="252"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="157" height="169"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="13553" id="13553" name="Store State" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="13554" id="13554" name="R2" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="13555" id="13555"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="13556" id="13556"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="13557" id="13557"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="13558" id="13558"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="13559" id="13559">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="13560" id="13560" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="13561" id="13561" name="Released" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="13562" id="13562" initial="true">
+ <idleTransitionsSpecifications xmi:id="13563" id="13563">
+ <actions stringRepresentation="Out = NoVal">
+ <variable identifier="Out"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </actions>
+ </idleTransitionsSpecifications>
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+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="13564" id="13564" name="Exit" comment="" outgoing="13573">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.4856220932974687"/>
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+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="13565" id="13565" name="Entry" comment="" incoming="13575">
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.4160645057238227"/>
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+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="13566" id="13566" name="Pressed" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="13567" id="13567">
+ <idleTransitionsSpecifications xmi:id="13568" id="13568">
+ <actions stringRepresentation="Out = NoVal">
+ <variable identifier="Out"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ </idleTransitionsSpecifications>
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+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="13569" id="13569" name="Entry" comment="" incoming="13573">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.436024475904582"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="13570" id="13570" name="Exit" comment="" outgoing="13575">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.6954871046463897"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="131" height="81"/>
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+ <idleTransitionsSpecifications xmi:id="13572" id="13572"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="13573" id="13573" name="Press" comment="" source="13564" target="13569">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="13574" id="13574">
+ <guard stringRepresentation="In == 1">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
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+ <actions stringRepresentation="Out = 1">
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+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
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+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="13575" id="13575" name="Release" comment="" source="13570" target="13565">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="13576" id="13576">
+ <guard stringRepresentation="In == NoVal || In == 0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
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+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="In"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
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+ </expression>
+ </guard>
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+ </connectors>
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+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="13582" id="13582"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="13583" id="13583"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="13584" id="13584"/>
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+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="13587" id="13587" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="13588" id="13588" name="Released" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="13589" id="13589" initial="true">
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+ <actions stringRepresentation="Out = NoVal">
+ <variable identifier="Out"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="13591" id="13591" name="Exit" comment="" outgoing="13600">
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+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="13592" id="13592" name="Entry" comment="" incoming="13602">
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+ <variable identifier="Out"/>
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+ </actions>
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+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="13637" id="13637"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="13638" id="13638"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="13639" id="13639"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="13640" id="13640">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="13641" id="13641" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="13642" id="13642" name="Released" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="13643" id="13643" initial="true">
+ <idleTransitionsSpecifications xmi:id="13644" id="13644">
+ <actions stringRepresentation="Out = NoVal">
+ <variable identifier="Out"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="13645" id="13645" name="Exit" comment="" outgoing="13654">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.4856220932974687"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="13646" id="13646" name="Entry" comment="" incoming="13656">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.4160645057238227"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="154" height="96"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="13647" id="13647" name="Pressed" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="13648" id="13648">
+ <idleTransitionsSpecifications xmi:id="13649" id="13649">
+ <actions stringRepresentation="Out = NoVal">
+ <variable identifier="Out"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="13650" id="13650" name="Entry" comment="" incoming="13654">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.436024475904582"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="13651" id="13651" name="Exit" comment="" outgoing="13656">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.6954871046463897"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="372" y="84"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="131" height="81"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="13652" id="13652">
+ <idleTransitionsSpecifications xmi:id="13653" id="13653"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="13654" id="13654" name="Press" comment="" source="13645" target="13650">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="13655" id="13655">
+ <guard stringRepresentation="In == 1">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="In"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Out = 1">
+ <variable identifier="Out"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="13656" id="13656" name="Release" comment="" source="13651" target="13646">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="13657" id="13657">
+ <guard stringRepresentation="In == NoVal || In == 0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="In"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="In"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Out = 0">
+ <variable identifier="Out"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="13658" id="13658" name="Out" comment="" outgoing="13673">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13659" id="13659">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13660" id="13660" name="In" comment="" incoming="13672">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13661" id="13661">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="516" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="145" height="73"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="13662" id="13662"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="13663" id="13663"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="13664" id="13664"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="13665" id="13665"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13666" id="13666" name="ButtonR2" comment="" source="13577" target="13972">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13667" id="13667" name="ButtonR2In" comment="" source="13722" target="13579">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13668" id="13668" name="" comment="" source="13717" target="13606">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13669" id="13669" name="" comment="" source="13604" target="13700">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13670" id="13670" name="" comment="" source="13712" target="13633">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13671" id="13671" name="" comment="" source="13631" target="13695">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13672" id="13672" name="" comment="" source="13707" target="13660">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13673" id="13673" name="" comment="" source="13658" target="13690">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13722" id="13722" name="ButtonXIn" comment="" incoming="13724" outgoing="13667">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13723" id="13723">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="120" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13717" id="13717" name="ButtonAIn" comment="" incoming="13719" outgoing="13668">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13718" id="13718">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="264" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13712" id="13712" name="ButtonBIn" comment="" incoming="13714" outgoing="13670">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13713" id="13713">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="420" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13707" id="13707" name="ButtonYIn" comment="" incoming="13709" outgoing="13672">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13708" id="13708">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="576" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="13690" id="13690" name="ButtonY" comment="" incoming="13673" outgoing="13694">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13691" id="13691">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="576" y="180"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="13695" id="13695" name="ButtonB" comment="" incoming="13671" outgoing="13699">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13696" id="13696">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="420" y="180"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="13700" id="13700" name="ButtonA" comment="" incoming="13669" outgoing="13704">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13701" id="13701">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="264" y="180"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="13972" id="13972" name="ButtonX" comment="" incoming="13666" outgoing="13976">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13973" id="13973">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="180"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="120" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="924" y="768"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="157" height="157"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15020" id="15020" name="GearShift" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="15021" id="15021"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="15022" id="15022"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="15023" id="15023"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="15024" id="15024"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="15039" id="15039">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="15040" id="15040" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="15041" id="15041" name="Nothing" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="15042" id="15042" initial="true">
+ <idleTransitionsSpecifications xmi:id="15043" id="15043">
+ <actions stringRepresentation="GearShift = NoVal">
+ <variable identifier="GearShift"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="15052" id="15052" name="Exit" comment="" outgoing="15054">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.07130746478529032"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="15059" id="15059" name="Entry" comment="" incoming="15060">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.5224034317165288"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="15070" id="15070" name="Output" comment="" outgoing="15071">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.025141272267905"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="15074" id="15074" name="Entry1" comment="" incoming="15075">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.105751400580993"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="158" height="98"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="15046" id="15046" name="Up" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="15047" id="15047">
+ <idleTransitionsSpecifications xmi:id="15048" id="15048">
+ <actions stringRepresentation="GearShift = NoVal">
+ <variable identifier="GearShift"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="15053" id="15053" name="Entry" comment="" incoming="15054">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.488746022489019"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="15058" id="15058" name="Exit" comment="" outgoing="15060">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.7532739354173272"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="15062" id="15062" name="Exit1" comment="" outgoing="15064">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.356194490192345"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="15067" id="15067" name="Entry1" comment="" incoming="15068">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.7483780475235183"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="318" y="117"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="15049" id="15049" name="Down" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="15050" id="15050">
+ <idleTransitionsSpecifications xmi:id="15051" id="15051">
+ <actions stringRepresentation="GearShift = NoVal">
+ <variable identifier="GearShift"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="15063" id="15063" name="Entry" comment="" incoming="15064 15071">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.1587989303424644"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="15066" id="15066" name="Exit" comment="" outgoing="15068">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="15073" id="15073" name="Exit1" comment="" outgoing="15075">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-3.107123552590285"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="203" y="245"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="15044" id="15044">
+ <idleTransitionsSpecifications xmi:id="15045" id="15045"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="15054" id="15054" name="Up" comment="" source="15052" target="15053">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="15055" id="15055">
+ <guard stringRepresentation="GearShiftIn != NoVal && GearShiftIn > 0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShiftIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShiftIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="GearShift = 1">
+ <variable identifier="GearShift"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="15060" id="15060" name="Idle" comment="" source="15058" target="15059">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="15061" id="15061">
+ <guard stringRepresentation="GearShiftIn == NoVal || GearShiftIn == 0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShiftIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShiftIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="GearShift = NoVal">
+ <variable identifier="GearShift"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="15064" id="15064" name="Down" comment="" source="15062" target="15063">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="15065" id="15065">
+ <guard stringRepresentation="GearShiftIn != NoVal && GearShiftIn < 0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShiftIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShiftIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="GearShift = -1">
+ <variable identifier="GearShift"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="-1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="15068" id="15068" name="Up" comment="" source="15066" target="15067">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="15069" id="15069">
+ <guard stringRepresentation="GearShiftIn != NoVal && GearShiftIn > 0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShiftIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShiftIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="GearShift = 1">
+ <variable identifier="GearShift"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="15071" id="15071" name="Down" comment="" source="15070" target="15063">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="15072" id="15072">
+ <guard stringRepresentation="GearShiftIn != NoVal && GearShiftIn < 0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShiftIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShiftIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="GearShift = -1">
+ <variable identifier="GearShift"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="-1"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="15075" id="15075" name="Idle" comment="" source="15073" target="15074">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="15076" id="15076">
+ <guard stringRepresentation="GearShiftIn == NoVal || GearShiftIn == 0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShiftIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="GearShiftIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="GearShift = NoVal">
+ <variable identifier="GearShift"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15029" id="15029" name="GearShiftIn" comment="" incoming="15031">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15030" id="15030">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15034" id="15034" name="GearShift" comment="" outgoing="15038">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15035" id="15035">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="144" y="456"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="145" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="16635" id="16635" name="Distance Transformation" comment="convert all in SI standard (meter)">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="16636" id="16636"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="16637" id="16637"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="16638" id="16638"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="16639" id="16639"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="16668" id="16668">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceToFrontLaser"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceToFrontLaser"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="20.0"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceToFrontLaser"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="4100.0"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DistanceToFrontLaser_Out"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1200" y="564"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="360"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13326" id="13326" name="ButtonR1" comment="" incoming="5233" outgoing="13330">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13327" id="13327">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1200" y="276"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="312"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13720" id="13720" name="ButtonX" comment="" incoming="5240" outgoing="13724">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13721" id="13721">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1200" y="888"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="408"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13715" id="13715" name="ButtonA" comment="" incoming="5247" outgoing="13719">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13716" id="13716">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1200" y="852"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="504"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13710" id="13710" name="ButtonB" comment="" incoming="5254" outgoing="13714">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13711" id="13711">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
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+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1200" y="816"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="552"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13705" id="13705" name="ButtonY" comment="" incoming="5261" outgoing="13709">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13706" id="13706">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
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+ </specifications>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="456"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="9064" id="9064" name="VelocityIn" comment="" incoming="5268" outgoing="9068">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="9065" id="9065">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="840"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16649" id="16649" name="DistanceToFrontUS1" comment="" incoming="5282" outgoing="16653">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16650" id="16650">
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="744"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="6702" id="6702" name="GasPedal" comment="" incoming="6704" outgoing="5291">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="6703" id="6703">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="6695" id="6695" name="BrakePedal" comment="" incoming="6697" outgoing="5300">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="6696" id="6696">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16855" id="16855" name="SteeringWheel" comment="" incoming="6669" outgoing="5309 16859">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16856" id="16856">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15036" id="15036" name="GearShift" comment="" incoming="15038" outgoing="5318">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15037" id="15037">
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="1068" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16642" id="16642" name="DistanceToFrontLaser" comment="" incoming="5478" outgoing="16646">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16643" id="16643">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="696"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="11998" id="11998" name="RightStick_X" comment="" incoming="6280" outgoing="12002">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11999" id="11999">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12003" id="12003" name="RightStick_Y" comment="" incoming="6385" outgoing="12007">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12004" id="12004">
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="120"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="9080" id="9080" name="ReturnOn" comment="" incoming="6460" outgoing="9084">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="9081" id="9081">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="984"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8664" id="8664" name="DACommand" comment="" incoming="8666" outgoing="7985">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8665" id="8665">
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+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10658" id="10658" name="DistanceToFrontObstacle" comment="" incoming="10641" outgoing="10662">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10659" id="10659">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="888"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10651" id="10651" name="FrontObstacleCommand" comment="" incoming="10648" outgoing="10655">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10652" id="10652">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="936"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="13967" id="13967" name="DriveModeCommands" comment="" incoming="13969" outgoing="13762">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13968" id="13968">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeCommands" def="13763"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14664" id="14664" name="LeftStick_Y" comment="" incoming="14562" outgoing="14668">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14665" id="14665">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14619" id="14619" name="ButtonSelect" comment="" incoming="14592" outgoing="14623">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14620" id="14620">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="648"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14612" id="14612" name="ButtonHome" comment="" incoming="14599" outgoing="14616">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14613" id="14613">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="600"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15101" id="15101" name="OwnVelocity" comment="" incoming="15098" outgoing="15105">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15102" id="15102">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1200" y="192"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="1176" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15461" id="15461" name="LDCameraData" comment="" incoming="15463" outgoing="15449">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15462" id="15462">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LDCameraData" def="15427"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="60" y="588"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="444" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15753" id="15753" name="LD_Distance_Left" comment="Lane Detection Camera: distance to the left line (in m)" incoming="15722" outgoing="15757">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15754" id="15754">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1200" y="624"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="1032"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15760" id="15760" name="LD_Distance_Right" comment="Lane Detection Camera: distance to the right line (in m)" incoming="15729" outgoing="15764">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15761" id="15761">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1200" y="648"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="1080"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15767" id="15767" name="LD_present_left" comment="Lane Detection Camera: true if left line ist present" incoming="15736" outgoing="15771">
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+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1200" y="672"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="1128"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15774" id="15774" name="LD_present_right" comment="Lane Detection Camera: true if right line ist present" incoming="15743" outgoing="15778">
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+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="1176"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15781" id="15781" name="LD_Orientation" comment="Lane Detection Camera: not fixed, but currently: orientation to the middle of the lane (in rad). parallel to the lines is 0. to the left is positiv, to the right negativ" incoming="15750" outgoing="15785">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15782" id="15782">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="1225"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16724" id="16724" name="DistanceToFrontUS2" comment="" incoming="16721" outgoing="16728">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16725" id="16725">
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="792"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="17759" id="17759" name="ForceEBOff" comment="" incoming="17761" outgoing="17619">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17760" id="17760">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18612" id="18612" name="ToggleHazards" comment="" incoming="18614" outgoing="18482">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18613" id="18613">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18605" id="18605" name="EnableLeftSignal" comment="" incoming="18607" outgoing="18489">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18606" id="18606">
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+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18598" id="18598" name="EnableRightSignal" comment="" incoming="18600" outgoing="18496">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18633" id="18633" name="DPadUp" comment="" incoming="18556" outgoing="18637">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18640" id="18640" name="DPadLeft" comment="" incoming="18563" outgoing="18644">
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="1320"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18647" id="18647" name="DPadRight" comment="" incoming="18570" outgoing="18651">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18648" id="18648">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="1368"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="24" y="132"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="1489" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="7344" id="7344" name="Environment Model" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="101" id="101" name="VelocityObstacle Calculation" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="7683" id="7683" name="LastSensor Memory" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="6957" id="6957" stronglyCausal="true"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="6958" id="6958"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="7684" id="7684"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="7685" id="7685"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="7686" id="7686">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LastDistanceFrontIn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastDistanceFrontOut"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LastVelocityDiffIn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastVelocityDiffOut"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
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+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="6965" id="6965" name="LastDistanceFrontOut" comment="" incoming="7708">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7687" id="7687">
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+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7777" id="7777" name="LastVelocityDiffOut" comment="" incoming="7779">
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+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7784" id="7784" name="LastVelocityDiffIn" comment="" outgoing="7788">
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+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="6981" id="6981" name="Velocity of Obstacle in front" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="7689" id="7689"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="7690" id="7690"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="7691" id="7691"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="7692" id="7692"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="7021" id="7021">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="InvalidValue"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="InvalidValue"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="VelocityFrontObstacle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastVelocityIn"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LastVelocityOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastVelocityIn"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityDiff"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="11291" id="11291" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityDiff"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="11292" id="11292" name="VELOCITY_DEADZONE"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="VelocityFrontObstacle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LastVelocityOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="VelocityFrontObstacle"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityDiff"/>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LastVelocityOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityDiff"/>
+ </value>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7693" id="7693" name="VelocityDiff" comment="Velocity difference between this car and the obstacle (maybe other car), which is detected by distance sensors (VelocityDiff = VelocityObstacle - VelocityRover)" incoming="7029">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7694" id="7694">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7695" id="7695" name="VelocityFrontObstacle" comment="Velocity of the obstacle in front (distanceFront)" outgoing="7711">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7696" id="7696">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8817" id="8817" name="Velocity" comment="" incoming="8819">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8818" id="8818">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7738" id="7738" name="LastVelocityOut" comment="" outgoing="7742">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7739" id="7739">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7749" id="7749" name="LastVelocityIn" comment="" incoming="7751">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7750" id="7750">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7762" id="7762" name="InvalidValue" comment="" incoming="7764">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7763" id="7763">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="180"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="108" y="276"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="241" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="6918" id="6918" name="VelocityDifference" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="7699" id="7699"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="7700" id="7700"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="7701" id="7701"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="6922" id="6922"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="6944" id="6944">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SampledDistanceFront"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LastDistanceFrontOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SampledDistanceFront"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastDistanceFrontIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17432" id="17432" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastVelocityDiffIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SampledDistanceFront"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastDistanceFrontIn"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17433" id="17433" name="SAMPLING_TIME_DISTANCE"/>
+ </arguments>
+ </arguments>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17434" id="17434" name="NATURAL_ACCELERATION"/>
+ </arguments>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="VelocityDiff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SampledDistanceFront"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastDistanceFrontIn"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17435" id="17435" name="SAMPLING_TIME_DISTANCE"/>
+ </arguments>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LastVelocityDiffOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SampledDistanceFront"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastDistanceFrontIn"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17436" id="17436" name="SAMPLING_TIME_DISTANCE"/>
+ </arguments>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="InvalidValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="VelocityDiff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LastVelocityDiffOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SampledDistanceFront"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastDistanceFrontIn"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="17437" id="17437" name="SAMPLING_TIME_DISTANCE"/>
+ </arguments>
+ </value>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="InvalidValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="VelocityDiff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LastVelocityDiffOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="InvalidValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LastDistanceFrontOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastDistanceFrontIn"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="VelocityDiff"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastVelocityDiffIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LastVelocityDiffOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
+ </statements>
+ </thenBlock>
+ <elseBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LastVelocityDiffOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastVelocityDiffIn"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="InvalidValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </statements>
+ </elseBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17293" id="17293" name="SampledDistanceFront" comment="Only when the distance sensor really measure a new distance, a double value will be here. Otherwise NoVal " incoming="17295">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17294" id="17294">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7704" id="7704" name="LastDistanceFrontOut" comment="" outgoing="7708">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="6964" id="6964">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="6974" id="6974" name="LastDistanceFrontIn" comment="" incoming="7709">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7705" id="7705">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7706" id="7706" name="VelocityDiff" comment="Velocity difference between this car and the obstacle (maybe other car), which is detected by distance sensors (VelocityDiff = VelocityObstacle - VelocityRover)" outgoing="7029">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7707" id="7707">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7760" id="7760" name="InvalidValue" comment="" outgoing="7764">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7761" id="7761">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7775" id="7775" name="LastVelocityDiffOut" comment="" outgoing="7779">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7776" id="7776">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7786" id="7786" name="LastVelocityDiffIn" comment="" incoming="7788">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7787" id="7787">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="EAST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="120" y="108"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="217" height="121"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="7729" id="7729" name="Velocity Memory" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="7730" id="7730" stronglyCausal="true"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="7731" id="7731"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="7732" id="7732"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="7733" id="7733"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="7752" id="7752">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LastVelocityIn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastVelocityOut"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="7740" id="7740" name="LastVelocityOut" comment="" incoming="7742">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7741" id="7741">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7747" id="7747" name="LastVelocityIn" comment="" outgoing="7751">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7748" id="7748">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="468" y="276"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="181" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="102" id="102"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="103" id="103"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="104" id="104"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="105" id="105"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7708" id="7708" name="LastDistanceFrontOut" comment="" source="7704" target="6965">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7709" id="7709" name="LastDistanceFrontIn" comment="" source="7688" target="6974">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7029" id="7029" name="VelocityDiff" comment="" source="7706" target="7693">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7711" id="7711" name="VelocityFrontObstacle" comment="" source="7695" target="17386">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7742" id="7742" name="LastVelocityOut" comment="" source="7738" target="7740">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7751" id="7751" name="LastVelocityIn" comment="" source="7747" target="7749">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7764" id="7764" name="InvalidValue" comment="" source="7760" target="7762">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7779" id="7779" name="LastVelocityDiffOut" comment="" source="7775" target="7777">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7788" id="7788" name="LastVelocityDiffIn" comment="" source="7784" target="7786">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8819" id="8819" name="Velocity" comment="" source="8815" target="8817">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="48" y="312"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17295" id="17295" name="" comment="" source="17291" target="17293">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="17386" id="17386" name="VelocityFrontObstacle" comment="Velocity of the obstacle in front (distanceFront)" incoming="7711" outgoing="17390">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17387" id="17387">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="216" y="432"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8815" id="8815" name="Velocity" comment="" incoming="8814" outgoing="8819">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8816" id="8816">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="36" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17291" id="17291" name="DistanceFrontIn" comment="" incoming="17290" outgoing="17295">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17292" id="17292">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="216" y="60"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="336" y="204"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="229" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="8679" id="8679" name="Transit" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="8680" id="8680"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="8681" id="8681"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="8682" id="8682"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="8683" id="8683"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="8805" id="8805">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="VelocityOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Velocity"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="DistanceFrontOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceFrontIn"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LDCameraData"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LDCameraDataIn"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8688" id="8688" name="Velocity" comment="" incoming="8690">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8689" id="8689">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="8695" id="8695" name="DistanceFrontIn" comment="" incoming="8697">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8696" id="8696">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="180"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8718" id="8718" name="DistanceFrontOut" comment="" outgoing="8722">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8719" id="8719">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="180" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8778" id="8778" name="VelocityOut" comment="" outgoing="8782">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8779" id="8779">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16886" id="16886" name="LDCameraDataIn" comment="" incoming="16888">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16887" id="16887">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LDCameraData" def="15427"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16893" id="16893" name="LDCameraData" comment="" outgoing="16897">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16894" id="16894">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LDCameraData" def="15427"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="36" y="204"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="229" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="7370" id="7370"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="7371" id="7371"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="7372" id="7372"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="7373" id="7373"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8690" id="8690" name="Velocity" comment="" source="17349" target="8688">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8697" id="8697" name="DistanceFrontIn" comment="" source="17361" target="8695">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8722" id="8722" name="DistanceFront" comment="" source="8718" target="11155">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8782" id="8782" name="Velocity" comment="" source="8778" target="8800">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="8814" id="8814" name="" comment="" source="17349" target="8815">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="156" y="120"/>
+ <points x="288" y="120"/>
+ <points x="288" y="240"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16888" id="16888" name="LDCameraDataIn" comment="" source="16884" target="16886">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16897" id="16897" name="LDCameraData" comment="" source="16893" target="16895">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17290" id="17290" name="DistanceFrontIn" comment="" source="17361" target="17291">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="432" y="84"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17390" id="17390" name="" comment="" source="17386" target="17388">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17349" id="17349" name="Velocity" comment="" incoming="7990" outgoing="8690 8814">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17350" id="17350">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="144" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="17361" id="17361" name="DistanceFrontIn" comment="" incoming="7386" outgoing="8697 17290">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17362" id="17362">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="216" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="17388" id="17388" name="VelocityFrontObstacleOut" comment="Velocity of the obstacle in front (distanceFront)" incoming="17390" outgoing="8009 8029 11166">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17389" id="17389">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="444" y="300"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="204" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11155" id="11155" name="DistanceFrontOut" comment="" incoming="8722" outgoing="8004 8024 11159">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11156" id="11156">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="216" y="372"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="8800" id="8800" name="VelocityOut" comment="" incoming="8782" outgoing="8799 8804">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="8801" id="8801">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="144" y="372"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16884" id="16884" name="LDCameraDataIn" comment="" incoming="15449" outgoing="16888">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16885" id="16885">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LDCameraData" def="15427"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="60" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="252"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16895" id="16895" name="LDCameraData" comment="" incoming="16897" outgoing="15479 15486">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16896" id="16896">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LDCameraData" def="15427"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="60" y="372"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="348" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="216" y="264"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="445" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="15077" id="15077" name="Return own Velocity" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="15078" id="15078" stronglyCausal="true"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="15079" id="15079"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="15080" id="15080"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="15081" id="15081"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="15089" id="15089">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="OwnVelocity"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityValueIn"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15086" id="15086" name="VelocityValueIn" comment="" incoming="15088">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15087" id="15087">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15094" id="15094" name="OwnVelocity" comment="" outgoing="15098">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15095" id="15095">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1152" y="336"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="121" height="73"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="17784" id="17784" name="Light Control" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="17801" id="17801" name="BlinkControl" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="17802" id="17802"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="17803" id="17803"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="17804" id="17804"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="17805" id="17805"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="17808" id="17808">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="17809" id="17809" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="17810" id="17810" name="Off" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="17811" id="17811" initial="true">
+ <idleTransitionsSpecifications xmi:id="17812" id="17812">
+ <actions stringRepresentation="LightOn = false">
+ <variable identifier="LightOn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </actions>
+ <actions stringRepresentation=" current = current + 1">
+ <variable identifier="current"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="current"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </value>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="17821" id="17821" name="Exit" comment="" outgoing="17826">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.5797505140171786"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="17828" id="17828" name="Input" comment="" incoming="17829">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.44553726901844953"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="105" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="17817" id="17817" name="On" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="17818" id="17818">
+ <idleTransitionsSpecifications xmi:id="17819" id="17819">
+ <actions stringRepresentation="LightOn = true">
+ <variable identifier="LightOn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </actions>
+ <actions stringRepresentation=" current = current + 1">
+ <variable identifier="current"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="current"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </value>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="17824" id="17824" name="Exit" comment="" outgoing="17829">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-3.60117315331921"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="17825" id="17825" name="Entry" comment="" incoming="17826">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="3.634494149197457"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="300" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="17813" id="17813">
+ <idleTransitionsSpecifications xmi:id="17814" id="17814"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="17826" id="17826" name="turnOn" comment="" source="17821" target="17825">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="17827" id="17827">
+ <guard stringRepresentation="current >= offDuration - 1">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="current"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="offDuration"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="LightOn = true">
+ <variable identifier="LightOn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </actions>
+ <actions stringRepresentation=" current = 0">
+ <variable identifier="current"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="17829" id="17829" name="turnOff" comment="" source="17824" target="17828">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="17830" id="17830">
+ <guard stringRepresentation="current > onDuration - 1">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="current"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="onDuration"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="LightOn = false">
+ <variable identifier="LightOn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </actions>
+ <actions stringRepresentation=" current = 0">
+ <variable identifier="current"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <dataStateVariables xmi:id="17815" id="17815">
+ <variable identifier="current"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TInt" lowerBound="0"/>
+ </dataStateVariables>
+ <dataStateVariables xmi:id="17816" id="17816">
+ <variable identifier="offDuration"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:IntConst" value="3"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TInt" lowerBound="0"/>
+ </dataStateVariables>
+ <dataStateVariables xmi:id="18474" id="18474">
+ <variable identifier="onDuration"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TInt" lowerBound="0"/>
+ </dataStateVariables>
+ </specifications>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ </guard>
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ColorBackRight"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18893" id="18893" name="colorWhite"/>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="color"/>
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ColorBackRight"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="color"/>
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+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
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+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ </value>
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+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
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+ </specifications>
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+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17918" id="17918">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="RGBColor" def="17890"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ </containedElements>
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+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="17786" id="17786"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="17787" id="17787"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="17788" id="17788"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17868" id="17868" name="BackLeft" comment="" source="17864" target="17866">
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="ReverseLightSetup"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18272" id="18272" name="lightSetupReverse"/>
+ </value>
+ </statements>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18250" id="18250" name="DriveMode" comment="" incoming="18252">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18251" id="18251">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeSettings" def="9644"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18444" id="18444" name="ReverseLightSetup" comment="" outgoing="18448">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18445" id="18445">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightSetup" def="17793"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="216" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="169" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="18309" id="18309" name="HazardLight" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="18310" id="18310"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="18311" id="18311"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="18312" id="18312"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="18313" id="18313"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="18351" id="18351">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="18352" id="18352" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="18353" id="18353" name="Off" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="18354" id="18354" initial="true">
+ <idleTransitionsSpecifications xmi:id="18355" id="18355"/>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="18369" id="18369" name="Exit" comment="" outgoing="18371">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.6724904417847618"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="18374" id="18374" name="Entry" comment="" incoming="18375">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.6603080048781209"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="18365" id="18365" name="On" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="18366" id="18366">
+ <idleTransitionsSpecifications xmi:id="18367" id="18367">
+ <actions stringRepresentation="HazardLightSetup = lightSetupHazards()">
+ <variable identifier="HazardLightSetup"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18368" id="18368" name="lightSetupHazards"/>
+ </value>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="18370" id="18370" name="Entry" comment="" incoming="18371">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="3.856862215067082"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="18373" id="18373" name="Exit" comment="" outgoing="18375">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.4736395377227582"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="288" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="18356" id="18356">
+ <idleTransitionsSpecifications xmi:id="18357" id="18357"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="18371" id="18371" name="turnOn" comment="" source="18369" target="18370">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="18372" id="18372">
+ <guard stringRepresentation="ToggleHazards != NoVal && ToggleHazards || EnableHazards != NoVal && EnableHazards">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ToggleHazards"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ToggleHazards"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableHazards"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableHazards"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="HazardLightSetup = lightSetupHazards()">
+ <variable identifier="HazardLightSetup"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18377" id="18377" name="lightSetupHazards"/>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="18375" id="18375" name="turnOff" comment="" source="18373" target="18374">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="18376" id="18376">
+ <guard stringRepresentation="ToggleHazards != NoVal && ToggleHazards && (EnableHazards == NoVal || !EnableHazards)">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ToggleHazards"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ToggleHazards"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableHazards"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Not"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableHazards"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18318" id="18318" name="EnableHazards" comment="" incoming="18320">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18319" id="18319">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18325" id="18325" name="ToggleHazards" comment="" incoming="18327">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18326" id="18326">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18451" id="18451" name="HazardLightSetup" comment="" outgoing="18455">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18452" id="18452">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightSetup" def="17793"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="396" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="145" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="18330" id="18330" name="TurningSignal" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="18331" id="18331"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="18332" id="18332"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="18333" id="18333"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="18334" id="18334"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="18358" id="18358">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="18359" id="18359" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="18360" id="18360" name="Off" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="18361" id="18361" initial="true">
+ <idleTransitionsSpecifications xmi:id="18362" id="18362"/>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="18384" id="18384" name="Exit" comment="" outgoing="18386">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="3.3415926535897933"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="18389" id="18389" name="Entry" comment="" incoming="18390">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.702520394053703"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="18397" id="18397" name="Entry1" comment="" incoming="18398">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.6214192068878042"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="18400" id="18400" name="Exit1" comment="" outgoing="18402">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.24489559652132686"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="180" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="18378" id="18378" name="LeftSignal" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="18379" id="18379">
+ <idleTransitionsSpecifications xmi:id="18380" id="18380">
+ <actions stringRepresentation="TurningSignalSetup = lightSetupSignalLeft()">
+ <variable identifier="TurningSignalSetup"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18411" id="18411" name="lightSetupSignalLeft"/>
+ </value>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="18385" id="18385" name="Entry" comment="" incoming="18386">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.4788491078186734"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="18388" id="18388" name="Exit" comment="" outgoing="18390">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.4030452172534649"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="18407" id="18407" name="Exit1" comment="" outgoing="18409">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.07084625230369163"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="18417" id="18417" name="Entry1" comment="" incoming="18418">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.0121970114513341"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="96" y="192"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="18381" id="18381" name="RightSignal" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="18382" id="18382">
+ <idleTransitionsSpecifications xmi:id="18383" id="18383">
+ <actions stringRepresentation="TurningSignalSetup = lightSetupSignalRight()">
+ <variable identifier="TurningSignalSetup"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18413" id="18413" name="lightSetupSignalRight"/>
+ </value>
+ </actions>
+ </idleTransitionsSpecifications>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="18396" id="18396" name="Exit" comment="" outgoing="18398">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.246441332248135"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="18401" id="18401" name="Entry" comment="" incoming="18402">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-1.2621788481819447"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="18408" id="18408" name="Entry1" comment="" incoming="18409">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="3.300695984946629"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="18416" id="18416" name="Exit1" comment="" outgoing="18418">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.5213431676069717"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="264" y="192"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="18363" id="18363">
+ <idleTransitionsSpecifications xmi:id="18364" id="18364"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="18386" id="18386" name="" comment="" source="18384" target="18385">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="18387" id="18387">
+ <guard stringRepresentation="EnableLeftSignal != NoVal && EnableLeftSignal">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableLeftSignal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableLeftSignal"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="TurningSignalSetup = lightSetupSignalLeft()">
+ <variable identifier="TurningSignalSetup"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18412" id="18412" name="lightSetupSignalLeft"/>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="18390" id="18390" name="" comment="" source="18388" target="18389">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="18391" id="18391">
+ <guard stringRepresentation="EnableLeftSignal != NoVal && EnableLeftSignal || Disable != NoVal && Disable">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableLeftSignal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableLeftSignal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Disable"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Disable"/>
+ </arguments>
+ </expression>
+ </guard>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="18398" id="18398" name="" comment="" source="18396" target="18397">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="18399" id="18399">
+ <guard stringRepresentation="EnableRightSignal != NoVal && EnableRightSignal || Disable != NoVal && Disable">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableRightSignal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableRightSignal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Disable"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Disable"/>
+ </arguments>
+ </expression>
+ </guard>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="18402" id="18402" name="" comment="" source="18400" target="18401">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="18403" id="18403">
+ <guard stringRepresentation="EnableRightSignal != NoVal && EnableRightSignal">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableRightSignal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableRightSignal"/>
+ </expression>
+ </guard>
+ <actions stringRepresentation="TurningSignalSetup = lightSetupSignalRight()">
+ <variable identifier="TurningSignalSetup"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18414" id="18414" name="lightSetupSignalRight"/>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="18409" id="18409" name="" comment="" source="18407" target="18408">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="18410" id="18410">
+ <guard stringRepresentation="EnableRightSignal != NoVal && EnableRightSignal && (Disable == NoVal || !Disable)">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableRightSignal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableRightSignal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Disable"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Not"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Disable"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="TurningSignalSetup = lightSetupSignalRight()">
+ <variable identifier="TurningSignalSetup"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18415" id="18415" name="lightSetupSignalRight"/>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="18418" id="18418" name="" comment="" source="18416" target="18417">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="18419" id="18419">
+ <guard stringRepresentation="EnableLeftSignal != NoVal && EnableLeftSignal && (Disable == NoVal || !Disable)">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="And"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableLeftSignal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EnableLeftSignal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Or"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Disable"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Not"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Disable"/>
+ </arguments>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="TurningSignalSetup = lightSetupSignalLeft()">
+ <variable identifier="TurningSignalSetup"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18420" id="18420" name="lightSetupSignalLeft"/>
+ </value>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18339" id="18339" name="EnableRightSignal" comment="" incoming="18341">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18340" id="18340">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18346" id="18346" name="EnableLeftSignal" comment="" incoming="18348">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18347" id="18347">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18458" id="18458" name="TurningSignalSetup" comment="" outgoing="18462">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18459" id="18459">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightSetup" def="17793"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18832" id="18832" name="Disable" comment="" incoming="18834">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18833" id="18833">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="588" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="145" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="18421" id="18421" name="Merge" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="18422" id="18422"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="18423" id="18423"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="18424" id="18424"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="18425" id="18425"/>
+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="18470" id="18470">
+ <body>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="BrakeLightSetup"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LightSetup"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="BrakeLightSetup"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="HazardLightSetup"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LightSetup"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="HazardLightSetup"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TurningSignalSetup"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LightSetup"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TurningSignalSetup"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ReverseLightSetup"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </guard>
+ <thenBlock>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="LightSetup"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="ReverseLightSetup"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </thenBlock>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
+ </body>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18430" id="18430" name="BrakeLightSetup" comment="" incoming="18432">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18431" id="18431">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightSetup" def="17793"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18446" id="18446" name="ReverseLightSetup" comment="" incoming="18448">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18447" id="18447">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightSetup" def="17793"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18453" id="18453" name="HazardLightSetup" comment="" incoming="18455">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18454" id="18454">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightSetup" def="17793"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="180"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18460" id="18460" name="TurningSignalSetup" comment="" incoming="18462">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18461" id="18461">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightSetup" def="17793"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18465" id="18465" name="LightSetup" comment="" outgoing="18469">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18466" id="18466">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightSetup" def="17793"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="276" y="228"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="18807" id="18807" name="SteeringControl" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="18808" id="18808"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="18809" id="18809"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="18810" id="18810"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="18811" id="18811"/>
+ <specifications xsi:type="org-fortiss-af3-state:StateAutomaton" xmi:id="18812" id="18812">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="18813" id="18813" name="State Automaton" comment="">
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="18814" id="18814" name="Centered" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="18815" id="18815" initial="true">
+ <idleTransitionsSpecifications xmi:id="18816" id="18816"/>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="18842" id="18842" name="Exit" comment="" outgoing="18844">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-0.6435011087932844"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="18847" id="18847" name="Entry" comment="" incoming="18848">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.636508215787951"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-state:State" xmi:id="18835" id="18835" name="Off-center" comment="">
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="18836" id="18836">
+ <idleTransitionsSpecifications xmi:id="18837" id="18837"/>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentEntryConnector" xmi:id="18843" id="18843" name="Entry" comment="" incoming="18844">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="-2.451146196535101"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-state:TransitionSegmentExitConnector" xmi:id="18846" id="18846" name="Exit" comment="" outgoing="18848">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="2.27068919651414"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="300" y="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-state:StateSpecification" xmi:id="18817" id="18817">
+ <idleTransitionsSpecifications xmi:id="18818" id="18818"/>
+ </specifications>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="18844" id="18844" name="" comment="" source="18842" target="18843">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="18845" id="18845">
+ <guard stringRepresentation="myabs(SteeringAngle) >= STEERING_ANGLE_SIGNAL_THRESHOLD()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="GreaterEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18857" id="18857" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18858" id="18858" name="STEERING_ANGLE_SIGNAL_THRESHOLD"/>
+ </arguments>
+ </expression>
+ </guard>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-state:TransitionSegment" xmi:id="18848" id="18848" name="" comment="" source="18846" target="18847">
+ <specifications xsi:type="org-fortiss-af3-state:TransitionSegmentSpecification" xmi:id="18849" id="18849">
+ <guard stringRepresentation="myabs(SteeringAngle) < STEERING_ANGLE_SIGNAL_THRESHOLD()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="LowerThan"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18859" id="18859" name="myabs"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="SteeringAngle"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="18860" id="18860" name="STEERING_ANGLE_SIGNAL_THRESHOLD"/>
+ </arguments>
+ </expression>
+ </guard>
+ <actions stringRepresentation="Disable = true">
+ <variable identifier="Disable"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </actions>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18823" id="18823" name="SteeringAngle" comment="" incoming="18825">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18824" id="18824">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18830" id="18830" name="Disable" comment="" outgoing="18834">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18831" id="18831">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="768" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="145" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="18183" id="18183"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="18184" id="18184"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="18185" id="18185"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="18186" id="18186"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18245" id="18245" name="MaxAcceleration" comment="" source="18241" target="18243">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18252" id="18252" name="DriveMode" comment="" source="18255" target="18250">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18259" id="18259" name="DriveMode" comment="" source="18255" target="18257">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="180" y="36"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18320" id="18320" name="EnableHazards" comment="" source="18316" target="18318">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18327" id="18327" name="ToggleHazards" comment="" source="18480" target="18325">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18341" id="18341" name="EnableRightSignal" comment="" source="18494" target="18339">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18348" id="18348" name="EnableLeftSignal" comment="" source="18487" target="18346">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18432" id="18432" name="BrakeLightSetup" comment="" source="18428" target="18430">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="120" y="264"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18448" id="18448" name="ReverseLightSetup" comment="" source="18444" target="18446">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18455" id="18455" name="HazardLightSetup" comment="" source="18451" target="18453">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18462" id="18462" name="TurningSignalSetup" comment="" source="18458" target="18460">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="660" y="264"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18469" id="18469" name="LightSetup" comment="" source="18465" target="18467">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18825" id="18825" name="SteeringAngle" comment="" source="18821" target="18823">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18834" id="18834" name="Disable" comment="" source="18830" target="18832">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18467" id="18467" name="LightSetup" comment="" incoming="18469" outgoing="18199">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18468" id="18468">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="LightSetup" def="17793"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="372" y="360"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18316" id="18316" name="EnableHazards" comment="" incoming="18208" outgoing="18320">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18317" id="18317">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="408" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18480" id="18480" name="ToggleHazards" comment="" incoming="18482" outgoing="18327">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18481" id="18481">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18487" id="18487" name="EnableLeftSignal" comment="" incoming="18489" outgoing="18348">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18488" id="18488">
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+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18494" id="18494" name="EnableRightSignal" comment="" incoming="18496" outgoing="18341">
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+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
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+ </connectors>
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+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18242" id="18242">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18255" id="18255" name="DriveMode" comment="" incoming="18228" outgoing="18252 18259">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18256" id="18256">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeSettings" def="9644"/>
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+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18822" id="18822">
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+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="18862" id="18862"/>
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+ <specifications xsi:type="org-fortiss-af3-component-behavior-code:CodeSpecification" xmi:id="18866" id="18866">
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+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="r"/>
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="Green1"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
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+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
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+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18871" id="18871" name="ColorBackLeft" comment="" incoming="18873">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18872" id="18872">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18878" id="18878" name="ColorBackRight" comment="" incoming="18880">
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+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18998" id="18998" name="Blue2" comment="" outgoing="19002">
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+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18991" id="18991" name="Green2" comment="" outgoing="18995">
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+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18984" id="18984" name="Red2" comment="" outgoing="18988">
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+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18977" id="18977" name="Blue1" comment="" outgoing="18981">
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+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18970" id="18970" name="Green1" comment="" outgoing="18974">
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+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18963" id="18963" name="Red1" comment="" outgoing="18967">
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
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+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="4839" id="4839" name="SteeringValue" comment="" source="5677" target="14149">
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+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="19002" id="19002" name="Blue2" comment="" source="18998" target="19000">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="7314" id="7314" name="MotorValue" comment="" incoming="4830" outgoing="5455 7318">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="7315" id="7315">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="288" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="14149" id="14149" name="SteeringValue" comment="" incoming="4839" outgoing="5462 14153">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14150" id="14150">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
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+ </specifications>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5278" id="5278" name="DistanceToFrontUS1" comment="" incoming="5107" outgoing="5282">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5279" id="5279">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
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+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="768" y="48"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5264" id="5264" name="VelocityIn" comment="" incoming="5121" outgoing="5268">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5265" id="5265">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5257" id="5257" name="ButtonY" comment="" incoming="5128" outgoing="5261">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5258" id="5258">
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+ </specifications>
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5250" id="5250" name="ButtonB" comment="" incoming="5135" outgoing="5254">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5243" id="5243" name="ButtonA" comment="" incoming="5142" outgoing="5247">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5236" id="5236" name="ButtonX" comment="" incoming="5149" outgoing="5240">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5229" id="5229" name="ButtonR1" comment="" incoming="5156" outgoing="5233">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5222" id="5222" name="ButtonR2" comment="" incoming="5163" outgoing="5226">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5215" id="5215" name="ButtonL1" comment="" incoming="5170" outgoing="5219">
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+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5208" id="5208" name="ButtonL2" comment="" incoming="5177" outgoing="5212">
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+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5201" id="5201" name="LeftStick_X" comment="" incoming="5184" outgoing="5205">
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+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="5474" id="5474" name="DistanceToFrontLaser" comment="" incoming="5471" outgoing="5478">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5475" id="5475">
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+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="6276" id="6276" name="RightStick_X" comment="" incoming="6273" outgoing="6280">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="6381" id="6381" name="RightStick_Y" comment="" incoming="6377" outgoing="6385">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="6456" id="6456" name="ReturnOn" comment="" incoming="6453" outgoing="6460">
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+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10637" id="10637" name="DistanceToFrontObstacle" comment="" incoming="10497" outgoing="10641">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10644" id="10644" name="FrontObstacleCommand" comment="" incoming="10506" outgoing="10648">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10645" id="10645">
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11269" id="11269" name="DA_States" comment="only On and Off - not "Keeping State"" incoming="11152" outgoing="11273">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11270" id="11270">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceOnOffCommands" def="4955"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11262" id="11262" name="DistanceFront" comment="" incoming="11159" outgoing="11266">
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+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11255" id="11255" name="VelocityFrontObstacle" comment="" incoming="11166" outgoing="11259">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11256" id="11256">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
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+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11234" id="11234" name="MaxAcceleration" comment="" incoming="11187" outgoing="11238">
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+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1020" y="696"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="192" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12464" id="12464" name="Gear" comment="" incoming="12466" outgoing="11231">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12465" id="12465">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1032" y="528"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="216" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="11363" id="11363" name="TargetVelocity" comment="" incoming="11360" outgoing="11367">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11364" id="11364">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="468" y="696"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="14142" id="14142" name="VelocityValue" comment="" incoming="11965" outgoing="12492 14146">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14143" id="14143">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1236" y="744"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="384" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12446" id="12446" name="Automatic_On" comment="" incoming="12443" outgoing="12450">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12447" id="12447">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1056" y="360"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="552" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="14070" id="14070" name="DriveMode" comment="" incoming="14050" outgoing="14074">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14071" id="14071">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeSettings" def="9644"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="804" y="552"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="14065" id="14065" name="EB_On" comment="" incoming="14064" outgoing="14069">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14066" id="14066">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="276" y="732"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="14169" id="14169" name="SteeringAngle" comment="" incoming="14166" outgoing="14173">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14170" id="14170">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="936" y="696"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14558" id="14558" name="LeftStick_Y" comment="" incoming="14540" outgoing="14562">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14559" id="14559">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="48" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="408" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14595" id="14595" name="ButtonHome" comment="" incoming="14576" outgoing="14599">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14596" id="14596">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="624" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="432" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14588" id="14588" name="ButtonSelect" comment="" incoming="14585" outgoing="14592">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14589" id="14589">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="672" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="456" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="17079" id="17079" name="RumbleStrong" comment="" incoming="17081" outgoing="15588">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17080" id="17080">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="564" y="732"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="480" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15746" id="15746" name="LD_Orientation" comment="Lane Detection Camera: not fixed, but currently: orientation to the middle of the lane (in rad). parallel to the lines is 0. to the left is positiv, to the right negativ" incoming="15679" outgoing="15750">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15747" id="15747">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1248" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15732" id="15732" name="LD_present_left" comment="Lane Detection Camera: true if left line ist present" incoming="15688" outgoing="15736">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15733" id="15733">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1152" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15739" id="15739" name="LD_present_right" comment="Lane Detection Camera: true if right line ist present" incoming="15697" outgoing="15743">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15740" id="15740">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1200" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15718" id="15718" name="LD_Distance_Left" comment="Lane Detection Camera: distance to the left line (in m)" incoming="15706" outgoing="15722">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15719" id="15719">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1056" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15725" id="15725" name="LD_Distance_Right" comment="Lane Detection Camera: distance to the right line (in m)" incoming="15715" outgoing="15729">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15726" id="15726">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1104" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="180"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16717" id="16717" name="DistanceToFrontUS2" comment="" incoming="16714" outgoing="16721">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16718" id="16718">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="816" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="17086" id="17086" name="RumbleWeak" comment="" incoming="17088" outgoing="16959">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17087" id="17087">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="648" y="732"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="504" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18127" id="18127" name="BackLeft" comment="" incoming="18110" outgoing="18131">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18128" id="18128">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="RGBColor" def="17890"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1332" y="912"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="444"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18120" id="18120" name="BackRight" comment="" incoming="18117" outgoing="18124">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18121" id="18121">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="RGBColor" def="17890"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1428" y="912"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="0.6000000000000001"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="468"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18552" id="18552" name="DPadUp" comment="" incoming="18531" outgoing="18556">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18553" id="18553">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1296" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18559" id="18559" name="DPadLeft" comment="" incoming="18540" outgoing="18563">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18560" id="18560">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1344" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18566" id="18566" name="DPadRight" comment="" incoming="18549" outgoing="18570">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18567" id="18567">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1392" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18965" id="18965" name="Red1" comment="" incoming="18967">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18966" id="18966">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1296" y="1056"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.9999999999999998"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="420" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18972" id="18972" name="Green1" comment="" incoming="18974">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18973" id="18973">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1320" y="1080"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.9999999999999998"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="444" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18979" id="18979" name="Blue1" comment="" incoming="18981">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18980" id="18980">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1344" y="1056"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.9999999999999998"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="468" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18986" id="18986" name="Red2" comment="" incoming="18988">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18987" id="18987">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1428" y="1044"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.9999999999999998"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="492" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18993" id="18993" name="Green2" comment="" incoming="18995">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18994" id="18994">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1452" y="1080"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.9999999999999998"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="516" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="19000" id="19000" name="Blue2" comment="" incoming="19002">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="19001" id="19001">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1476" y="1044"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Angle" key="cangle" angle="1.9999999999999998"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="540" orientation="EAST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="480" y="192"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="493" height="577"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="4794" id="4794" name="Joystick Input" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="4795" id="4795"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="4796" id="4796"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="4797" id="4797"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="4798" id="4798"/>
+ <specifications xsi:type="org-fortiss-af3-operatorpanel:OperatorPanelSpecification" xmi:id="5928" id="5928" name="Operator Panel">
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPPushButton" xmi:id="5929" id="5929" name="ButtonY" comment="Y">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="12" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="37"/>
+ <onSelect stringRepresentation="ButtonY = 1">
+ <variable identifier="ButtonY"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPPushButton" xmi:id="5930" id="5930" name="ButtonB" comment="B">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="37"/>
+ <onSelect stringRepresentation="ButtonB = 1">
+ <variable identifier="ButtonB"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPPushButton" xmi:id="5931" id="5931" name="ButtonA" comment="A">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="252" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="37"/>
+ <onSelect stringRepresentation="ButtonA = 1">
+ <variable identifier="ButtonA"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPPushButton" xmi:id="5932" id="5932" name="ButtonX" comment="X">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="372" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="37"/>
+ <onSelect stringRepresentation="ButtonX = 1">
+ <variable identifier="ButtonX"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPPushButton" xmi:id="5933" id="5933" name="ButtonR1" comment="R1">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="252" y="84"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="37"/>
+ <onSelect stringRepresentation="ButtonR1 = 1">
+ <variable identifier="ButtonR1"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPPushButton" xmi:id="5935" id="5935" name="ButtonL1" comment="L1">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="84"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="37"/>
+ <onSelect stringRepresentation="ButtonL1 = 1">
+ <variable identifier="ButtonL1"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPAreaInput" xmi:id="5937" id="5937" name="LeftStick" comment="Left">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="12" y="252"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="109" height="109"/>
+ <output stringRepresentation="LeftStick_X = (_this_X - 0.5) * 2 / STICK_INPUT_SCALING()">
+ <variable identifier="LeftStick_X"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this_X"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.5"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14541" id="14541" name="STICK_INPUT_SCALING"/>
+ </arguments>
+ </value>
+ </output>
+ <output stringRepresentation=" LeftStick_Y = -(_this_Y - 0.5) * 2 / STICK_INPUT_SCALING()">
+ <variable identifier="LeftStick_Y"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Negate"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this_Y"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.5"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="14542" id="14542" name="STICK_INPUT_SCALING"/>
+ </arguments>
+ </value>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPAreaInput" xmi:id="5938" id="5938" name="RightStick" comment="Right">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="372" y="252"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="109" height="109"/>
+ <output stringRepresentation="RightStick_X = (_this_X - 0.5) * 2 / STICK_INPUT_SCALING()">
+ <variable identifier="RightStick_X"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this_X"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.5"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12889" id="12889" name="STICK_INPUT_SCALING"/>
+ </arguments>
+ </value>
+ </output>
+ <output stringRepresentation=" RightStick_Y = -(_this_Y - 0.5) * 2 / STICK_INPUT_SCALING()">
+ <variable identifier="RightStick_Y"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Negate"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this_Y"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.5"/>
+ </arguments>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="2"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="12890" id="12890" name="STICK_INPUT_SCALING"/>
+ </arguments>
+ </value>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="6476" id="6476" name="Label" comment="Speed">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="252" y="408"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="109" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="6477" id="6477" name="Label1" comment="Steering">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="360" y="408"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="121" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="6485" id="6485" name="Toggle Button" comment="Error" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="252" y="384"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <onSelect stringRepresentation="RightStick_Y = 100">
+ <variable identifier="RightStick_Y"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="100"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="6486" id="6486" name="Toggle Button1" comment="NoVal" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="312" y="384"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <onSelect stringRepresentation="RightStick_Y = NoVal">
+ <variable identifier="RightStick_Y"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="6487" id="6487" name="Toggle Button2" comment="Error" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="372" y="384"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <onSelect stringRepresentation="RightStick_X = 100">
+ <variable identifier="RightStick_X"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="100"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="6488" id="6488" name="Toggle Button3" comment="NoVal" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="432" y="384"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <onSelect stringRepresentation="RightStick_X = NoVal">
+ <variable identifier="RightStick_X"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="6490" id="6490" name="Automatic On" comment="Automatic On" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="12" y="384"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="229" height="25"/>
+ <onSelect stringRepresentation="Automatic_On = true">
+ <variable identifier="Automatic_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </onSelect>
+ <onDeselect stringRepresentation="Automatic_On = false">
+ <variable identifier="Automatic_On"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </onDeselect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="14200" id="14200" name="Label2" comment="Forward">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="12" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="14201" id="14201" name="Copy of Label2" comment="Parking">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="14202" id="14202" name="Copy of Label2 (2)" comment="Backward">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="252" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="14203" id="14203" name="Copy of Label2 (3)" comment="Eco/Sport">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="372" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="14204" id="14204" name="Copy of Label2 (4)" comment="Brake">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="12" y="192"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="14205" id="14205" name="Copy of Label2 (5)" comment="?">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="192"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="109" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="14206" id="14206" name="Copy of Label2 (6)" comment="Accelerate">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="372" y="192"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="14207" id="14207" name="Label3" comment="Left joystick: Steering">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="12" y="216"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="169" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="14208" id="14208" name="Copy of Label3" comment="Right joystick: Right = LK">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="312" y="216"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="169" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPAreaInput" xmi:id="14563" id="14563" name="L2">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="12" y="84"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="109" height="109"/>
+ <output stringRepresentation="ButtonL2 = _this_Y / Z_INPUT_SCALING()">
+ <variable identifier="ButtonL2"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this_Y"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16842" id="16842" name="Z_INPUT_SCALING"/>
+ </arguments>
+ </value>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPAreaInput" xmi:id="14564" id="14564" name="R2">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="372" y="84"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="109" height="109"/>
+ <output stringRepresentation="ButtonR2 = _this_Y / Z_INPUT_SCALING()">
+ <variable identifier="ButtonR2"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Divide"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this_Y"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16843" id="16843" name="Z_INPUT_SCALING"/>
+ </arguments>
+ </value>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPPushButton" xmi:id="14566" id="14566" name="Select" comment="Select">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="252" y="156"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="37"/>
+ <onSelect stringRepresentation="ButtonSelect = 1">
+ <variable identifier="ButtonSelect"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPPushButton" xmi:id="14567" id="14567" name="Home" comment="Home">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="156"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="37"/>
+ <onSelect stringRepresentation="ButtonHome = 1">
+ <variable identifier="ButtonHome"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="15934" id="15934" name="Copy of Label2 (7)" comment="ACC">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="252" y="192"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="109" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPColorDisplay" xmi:id="16305" id="16305" name="Color Display">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="276" y="324"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="37" height="25"/>
+ <reactions red="255">
+ <guard stringRepresentation="RumbleWeak != 0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RumbleWeak"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </expression>
+ </guard>
+ </reactions>
+ <reactions red="192" green="192" blue="192">
+ <guard stringRepresentation="true">
+ <expression xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </guard>
+ </reactions>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="16306" id="16306" name="Label4" comment="Rumble Weak">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="156" y="324"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPColorDisplay" xmi:id="16307" id="16307" name="Copy of Color Display">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="276" y="288"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="37" height="25"/>
+ <reactions red="255">
+ <guard stringRepresentation="RumbleStrong != 0">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="NotEqual"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="RumbleStrong"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst"/>
+ </expression>
+ </guard>
+ </reactions>
+ <reactions red="192" green="192" blue="192">
+ <guard stringRepresentation="true">
+ <expression xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </guard>
+ </reactions>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="16308" id="16308" name="Copy of Label4" comment="Rumble Strong">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="156" y="288"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="17578" id="17578" name="Copy of Label2 (8)" comment="Gear up">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="252" y="120"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="109" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="17579" id="17579" name="Copy of Label2 (9)" comment="Gear down">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="120"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="109" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPPushButton" xmi:id="18626" id="18626" name="DPadLeft" comment="DPadLeft">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="36" y="504"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="61" height="37"/>
+ <onSelect stringRepresentation="DPadLeft = 1">
+ <variable identifier="DPadLeft"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPPushButton" xmi:id="18627" id="18627" name="DPadRight" comment="DPadRight">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="504"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="61" height="37"/>
+ <onSelect stringRepresentation="DPadRight = 1">
+ <variable identifier="DPadRight"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPPushButton" xmi:id="18628" id="18628" name="DPadUp" comment="DPadUp">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="84" y="456"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="61" height="37"/>
+ <onSelect stringRepresentation="DPadUp = 1">
+ <variable identifier="DPadUp"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1"/>
+ </onSelect>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5124" id="5124" name="ButtonY" comment="" outgoing="5128">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5125" id="5125">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5131" id="5131" name="ButtonB" comment="" outgoing="5135">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5132" id="5132">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5138" id="5138" name="ButtonA" comment="" outgoing="5142">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5139" id="5139">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5145" id="5145" name="ButtonX" comment="" outgoing="5149">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5146" id="5146">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5152" id="5152" name="ButtonR1" comment="" outgoing="5156">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5153" id="5153">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5159" id="5159" name="ButtonR2" comment="" outgoing="5163">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5160" id="5160">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5166" id="5166" name="ButtonL1" comment="" outgoing="5170">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5167" id="5167">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="156" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5173" id="5173" name="ButtonL2" comment="" outgoing="5177">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5174" id="5174">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="180" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="14527" id="14527" name="LeftStick_X" comment="" outgoing="5184">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14528" id="14528">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="204" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="6269" id="6269" name="RightStick_X" comment="" outgoing="6273">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="6270" id="6270">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="228" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="6373" id="6373" name="RightStick_Y" comment="" outgoing="6377">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="6374" id="6374">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="252" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12453" id="12453" name="Automatic_On" comment="" outgoing="12443 12457">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12454" id="12454">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="420" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="14536" id="14536" name="LeftStick_Y" comment="" outgoing="14540">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14537" id="14537">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="276" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="14572" id="14572" name="ButtonHome" comment="" outgoing="14576">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14573" id="14573">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="300" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="14581" id="14581" name="ButtonSelect" comment="" outgoing="14585">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14582" id="14582">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="324" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="15586" id="15586" name="RumbleStrong" comment="" incoming="15588">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15587" id="15587">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="348" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="16957" id="16957" name="RumbleWeak" comment="" incoming="16959">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16958" id="16958">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="372" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18527" id="18527" name="DPadUp" comment="" outgoing="18531">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18528" id="18528">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18536" id="18536" name="DPadLeft" comment="" outgoing="18540">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18537" id="18537">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="18545" id="18545" name="DPadRight" comment="" outgoing="18549">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18546" id="18546">
+ <type xsi:type="org-fortiss-af3-expression-types:TInt"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="120" orientation="SOUTH"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="96" y="324"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="445"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="5079" id="5079" name="Physical Environment" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="5080" id="5080"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="5081" id="5081"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="5082" id="5082"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5083" id="5083"/>
+ <specifications xsi:type="org-fortiss-af3-operatorpanel:OperatorPanelSpecification" xmi:id="5939" id="5939" name="Operator Panel">
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPAreaInput" xmi:id="5940" id="5940" name="DistanceToFrontUS" comment="DistanceToFrontUS">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="84"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="325"/>
+ <output stringRepresentation="DistanceToFrontUS1 = _this_Y * 5 * 1000 + 35">
+ <variable identifier="DistanceToFrontUS1"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this_Y"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="5"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="1000"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="35"/>
+ </value>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPAreaInput" xmi:id="5941" id="5941" name="DistanceToFrontLaser" comment="DistanceToFrontLaser">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="12" y="84"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="325"/>
+ <output stringRepresentation="DistanceToFrontLaser = _this_Y * 40 * 100 + 20 + 11">
+ <variable identifier="DistanceToFrontLaser"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this_Y"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="40"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="100"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="20"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="11"/>
+ </value>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPAreaInput" xmi:id="5942" id="5942" name="Velocity" comment="Velocity">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="120"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <output stringRepresentation="VelocityIn = _this_Y*40 - 20">
+ <variable identifier="VelocityIn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this_Y"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="40"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="20"/>
+ </value>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="6444" id="6444" name="Toggle Button" comment="Velocity Return ON" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="25"/>
+ <onSelect stringRepresentation="ReturnOn = true">
+ <variable identifier="ReturnOn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </onSelect>
+ <onDeselect stringRepresentation="ReturnOn = false">
+ <variable identifier="ReturnOn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </onDeselect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="6479" id="6479" name="Toggle Button2" comment="Error" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <onSelect stringRepresentation="DistanceToFrontUS1 = -100">
+ <variable identifier="DistanceToFrontUS1"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="-100"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="6480" id="6480" name="Toggle Button3" comment="NoVal" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="72" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <onSelect stringRepresentation="DistanceToFrontUS1 = NoVal">
+ <variable identifier="DistanceToFrontUS1"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="6481" id="6481" name="Toggle Button4" comment="Error" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="12" y="12"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <onSelect stringRepresentation="DistanceToFrontLaser = -100">
+ <variable identifier="DistanceToFrontLaser"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="-100"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="6482" id="6482" name="Toggle Button5" comment="NoVal" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="12" y="48"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <onSelect stringRepresentation="DistanceToFrontLaser = NoVal">
+ <variable identifier="DistanceToFrontLaser"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="6483" id="6483" name="Toggle Button6" comment="Error" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="204"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <onSelect stringRepresentation="VelocityIn = -100">
+ <variable identifier="VelocityIn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:IntConst" value="-100"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="6484" id="6484" name="Toggle Button7" comment="NoVal" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="192" y="204"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <onSelect stringRepresentation="VelocityIn = NoVal">
+ <variable identifier="VelocityIn"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </onSelect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPITermInput" xmi:id="16297" id="16297" name="VelocityFront">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="288"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="109" height="25"/>
+ <output stringRepresentation="LD_Distance_Left =_this">
+ <variable identifier="LD_Distance_Left"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this"/>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPITermInput" xmi:id="16298" id="16298" name="StartDistance">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="336"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="109" height="25"/>
+ <output stringRepresentation="LD_Distance_Right =_this">
+ <variable identifier="LD_Distance_Right"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this"/>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="16299" id="16299" name="Label" comment="LD L Distance">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="264"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="109" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="16300" id="16300" name="Label1" comment="LD R Distance">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="312"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="109" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="16301" id="16301" name="Copy of Toggle Button7" comment="LD R" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="192" y="240"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <onSelect stringRepresentation="LD_present_right = true">
+ <variable identifier="LD_present_right"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </onSelect>
+ <onDeselect stringRepresentation="LD_present_right = false">
+ <variable identifier="LD_present_right"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </onDeselect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="16302" id="16302" name="Copy of Toggle Button6" comment="LD L" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="240"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <onSelect stringRepresentation="LD_present_left = true">
+ <variable identifier="LD_present_left"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </onSelect>
+ <onDeselect stringRepresentation="LD_present_left = false">
+ <variable identifier="LD_present_left"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </onDeselect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPITermInput" xmi:id="16303" id="16303" name="Copy of StartDistance">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="384"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="109" height="25"/>
+ <output stringRepresentation="LD_Orientation =_this">
+ <variable identifier="LD_Orientation"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this"/>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="16304" id="16304" name="Copy of Label1" comment="LD Orientation">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="132" y="360"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="109" height="25"/>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5103" id="5103" name="DistanceToFrontUS1" comment="" outgoing="5107">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5104" id="5104">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="156" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5117" id="5117" name="VelocityIn" comment="" outgoing="5121">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5118" id="5118">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="228" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5467" id="5467" name="DistanceToFrontLaser" comment="" outgoing="5471">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5468" id="5468">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="204" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="6449" id="6449" name="ReturnOn" comment="" outgoing="6453">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="6450" id="6450">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15675" id="15675" name="LD_Orientation" comment="Lane Detection Camera: not fixed, but currently: orientation to the middle of the lane (in rad). parallel to the lines is 0. to the left is positiv, to the right negativ" outgoing="15679">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15676" id="15676">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15684" id="15684" name="LD_present_left" comment="Lane Detection Camera: true if left line ist present" outgoing="15688">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15685" id="15685">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15693" id="15693" name="LD_present_right" comment="Lane Detection Camera: true if right line ist present" outgoing="15697">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15694" id="15694">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="60" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15702" id="15702" name="LD_Distance_Left" comment="Lane Detection Camera: distance to the left line (in m)" outgoing="15706">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15703" id="15703">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="36" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="15711" id="15711" name="LD_Distance_Right" comment="Lane Detection Camera: distance to the right line (in m)" outgoing="15715">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="15712" id="15712">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="12" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="16710" id="16710" name="DistanceToFrontUS2" comment="" outgoing="16714">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="16711" id="16711">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="180" orientation="EAST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="96" y="60"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="265"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="7307" id="7307" name="Visualisation" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="7308" id="7308"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="7309" id="7309"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="7310" id="7310"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="7311" id="7311"/>
+ <specifications xsi:type="org-fortiss-af3-operatorpanel:OperatorPanelSpecification" xmi:id="7319" id="7319" name="Operator Panel">
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel-viewpanel:OP2DGraphDisplay" xmi:id="7320" id="7320" name="Graph Viewer" comment="" samplesPerGrid="5" levelsPerGrid="4.0" horizontalGrids="20" verticalGrids="10">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="12" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="625" height="433"/>
+ <lineColor red="253.0"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <input xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityValue"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel-viewpanel:OP2DGraphDisplay" xmi:id="10264" id="10264" name="Copy of Graph Viewer" comment="" samplesPerGrid="5" levelsPerGrid="3.0" horizontalGrids="30" verticalGrids="10">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="12" y="744"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="1129" height="433"/>
+ <lineColor red="253.0"/>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <input xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityValue"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPTextDisplay" xmi:id="11274" id="11274" name="Text Display" comment="MaxAccel.">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="648" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <reactions>
+ <itemInput xsi:type="org-fortiss-af3-expression-terms:Var" identifier="MaxAcceleration"/>
+ </reactions>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="11275" id="11275" name="Label" comment="MaxAccel.">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="696" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="85" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPTextDisplay" xmi:id="11277" id="11277" name="Copy of Text Display" comment="EngineMode">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="648" y="132"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="133" height="25"/>
+ <reactions>
+ <itemInput xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EngineMode"/>
+ </itemInput>
+ </reactions>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPTextDisplay" xmi:id="11279" id="11279" name="Copy of Copy of Text Display" comment="DriveMode">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="648" y="168"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="133" height="25"/>
+ <reactions>
+ <itemInput xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DriveMode"/>
+ </itemInput>
+ </reactions>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="11280" id="11280" name="Copy of Label (3)" comment="Gear">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="696" y="204"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="85" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPTextDisplay" xmi:id="11281" id="11281" name="Copy of Copy of Copy of Text Display" comment="Gear">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="648" y="204"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <reactions>
+ <itemInput xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Gear"/>
+ </reactions>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="11282" id="11282" name="Copy of Label (4)" comment="v Front">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="696" y="276"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="85" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPTextDisplay" xmi:id="11283" id="11283" name="Copy of Copy (2)" comment="VelocityFrontObstacle">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="648" y="276"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <reactions>
+ <itemInput xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityFrontObstacle"/>
+ </reactions>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="11284" id="11284" name="Copy of Label (5)" comment="d Front">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="696" y="312"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="85" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPTextDisplay" xmi:id="11285" id="11285" name="Copy of Copy (3)" comment="DistanceFront">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="648" y="312"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <reactions>
+ <itemInput xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DistanceFront"/>
+ </reactions>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="11286" id="11286" name="Copy of Label (6)" comment="ACC">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="684" y="348"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="61" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPTextDisplay" xmi:id="11287" id="11287" name="Copy of Copy (4)" comment="ACC">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="648" y="348"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="37" height="25"/>
+ <reactions>
+ <itemInput xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DA_States"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="acc"/>
+ </itemInput>
+ </reactions>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="11288" id="11288" name="Copy of Label (7)" comment="EB">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="684" y="420"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="61" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPTextDisplay" xmi:id="11289" id="11289" name="Copy of Copy (5)" comment="EB_On">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="648" y="420"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="37" height="25"/>
+ <reactions>
+ <itemInput xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EB_On"/>
+ </reactions>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPColorDisplay" xmi:id="11344" id="11344" name="Color Display" comment="">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="744" y="348"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="37" height="25"/>
+ <reactions green="128" blue="64">
+ <guard stringRepresentation="DA_States.acc == On()">
+ <expression xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Member"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="DA_States"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="acc"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:UserdefinedFunction" xmi:id="16285" id="16285" name="On"/>
+ </arguments>
+ </expression>
+ </guard>
+ </reactions>
+ <reactions red="192" green="192" blue="192">
+ <guard stringRepresentation="true">
+ <expression xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </guard>
+ </reactions>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPColorDisplay" xmi:id="11346" id="11346" name="Copy of Color Display" comment="">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="744" y="420"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="37" height="25"/>
+ <reactions red="255">
+ <guard stringRepresentation="EB_On">
+ <expression xsi:type="org-fortiss-af3-expression-terms:Var" identifier="EB_On"/>
+ </guard>
+ </reactions>
+ <reactions red="192" green="192" blue="192">
+ <guard stringRepresentation="true">
+ <expression xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </guard>
+ </reactions>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="11350" id="11350" name="Copy of Label (6)1" comment="TargetVelo.">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="696" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="85" height="25"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPTextDisplay" xmi:id="11351" id="11351" name="Copy of Text Display1" comment="TargetVelocity">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="648" y="24"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="49" height="25"/>
+ <reactions>
+ <itemInput xsi:type="org-fortiss-af3-expression-terms:Var" identifier="TargetVelocity"/>
+ </reactions>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="11352" id="11352" name="Copy of Label (7)1" comment="MotorValue">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="696" y="60"/>
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+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriveModeSettings" def="9644"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="264" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14067" id="14067" name="EB_On" comment="" incoming="14069">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14068" id="14068">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="240" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="11257" id="11257" name="VelocityFrontObstacle" comment="" incoming="11259">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11258" id="11258">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="216" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="11264" id="11264" name="DistanceFront" comment="" incoming="11266">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11265" id="11265">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="192" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="11271" id="11271" name="DA_States" comment="only On and Off - not "Keeping State"" incoming="11273">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11272" id="11272">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="DriverAssistanceOnOffCommands" def="4955"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="11365" id="11365" name="TargetVelocity" comment="" incoming="11367">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="11366" id="11366">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12497" id="12497" name="VelocityValue" comment="" incoming="12499">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12498" id="12498">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12455" id="12455" name="Automatic_On" comment="" incoming="12457">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12456" id="12456">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="192" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14144" id="14144" name="VelocityValueOut" comment="" incoming="14146">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14145" id="14145">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14151" id="14151" name="SteeringValue" comment="" incoming="14153">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14152" id="14152">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="120" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="14171" id="14171" name="SteeringAngle" comment="" incoming="14173">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="14172" id="14172">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="120" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18122" id="18122" name="BackRight" comment="" incoming="18124">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18123" id="18123">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="RGBColor" def="17890"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="18129" id="18129" name="BackLeft" comment="" incoming="18131">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="18130" id="18130">
+ <type xsi:type="org-fortiss-af3-expression-types:TDefinedType" name="RGBColor" def="17890"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1008" y="96"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="241" height="373"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="10467" id="10467" name="FrontOstacle" comment="">
+ <containedElements xsi:type="org-fortiss-af3-component:Component" xmi:id="10484" id="10484" name="FrontObstaclePhysicalEnvironment" comment="">
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="10485" id="10485"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="10486" id="10486"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="10487" id="10487"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="10488" id="10488"/>
+ <specifications xsi:type="org-fortiss-af3-operatorpanel:OperatorPanelSpecification" xmi:id="10552" id="10552" name="Operator Panel">
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPToggleButton" xmi:id="10632" id="10632" name="Front Car Sim On" comment="Front Car Sim On" stateType="true">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="372" y="108"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="97" height="85"/>
+ <onSelect stringRepresentation="FrontObstacleCommand=true">
+ <variable identifier="FrontObstacleCommand"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </onSelect>
+ <onDeselect stringRepresentation="FrontObstacleCommand=false">
+ <variable identifier="FrontObstacleCommand"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst"/>
+ </onDeselect>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPAreaInput" xmi:id="10633" id="10633" name="Area Input">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="264" y="108"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="97" height="169"/>
+ <output stringRepresentation="FrontObstacleVelocity2=(_this_Y-0.5)*50">
+ <variable identifier="FrontObstacleVelocity2"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Multiply"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Subtract"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this_Y"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst" value="0.5"/>
+ </arguments>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:IntConst" value="50"/>
+ </value>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPITermInput" xmi:id="12061" id="12061" name="StartDistance">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="264" y="396"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="205" height="49"/>
+ <output stringRepresentation="StartDistance = _this">
+ <variable identifier="StartDistance"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this"/>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPITermInput" xmi:id="12078" id="12078" name="VelocityFront">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="264" y="312"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="205" height="49"/>
+ <output stringRepresentation="FrontObstacleVelocity=_this">
+ <variable identifier="FrontObstacleVelocity"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:Var" identifier="_this"/>
+ </output>
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="12079" id="12079" name="Label" comment="VelocityFront">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="264" y="276"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="205" height="37"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPLabel" xmi:id="12080" id="12080" name="Label1" comment="StartDistance">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="264" y="360"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="205" height="37"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-operatorpanel:OPPushButton" xmi:id="12081" id="12081" name="ResetPositions" comment="ResetPositions">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="372" y="192"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="97" height="85"/>
+ <onSelect stringRepresentation="ResetPosition = true">
+ <variable identifier="ResetPosition"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:BoolConst" value="true"/>
+ </onSelect>
+ </containedElements>
+ </specifications>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="13292" id="13292" name="FrontObstacleCommand" comment="" outgoing="13296">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13293" id="13293">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="156" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="10518" id="10518" name="FrontObstacleVelocity" comment="" outgoing="13297">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10519" id="10519">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="312"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12066" id="12066" name="StartDistance" comment="" outgoing="13298">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12067" id="12067">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="12124" id="12124" name="ResetPosition" comment="" outgoing="13299">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12125" id="12125">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="312" orientation="SOUTH"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="13273" id="13273" name="FrontObstacleVelocity2" comment="" outgoing="13300">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13274" id="13274">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
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+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10580" id="10580" name="FrontObstaclePosition" comment="" incoming="10582">
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+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10607" id="10607" name="Position" comment="" incoming="10609">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10608" id="10608">
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+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12075" id="12075" name="StartDistance" comment="" incoming="12077">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12076" id="12076">
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+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12133" id="12133" name="ResetPosition" comment="" incoming="12135">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12134" id="12134">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="156"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="420" y="360"/>
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+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="10480" id="10480"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="10481" id="10481"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="10482" id="10482"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="10483" id="10483"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10559" id="10559" name="FrontObstacleVelocity" comment="" source="10555" target="10557">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10566" id="10566" name="VelocityReturn" comment="" source="13284" target="10564">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10573" id="10573" name="DistanceToFrontObstacle" comment="" source="10569" target="13287">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10582" id="10582" name="FrontObstaclePosition" comment="" source="10612" target="10580">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="372" y="300"/>
+ <points x="540" y="300"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10609" id="10609" name="Position" comment="" source="10619" target="10607">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="804" y="300"/>
+ <points x="636" y="300"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10616" id="10616" name="FrontObstaclePositionReturn" comment="" source="10612" target="10614">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="372" y="300"/>
+ <points x="156" y="300"/>
+ <points x="156" y="180"/>
+ <points x="300" y="180"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10623" id="10623" name="PositionReturn" comment="" source="10619" target="10621">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
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+ <points x="1020" y="300"/>
+ <points x="1020" y="180"/>
+ <points x="876" y="180"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12077" id="12077" name="StartDistance" comment="" source="12073" target="12075">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12135" id="12135" name="ResetPosition" comment="" source="12141" target="12133">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12140" id="12140" name="ResetPosition" comment="" source="12141" target="12138">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12145" id="12145" name="ResetPosition" comment="" source="12141" target="12143">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13279" id="13279" name="FrontObstacleVelocity2" comment="" source="13280" target="13277">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="10555" id="10555" name="FrontObstacleVelocity" comment="" incoming="13297" outgoing="10559">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="10556" id="10556">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="13287" id="13287" name="DistanceToFrontObstacle" comment="" incoming="10573" outgoing="13291">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13288" id="13288">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13284" id="13284" name="VelocityReturn" comment="" incoming="13286" outgoing="10566">
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+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
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+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12073" id="12073" name="StartDistance" comment="" incoming="13298" outgoing="12077">
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="12141" id="12141" name="ResetPosition" comment="" incoming="13299" outgoing="12135 12140 12145">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="12142" id="12142">
+ <type xsi:type="org-fortiss-af3-expression-types:TBool"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="72" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:InputPort" xmi:id="13280" id="13280" name="FrontObstacleVelocity2" comment="" incoming="13300" outgoing="13279">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="13281" id="13281">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="720" y="144"/>
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+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="10469" id="10469"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="10470" id="10470"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="10471" id="10471"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13297" id="13297" name="FrontObstacleVelocity" comment="" source="10518" target="10555">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
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+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13298" id="13298" name="StartDistance" comment="" source="12066" target="12073">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
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+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13299" id="13299" name="ResetPosition" comment="" source="12124" target="12141">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
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+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13300" id="13300" name="FrontObstacleVelocity2" comment="" source="13273" target="13280">
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+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13286" id="13286" name="VelocityReturn" comment="" source="17781" target="13284">
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+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13291" id="13291" name="DistanceToFrontObstacle" comment="" source="13287" target="13289">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
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+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="13296" id="13296" name="FrontObstacleCommand" comment="" source="13292" target="13294">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
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+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="VelocityValueIn"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="VelocityValueOut"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
+ <variable identifier="CurrentValue"/>
+ <value xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Return"/>
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+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:IfThenElse">
+ <guard xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
+ <function xsi:type="org-fortiss-af3-expression-terms:PredefinedFunction" operator="Equal"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="LastValue"/>
+ <arguments xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
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+ </statements>
+ <statements xsi:type="org-fortiss-af3-expression-terms-imperative:Assignment">
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:FunctionCall">
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:DoubleConst"/>
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+ <arguments xsi:type="org-fortiss-af3-expression-terms:Var" identifier="Coefficient"/>
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+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="WEST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="17779" id="17779" name="VelocityValueOut" comment="" incoming="12523" outgoing="12499 17783">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="17780" id="17780">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="648" y="252"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="24" orientation="EAST"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1020" y="552"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="145" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-component:CausalityComponentSpecification" xmi:id="4782" id="4782"/>
+ <specifications xsi:type="org-fortiss-af3-component:VerifBehaviourComponentSpecification" xmi:id="4783" id="4783"/>
+ <specifications xsi:type="org-fortiss-af3-component-annotation:MemoryRequirement" xmi:id="4809" id="4809"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="4810" id="4810"/>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5107" id="5107" name="DistanceToFrontUS1" comment="" source="5103" target="5278">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5121" id="5121" name="VelocityIn" comment="" source="5117" target="5264">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5128" id="5128" name="ButtonY" comment="" source="5124" target="5257">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5135" id="5135" name="ButtonB" comment="" source="5131" target="5250">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5142" id="5142" name="ButtonA" comment="" source="5138" target="5243">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5149" id="5149" name="ButtonX" comment="" source="5145" target="5236">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5156" id="5156" name="ButtonR1" comment="" source="5152" target="5229">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5163" id="5163" name="ButtonR2" comment="" source="5159" target="5222">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5170" id="5170" name="ButtonL1" comment="" source="5166" target="5215">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5177" id="5177" name="ButtonL2" comment="" source="5173" target="5208">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5184" id="5184" name="LeftStick_X" comment="" source="14527" target="5201">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5455" id="5455" name="MotorValue" comment="" source="7314" target="5453">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5462" id="5462" name="SteeringValue" comment="" source="14149" target="5460">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="5471" id="5471" name="DistanceToFrontLaser" comment="" source="5467" target="5474">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="6273" id="6273" name="RightStick_X" comment="" source="6269" target="6276">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="6377" id="6377" name="RightStick_Y" comment="" source="6373" target="6381">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="6453" id="6453" name="ReturnOn" comment="" source="6449" target="6456">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="7318" id="7318" name="MotorValue" comment="" source="7314" target="7316">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="984" y="492"/>
+ <points x="984" y="444"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10497" id="10497" name="DistanceToFrontObstacle" comment="" source="13289" target="10637">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="10506" id="10506" name="FrontObstacleCommand" comment="" source="13294" target="10644">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="11231" id="11231" name="Gear" comment="" source="12464" target="11229">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="11238" id="11238" name="MaxAcceleration" comment="" source="11234" target="11236">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="11259" id="11259" name="VelocityFrontObstacle" comment="" source="11255" target="11257">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="11266" id="11266" name="DistanceFront" comment="" source="11262" target="11264">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="11273" id="11273" name="DA_States" comment="" source="11269" target="11271">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="11367" id="11367" name="TargetVelocity" comment="" source="11363" target="11365">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12443" id="12443" name="Automatic_On" comment="" source="12453" target="12446">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12457" id="12457" name="Automatic_On" comment="" source="12453" target="12455">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="300" y="792"/>
+ <points x="1212" y="792"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12492" id="12492" name="VelocityValue" comment="" source="14142" target="12512">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="12499" id="12499" name="VelocityValue" comment="" source="17779" target="12497">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="1188" y="588"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="14069" id="14069" name="EB_On" comment="" source="14065" target="14067">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="14074" id="14074" name="DriveMode" comment="" source="14070" target="14072">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="14146" id="14146" name="" comment="" source="14142" target="14144">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="996" y="588"/>
+ <points x="996" y="552"/>
+ <points x="1164" y="552"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="14153" id="14153" name="" comment="" source="14149" target="14151">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="984" y="528"/>
+ <points x="984" y="516"/>
+ <points x="1140" y="516"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="14173" id="14173" name="SteeringAngle" comment="" source="14169" target="14171">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="14540" id="14540" name="LeftStick_Y" comment="" source="14536" target="14558">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="14576" id="14576" name="ButtonHome" comment="" source="14572" target="14595">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="14585" id="14585" name="ButtonSelect" comment="" source="14581" target="14588">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15588" id="15588" name="RumbleStrong" comment="" source="17079" target="15586">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15679" id="15679" name="LD_Orientation" comment="" source="15675" target="15746">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="528" y="180"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15688" id="15688" name="LD_present_left" comment="" source="15684" target="15732">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="564" y="156"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15697" id="15697" name="LD_present_right" comment="" source="15693" target="15739">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="600" y="132"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15706" id="15706" name="LD_Distance_Left" comment="" source="15702" target="15718">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="636" y="108"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="15715" id="15715" name="LD_Distance_Right" comment="" source="15711" target="15725">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="672" y="84"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16714" id="16714" name="DistanceToFrontUS2" comment="" source="16710" target="16717">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="16959" id="16959" name="RumbleWeak" comment="" source="17086" target="16957">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="17783" id="17783" name="" comment="" source="17779" target="17781">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="1260" y="588"/>
+ <points x="1260" y="48"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18124" id="18124" name="BackRight" comment="" source="18120" target="18122">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points"/>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18131" id="18131" name="BackLeft" comment="" source="18127" target="18129">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="936" y="180"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18531" id="18531" name="DPadUp" comment="" source="18527" target="18552">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="276" y="828"/>
+ <points x="516" y="828"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18540" id="18540" name="DPadLeft" comment="" source="18536" target="18559">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="252" y="852"/>
+ <points x="540" y="852"/>
+ </layoutData>
+ </connections>
+ <connections xsi:type="org-fortiss-af3-component:Channel" xmi:id="18549" id="18549" name="DPadRight" comment="" source="18545" target="18566">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Points" key="points">
+ <points x="228" y="876"/>
+ <points x="564" y="876"/>
+ </layoutData>
+ </connections>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5453" id="5453" name="MotorValue" comment="" incoming="5455">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5454" id="5454">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1056" y="480"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-component:OutputPort" xmi:id="5460" id="5460" name="SteeringValue" comment="" incoming="5462">
+ <specifications xsi:type="org-fortiss-af3-component:PortSpecification" xmi:id="5461" id="5461">
+ <type xsi:type="org-fortiss-af3-expression-types:TDouble"/>
+ <initialValue xsi:type="org-fortiss-af3-expression-terms:DefinedConst" value="NoVal"/>
+ </specifications>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos" x="1056" y="516"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ </connectors>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="216" height="72"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="4811" id="4811"/>
+ </rootElements>
+ <rootElements xsi:type="org-fortiss-af3-mira:Analysis" xmi:id="5479" id="5479" name="Requirements">
+ <containedElements xsi:type="org-fortiss-af3-mira-glossary:Glossary" xmi:id="5483" id="5483" name="Glossary" comment="">
+ <containedElements xsi:type="org-fortiss-af3-mira-glossary:GlossaryEntry" xmi:id="5484" id="5484" name="Driving" comment="" definition="The act of moving forward or backward with a velocity != 0"/>
+ <containedElements xsi:type="org-fortiss-af3-mira-glossary:GlossaryEntry" xmi:id="61" id="61" name="Direction of travel" comment="" definition="If velocity > 0 the dircetion of travel is forward. If velocity < 0 the direction of travel is backward. If velocity == 0 there exists no direction of travel and the car is not moving. "/>
+ <containedElements xsi:type="org-fortiss-af3-mira-glossary:GlossaryEntry" xmi:id="70" id="70" name="Driving mode" comment="" definition="States if the car is moving forward or backward or parking."/>
+ <containedElements xsi:type="org-fortiss-af3-mira-glossary:GlossaryEntry" xmi:id="71" id="71" name="Velocity" comment="" definition="Velocity of the car itself. (If not further specified) If the velocity > 0 the car is moving forward. If velocity < 0 the car is moving backward. If velocity = 0 the car is not moving."/>
+ <containedElements xsi:type="org-fortiss-af3-mira-glossary:GlossaryEntry" xmi:id="5485" id="5485" name="Acceleration" comment="" definition="The acceleration of the car itself. (If not further specified)"/>
+ <containedElements xsi:type="org-fortiss-af3-mira-glossary:GlossaryEntry" xmi:id="115" id="115" name="Gear" comment="" definition="A gear specifies a certain maximum velocity. "/>
+ <containedElements xsi:type="org-fortiss-af3-mira-glossary:GlossaryEntry" xmi:id="224" id="224" name="Velocity Control" comment="" definition="The velocity control sets the velocity the vehicle is supposed to drive. "/>
+ <containedElements xsi:type="org-fortiss-af3-mira-glossary:GlossaryEntry" xmi:id="237" id="237" name="Obstacle" comment="" definition="Any living being or solid body, which may be moving or not moving."/>
+ <containedElements xsi:type="org-fortiss-af3-mira-glossary:GlossaryEntry" xmi:id="244" id="244" name="Unsafe distance" comment="" definition="Unsafe distance between the vehicle and an obstacle: crash would happen within 3 seconds under continuous present conditions."/>
+ <containedElements xsi:type="org-fortiss-af3-mira-glossary:GlossaryEntry" xmi:id="4385" id="4385" name="Economy setting" comment="" definition="Setting with reduced acceleration rates."/>
+ <containedElements xsi:type="org-fortiss-af3-mira-glossary:GlossaryEntry" xmi:id="4386" id="4386" name="Sports setting" comment="" definition="Setting with higher acceleration rates."/>
+ <containedElements xsi:type="org-fortiss-af3-mira-glossary:GlossaryEntry" xmi:id="4387" id="4387" name="steering angle" comment="" definition="The mean angle, which the front wheels are deviated from the vehivles longitudinal axis."/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:RequirementsContainer" xmi:id="4389" id="4389" name="Architectural Requirements" comment="">
+ <containedElements xsi:type="org-fortiss-af3-mira:RequirementsPackage" xmi:id="4390" id="4390" name="A1 Logical Architecture" comment="">
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="4391" id="4391" name="Reference Architecture" description="The given reference architecture shall be used. All deviations and changes to this architecture must be approved." author="Andreas Bayha" priority="Normal - Satisfier" reqId="A1.1">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="4392" id="4392" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="4393" id="4393" name="Requirement is relevant" comment="TODO" category="1.1"/>
+ <items xmi:id="4394" id="4394" name="Requirement description is correct" comment="TODO" category="1.2"/>
+ <items xmi:id="4395" id="4395" name="Consistent wording -- check with glossary" comment="TODO" category="1.3"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="4396" id="4396" name="Defect Check List" comment="Requirement Defect Check List">
+ <items xmi:id="4397" id="4397" name="Omission -- Problem world feature not stated by any RD item" comment="TODO" category="2.1"/>
+ <items xmi:id="4398" id="4398" name="Contradiction -- Incompatible problem world feature definition" comment="TODO" category="2.2"/>
+ <items xmi:id="4399" id="4399" name="Inadequacy -- Not adequately defining problem world feature" comment="TODO" category="2.3"/>
+ <items xmi:id="4400" id="4400" name="Ambiguity -- Problem world feature has multiple interpretations" comment="TODO" category="2.4"/>
+ <items xmi:id="4401" id="4401" name="Unmeasurability -- Cannot be compared with other options, tested nor verified" comment="TODO" category="2.5"/>
+ <items xmi:id="4402" id="4402" name="Noise -- Yielding no information" comment="TODO" category="2.6"/>
+ <items xmi:id="4403" id="4403" name="Overspecification -- Not pertaining to the problem world but to the machine solution" comment="TODO" category="2.7"/>
+ <items xmi:id="4404" id="4404" name="Unfeasibility -- Cannot be realistically implemented" comment="TODO" category="2.8"/>
+ <items xmi:id="4405" id="4405" name="Unintelligibility -- Incomprehensible for those who need to use it" comment="TODO" category="2.9"/>
+ <items xmi:id="4406" id="4406" name="Poor Structuring -- Not organized to any sensible structuring rule" comment="TODO" category="2.10"/>
+ <items xmi:id="4407" id="4407" name="Forward Referencing -- Using features not yet defined" comment="TODO" category="2.11"/>
+ <items xmi:id="4408" id="4408" name="Remorse -- Stating problem too late or incidentally" comment="TODO" category="2.12"/>
+ <items xmi:id="4409" id="4409" name="Poor Modifiability -- Modifications may need to be globally propagated" comment="TODO" category="2.13"/>
+ <items xmi:id="4410" id="4410" name="Opacity -- Rationale, authoring or dependencies are not visible" comment="TODO" category="2.14"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="4411" id="4411"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="4412" id="4412"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:RequirementsPackage" xmi:id="4414" id="4414" name="A2 Platform Architecture" comment="">
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="4415" id="4415" name="ECUs" description="The platform architecture shall comprise 3 Rasperry Pi ECUs" author="Andreas Bayha" priority="Normal - Satisfier" reqId="A2.1">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="4416" id="4416" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="4417" id="4417" name="Requirement is relevant" comment="TODO" category="1.1"/>
+ <items xmi:id="4418" id="4418" name="Requirement description is correct" comment="TODO" category="1.2"/>
+ <items xmi:id="4419" id="4419" name="Consistent wording -- check with glossary" comment="TODO" category="1.3"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="4420" id="4420" name="Defect Check List" comment="Requirement Defect Check List">
+ <items xmi:id="4421" id="4421" name="Omission -- Problem world feature not stated by any RD item" comment="TODO" category="2.1"/>
+ <items xmi:id="4422" id="4422" name="Contradiction -- Incompatible problem world feature definition" comment="TODO" category="2.2"/>
+ <items xmi:id="4423" id="4423" name="Inadequacy -- Not adequately defining problem world feature" comment="TODO" category="2.3"/>
+ <items xmi:id="4424" id="4424" name="Ambiguity -- Problem world feature has multiple interpretations" comment="TODO" category="2.4"/>
+ <items xmi:id="4425" id="4425" name="Unmeasurability -- Cannot be compared with other options, tested nor verified" comment="TODO" category="2.5"/>
+ <items xmi:id="4426" id="4426" name="Noise -- Yielding no information" comment="TODO" category="2.6"/>
+ <items xmi:id="4427" id="4427" name="Overspecification -- Not pertaining to the problem world but to the machine solution" comment="TODO" category="2.7"/>
+ <items xmi:id="4428" id="4428" name="Unfeasibility -- Cannot be realistically implemented" comment="TODO" category="2.8"/>
+ <items xmi:id="4429" id="4429" name="Unintelligibility -- Incomprehensible for those who need to use it" comment="TODO" category="2.9"/>
+ <items xmi:id="4430" id="4430" name="Poor Structuring -- Not organized to any sensible structuring rule" comment="TODO" category="2.10"/>
+ <items xmi:id="4431" id="4431" name="Forward Referencing -- Using features not yet defined" comment="TODO" category="2.11"/>
+ <items xmi:id="4432" id="4432" name="Remorse -- Stating problem too late or incidentally" comment="TODO" category="2.12"/>
+ <items xmi:id="4433" id="4433" name="Poor Modifiability -- Modifications may need to be globally propagated" comment="TODO" category="2.13"/>
+ <items xmi:id="4434" id="4434" name="Opacity -- Rationale, authoring or dependencies are not visible" comment="TODO" category="2.14"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="4435" id="4435"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="4437" id="4437" name="Buses" description="The ECUs shall communicate via one CAN Bus." author="Andreas Bayha" priority="Normal - Satisfier" reqId="A2.2">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="4438" id="4438" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="4439" id="4439" name="Requirement is relevant" comment="TODO" category="1.1"/>
+ <items xmi:id="4440" id="4440" name="Requirement description is correct" comment="TODO" category="1.2"/>
+ <items xmi:id="4441" id="4441" name="Consistent wording -- check with glossary" comment="TODO" category="1.3"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="4442" id="4442" name="Defect Check List" comment="Requirement Defect Check List">
+ <items xmi:id="4443" id="4443" name="Omission -- Problem world feature not stated by any RD item" comment="TODO" category="2.1"/>
+ <items xmi:id="4444" id="4444" name="Contradiction -- Incompatible problem world feature definition" comment="TODO" category="2.2"/>
+ <items xmi:id="4445" id="4445" name="Inadequacy -- Not adequately defining problem world feature" comment="TODO" category="2.3"/>
+ <items xmi:id="4446" id="4446" name="Ambiguity -- Problem world feature has multiple interpretations" comment="TODO" category="2.4"/>
+ <items xmi:id="4447" id="4447" name="Unmeasurability -- Cannot be compared with other options, tested nor verified" comment="TODO" category="2.5"/>
+ <items xmi:id="4448" id="4448" name="Noise -- Yielding no information" comment="TODO" category="2.6"/>
+ <items xmi:id="4449" id="4449" name="Overspecification -- Not pertaining to the problem world but to the machine solution" comment="TODO" category="2.7"/>
+ <items xmi:id="4450" id="4450" name="Unfeasibility -- Cannot be realistically implemented" comment="TODO" category="2.8"/>
+ <items xmi:id="4451" id="4451" name="Unintelligibility -- Incomprehensible for those who need to use it" comment="TODO" category="2.9"/>
+ <items xmi:id="4452" id="4452" name="Poor Structuring -- Not organized to any sensible structuring rule" comment="TODO" category="2.10"/>
+ <items xmi:id="4453" id="4453" name="Forward Referencing -- Using features not yet defined" comment="TODO" category="2.11"/>
+ <items xmi:id="4454" id="4454" name="Remorse -- Stating problem too late or incidentally" comment="TODO" category="2.12"/>
+ <items xmi:id="4455" id="4455" name="Poor Modifiability -- Modifications may need to be globally propagated" comment="TODO" category="2.13"/>
+ <items xmi:id="4456" id="4456" name="Opacity -- Rationale, authoring or dependencies are not visible" comment="TODO" category="2.14"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="4457" id="4457"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="4436" id="4436"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="4413" id="4413"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:RequirementsContainer" xmi:id="4360" id="4360" name="Functional Requirements" comment="">
+ <containedElements xsi:type="org-fortiss-af3-mira:RequirementsPackage" xmi:id="5486" id="5486" name="1 Basic driving functions" comment="">
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="5487" id="5487" name="Steering" description="While driving forward or backward, the vehicle should be able to turn left and right." author="Andreas Bayha" reqId="1.1">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="15" id="15" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="5488" id="5488" name="Requirement is relevant" comment="TODO" category="E3.1"/>
+ <items xmi:id="5489" id="5489" name="Requirement description is correct" comment="TODO" category="E4.1"/>
+ <items xmi:id="18" id="18" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="19" id="19" name="Detailed Modeling Phase" comment="Check list for conceptual modeling phase">
+ <items xmi:id="20" id="20" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="21" id="21"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="5490" id="5490" name="Velocity" description="The vehicle should increase the velocity in the direction of travel until the requestes velocity is reached." author="Johannes Eder" sources="" reqId="1.2">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="26" id="26" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="5491" id="5491" name="Requirement is relevant" comment="TODO" category="E3.1"/>
+ <items xmi:id="5492" id="5492" name="Requirement description is correct" comment="TODO" category="E4.1"/>
+ <items xmi:id="29" id="29" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="5493" id="5493" name="Detailed Modeling Phase" comment="Check list for conceptual modeling phase">
+ <items xmi:id="5494" id="5494" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5495" id="5495"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="5496" id="5496" name="Braking" description="The vehicle should be able to actively decrease velocity in the direction of travel until either the velocity equals 0 or braking is no longer requested. 
The maximum braking power should be 100% engine power in the opposite direction of travel." author="Johannes Eder" reqId="1.3">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="41" id="41" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="42" id="42" name="Requirement is relevant" comment="TODO" category="E3.1"/>
+ <items xmi:id="43" id="43" name="Requirement description is correct" comment="TODO" category="E4.1"/>
+ <items xmi:id="44" id="44" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="5497" id="5497" name="Detailed Modeling Phase" comment="Check list for conceptual modeling phase">
+ <items xmi:id="5498" id="5498" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5499" id="5499"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="5500" id="5500" name="Driving mode" description="There exist three driving modes:
	- moving forward
		- velocity > 0
	- moving backward
		- velocity < 0
	- parking
		- when in this mode the vehicle must not accelerate and velocity must be 0
Only one driving mode should be active at a time.
The driving mode may only be changed if velocity and acceleration are 0." author="Thomas Böhm" reqId="1.4">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="48" id="48" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="49" id="49" name="Requirement is relevant" comment="" category="E3.1" lastUpdate="2017-03-10T09:33:40.941+0100"/>
+ <items xmi:id="50" id="50" name="Requirement description is correct" comment="" category="E4.1" lastUpdate="2017-03-10T15:34:21.093+0100"/>
+ <items xmi:id="5501" id="5501" name="Consistent wording -- check with glossary" comment="" category="E6.1" lastUpdate="2017-03-10T09:34:23.035+0100"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="5502" id="5502" name="Detailed Modeling Phase" comment="Check list for conceptual modeling phase">
+ <items xmi:id="5503" id="5503" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5504" id="5504"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="5505" id="5505" name="Initial State" description="On system start up, the vehicle is in parking mode.
All driver assistance features must be deactivated." author="Thomas Böhm" reqId="1.5">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="5506" id="5506" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="64" id="64" name="Requirement is relevant" comment="TODO" category="E3.1"/>
+ <items xmi:id="5507" id="5507" name="Requirement description is correct" comment="TODO" category="E4.1"/>
+ <items xmi:id="5508" id="5508" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="67" id="67" name="Detailed Modeling Phase" comment="Check list for conceptual modeling phase">
+ <items xmi:id="68" id="68" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="69" id="69"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="5509" id="5509" name="Gear shifting" description="If the driving mode is moving forward, the driver should be able to switch sequentially between 6 gears. 

The gears hereby define, which effect the maximal tilt of the velocity control handle should have.

1. gear: 10% of maximal velocity
2. gear: 25% of maximal velocity
3. gear: 40% of maximal velocity
4. gear: 60% of maximal velocity
5. gear: 80% of maximal velocity
6. gear: 100% of maximal velocity

If the driving mode is moving backward, the driver should be able to select only 1 gear.
1. gear: 10% of maximal velocity

If the the driving mode is switched to moving forward or moving backward, the intial gear is the respective 1. gear." author="Johannes Eder" priority="Normal - Satisfier" reqId="1.6">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="5510" id="5510" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="5511" id="5511" name="Requirement is relevant" comment="TODO" category="E3.1"/>
+ <items xmi:id="5512" id="5512" name="Requirement description is correct" comment="TODO" category="E4.1"/>
+ <items xmi:id="5513" id="5513" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="5514" id="5514" name="Detailed Modeling Phase" comment="Check list for conceptual modeling phase">
+ <items xmi:id="5515" id="5515" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5516" id="5516"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="4364" id="4364" name="Economy and Sports setting" description="The driver shall be able to switch between two settings:
- Economy setting
- Sports setting

This setting limits the maximal Acceleration as follows:
 Economy setting: a_max <= 2 m/s²
 Sports setting: a_max <= 4 m/s²" author="Andreas Bayha" priority="Normal - Satisfier" reqId="1.7">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="4365" id="4365" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="4366" id="4366" name="Requirement is relevant" comment="TODO" category="1.1"/>
+ <items xmi:id="4367" id="4367" name="Requirement description is correct" comment="TODO" category="1.2"/>
+ <items xmi:id="4368" id="4368" name="Consistent wording -- check with glossary" comment="TODO" category="1.3"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="4369" id="4369" name="Defect Check List" comment="Requirement Defect Check List">
+ <items xmi:id="4370" id="4370" name="Omission -- Problem world feature not stated by any RD item" comment="TODO" category="2.1"/>
+ <items xmi:id="4371" id="4371" name="Contradiction -- Incompatible problem world feature definition" comment="TODO" category="2.2"/>
+ <items xmi:id="4372" id="4372" name="Inadequacy -- Not adequately defining problem world feature" comment="TODO" category="2.3"/>
+ <items xmi:id="4373" id="4373" name="Ambiguity -- Problem world feature has multiple interpretations" comment="TODO" category="2.4"/>
+ <items xmi:id="4374" id="4374" name="Unmeasurability -- Cannot be compared with other options, tested nor verified" comment="TODO" category="2.5"/>
+ <items xmi:id="4375" id="4375" name="Noise -- Yielding no information" comment="TODO" category="2.6"/>
+ <items xmi:id="4376" id="4376" name="Overspecification -- Not pertaining to the problem world but to the machine solution" comment="TODO" category="2.7"/>
+ <items xmi:id="4377" id="4377" name="Unfeasibility -- Cannot be realistically implemented" comment="TODO" category="2.8"/>
+ <items xmi:id="4378" id="4378" name="Unintelligibility -- Incomprehensible for those who need to use it" comment="TODO" category="2.9"/>
+ <items xmi:id="4379" id="4379" name="Poor Structuring -- Not organized to any sensible structuring rule" comment="TODO" category="2.10"/>
+ <items xmi:id="4380" id="4380" name="Forward Referencing -- Using features not yet defined" comment="TODO" category="2.11"/>
+ <items xmi:id="4381" id="4381" name="Remorse -- Stating problem too late or incidentally" comment="TODO" category="2.12"/>
+ <items xmi:id="4382" id="4382" name="Poor Modifiability -- Modifications may need to be globally propagated" comment="TODO" category="2.13"/>
+ <items xmi:id="4383" id="4383" name="Opacity -- Rationale, authoring or dependencies are not visible" comment="TODO" category="2.14"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="4384" id="4384"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="22" id="22"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:RequirementsPackage" xmi:id="5517" id="5517" name="2 Vehicle control" comment="">
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="5518" id="5518" name="Control Unit" description="The vehicle should be controllable by a PS2 Controller. All buttons which are not further specified must not have any function." author="Andreas Bayha" reqId="2.1">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="5519" id="5519" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="35" id="35" name="Requirement is relevant" comment="TODO" category="E3.1"/>
+ <items xmi:id="5520" id="5520" name="Requirement description is correct" comment="TODO" category="E4.1"/>
+ <items xmi:id="5521" id="5521" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="38" id="38" name="Detailed Modeling Phase" comment="Check list for conceptual modeling phase">
+ <items xmi:id="5522" id="5522" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5523" id="5523"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="5525" id="5525" name="Velocity and Steering Control" description="The right joystick should control speed (velocity control) and steering.

Velocity Control:
- Neutral joystick position in vertical direction means "idle" and should result in a velocity of 0 m/s.
- Joystick fully tilted in vertical direction forward results in 100% of the maximum velocity of the currently selected gear. 
- Joystic tilted to the front between idle and fully tilted sets the target velocity proportionately.
- Joystick tilted backwards should have the same result as leaving the joystick in idle mode.

Steering:
- Neutral joystick position in horizontal direction means, that the vehicle should steer a steering angle of 0°.
- If the joystick is tilted to the left, the vehicle should change its direction of travel to the left. (Right accordingly.)
- With increasing velocities, the joystick tilt must result in smaler steering angles in order to keep steering managable for the driver. Hereby the resulting steering angle should decrease accoring to a function f(velocity). This function has to be chosen in such a way, that steering is convenient for the driver." author="Andreas Bayha" reqId="2.2">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="5526" id="5526" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="5527" id="5527" name="Requirement is relevant" comment="TODO" category="E3.1"/>
+ <items xmi:id="78" id="78" name="Requirement description is correct" comment="TODO" category="E4.1"/>
+ <items xmi:id="79" id="79" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="80" id="80" name="Detailed Modeling Phase" comment="Check list for conceptual modeling phase">
+ <items xmi:id="81" id="81" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="82" id="82"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="5528" id="5528" name="Braking Control" description="The left Joystick should controll the brake.

- Neutral joystick position in vertical direction means "idle" and should not have a brake effect.
- Joystick fully tilted in vertical direction forward should result in 100% of the maximum braking power.
- Joystick tilted backwars should have the same result as leaving the joystick in idle mode." author="Andreas Bayha" reqId="2.3">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="5529" id="5529" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="5530" id="5530" name="Requirement is relevant" comment="TODO" category="E3.1"/>
+ <items xmi:id="5531" id="5531" name="Requirement description is correct" comment="TODO" category="E4.1"/>
+ <items xmi:id="5532" id="5532" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="5533" id="5533" name="Detailed Modeling Phase" comment="Check list for conceptual modeling phase">
+ <items xmi:id="89" id="89" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="90" id="90"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="91" id="91" name="Changing Drive Mode Control" description="The numbered buttons on the right of the gamepad should select the driving mode.

- Button 1 selects the driving mode forward.
- Button 2 selects the driving mode parking mode.
- Button 3 selects the driving mode backward.
- Button 4 toggles beteen Economy and Sports setting.
" author="Andreas Bayha" reqId="2.4">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="92" id="92" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="93" id="93" name="Requirement is relevant" comment="TODO" category="E3.1"/>
+ <items xmi:id="94" id="94" name="Requirement description is correct" comment="TODO" category="E4.1"/>
+ <items xmi:id="95" id="95" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="96" id="96" name="Detailed Modeling Phase" comment="Check list for conceptual modeling phase">
+ <items xmi:id="5534" id="5534" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5535" id="5535"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="99" id="99" name="Enabling driver assistance functions" description="The Button L1 should activate and deactivate the adaptive cruise control (ACC)

Hereby the ACC shall be activated / deactivated, when L1 was pressed and released." author="Andreas Bayha" reqId="2.5">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="5536" id="5536" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="5537" id="5537" name="Requirement is relevant" comment="TODO" category="E3.1"/>
+ <items xmi:id="5538" id="5538" name="Requirement description is correct" comment="TODO" category="E4.1"/>
+ <items xmi:id="5539" id="5539" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="5540" id="5540" name="Detailed Modeling Phase" comment="Check list for conceptual modeling phase">
+ <items xmi:id="5541" id="5541" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5542" id="5542"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="227" id="227" name="Gear shift" description="The buttons L2 and R2 on the backside of the gamepad control the gear shifting.

- When pulling L2, the next lower gear should be selected. If the lowest gear was already selected, the button L2 must not have any effect.
- When pulling R2, the next higher gear should be selected. If the highest gear was already selected, the button R2 must not have any effect.

" author="Andreas Bayha" reqId="2.6">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="228" id="228" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="229" id="229" name="Requirement is relevant" comment="TODO" category="E3.1"/>
+ <items xmi:id="230" id="230" name="Requirement description is correct" comment="TODO" category="E4.1"/>
+ <items xmi:id="231" id="231" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="232" id="232" name="Detailed Modeling Phase" comment="Check list for conceptual modeling phase">
+ <items xmi:id="233" id="233" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="234" id="234"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5543" id="5543"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:RequirementsPackage" xmi:id="12" id="12" name="3 Driver assistance" comment="">
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="5544" id="5544" name="Adaptive Cruise Control" description="The ACC provides an intelligent Cruise Control functionality. Specifically it allows to:
1) Set a target speed of the vehicle by the driver and autonomously keep this speed by accelerating and deaccelerating the vehicle correspondingly
2) Adapt the speed of the vehicle autonomously depending on the distance to a leading vehicle to avoid unsafe distances between them

The target speed hereby is always the current velocity of the vehicle when ACC is activated.

The ACC must automatically be deactivated if:
- The driver manually brakes.
- The emergency brake is activated.
- The driver deactivates ACC using the enabling/disabling ACC button." author="Johannes Eder, Andreas Bayha" priority="Normal - Satisfier" reqId="3.1">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="5545" id="5545" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="127" id="127" name="Requirement is relevant" comment="TODO" category="E3.1"/>
+ <items xmi:id="5546" id="5546" name="Requirement description is correct" comment="TODO" category="E4.1"/>
+ <items xmi:id="5547" id="5547" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="5548" id="5548" name="Detailed Modeling Phase" comment="Check list for conceptual modeling phase">
+ <items xmi:id="5549" id="5549" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5550" id="5550"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5551" id="5551"/>
+ </containedElements>
+ <containedElements xsi:type="org-fortiss-af3-mira:RequirementsPackage" xmi:id="5552" id="5552" name="4 Safety functions" comment="">
+ <containedElements xsi:type="org-fortiss-af3-mira:Requirement" xmi:id="116" id="116" name="Emergency brake" description="The vehicle must be able to detect obstacles in the direction of travel.
Emergency brake must be enabled, if under continious present conditions, a crash would be invevitable in the followoing 2 seconds." author="Johannes Eder" priority="Normal - Satisfier" reqId="4.1">
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="117" id="117" name="Discovery Phase" comment="Check list for discovery Phase">
+ <items xmi:id="118" id="118" name="Requirement is relevant" comment="TODO" category="E3.1"/>
+ <items xmi:id="119" id="119" name="Requirement description is correct" comment="TODO" category="E4.1"/>
+ <items xmi:id="120" id="120" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-mira-verification:CheckList" xmi:id="121" id="121" name="Detailed Modeling Phase" comment="Check list for conceptual modeling phase">
+ <items xmi:id="122" id="122" name="Consistent wording -- check with glossary" comment="TODO" category="E6.1"/>
+ </specifications>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5553" id="5553"/>
+ <connectors xsi:type="org-fortiss-af3-mira:RequirementConnector"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5554" id="5554"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5555" id="5555"/>
+ </containedElements>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="5635" id="5635"/>
+ <requirementRelationStatus xmi:id="5480" id="5480" name="New" comment=""/>
+ <requirementRelationStatus xmi:id="5481" id="5481" name="In Analysis" comment=""/>
+ <requirementRelationStatus xmi:id="5482" id="5482" name="Analyzed" comment=""/>
+ </rootElements>
+ <rootElements xsi:type="org-fortiss-af3-platform:PlatformArchitecture" xmi:id="12891" id="12891" name="Platform Architecture" comment="" referencedBy="//@rootElements.6/@platformArchitectureReference">
+ <containedElements xsi:type="org-fortiss-af3-platform-raspberry:RaspberryPi" xmi:id="12892" id="12892" name="RaspberryPI" canCoordinationID="255" ipAddress="192.168.21.250" coordinatorUnit="true" cycleTime="50">
+ <specifications xsi:type="org-fortiss-af3-platform-annotation:HardwareCost" xmi:id="12893" id="12893"/>
+ <specifications xsi:type="org-fortiss-af3-platform-annotation:PowerConsumption" xmi:id="12894" id="12894"/>
+ <specifications xsi:type="org-fortiss-af3-platform-annotation:MemoryPerNode" xmi:id="12895" id="12895"/>
+ <specifications xsi:type="org-fortiss-af3-safety-annotation:SafetyIntegrityLevel" xmi:id="12896" id="12896"/>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry:ActuatorPWM" xmi:id="12898" id="12898" name="PWM1">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="48" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:Left_StickX_Position" xmi:id="14419" id="14419" name="Left_StickX">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="84" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:Left_StickY_Position" xmi:id="14420" id="14420" name="Left_StickY">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="96" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:Right_StickX_Position" xmi:id="14421" id="14421" name="Right_StickX">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="108" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:Right_StickY_Position" xmi:id="14422" id="14422" name="Right_StickY">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="120" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:ButtonL1" xmi:id="14423" id="14423" name="ButtonL1">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="132" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:ButtonR1" xmi:id="14424" id="14424" name="ButtonR1">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="144" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:L2_Position" xmi:id="14425" id="14425" name="L2Position">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="156" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:R2_Position" xmi:id="14426" id="14426" name="R2Position">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="168" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:ButtonL3" xmi:id="14427" id="14427" name="ButtonL3">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="180" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:ButtonR3" xmi:id="14428" id="14428" name="ButtonR3">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="192" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:DPadUp" xmi:id="14429" id="14429" name="DPadUp">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="204" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:DPadDown" xmi:id="14430" id="14430" name="DPadDown">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="216" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:DPadLeft" xmi:id="14431" id="14431" name="DPadLeft">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="384" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:DPadRight" xmi:id="14432" id="14432" name="DPadRight">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="372" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:ButtonA" xmi:id="14433" id="14433" name="ButtonA">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="360" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:ButtonB" xmi:id="14434" id="14434" name="ButtonB">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="336" orientation="EAST"/>
+ </connectors>
+ <connectors xsi:type="org-fortiss-af3-platform-raspberry-rumblepad:ButtonX" xmi:id="14435" id="14435" name="ButtonX">
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="pos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="dim" width="108" height="72"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Point" key="cpos"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:Dimension" key="cdim" width="0" height="0"/>
+ <layoutData xsi:type="org-fortiss-tooling-base-model-layout:OffsetOrientation" key="coffsetorient" offset="324" orientation="EAST"/>
+ </connectors>
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+ </value>
+ </deploymentParameterMap>
+ </rootElements>
+</org-fortiss-af3-project:FileProject>
--
GitLab