# SystemConfigBlueprint

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

## AgentComponents

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

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

Example: This example describes the Sensor_Driver module.

    <component>
        <id>SenderCar2X</id>
        <schedule>
            <priority>399</priority>
            <offset>0</offset>
            <cycle>100</cycle>
            <response>0</response>
        </schedule>
        <library>AlgorithmCar2XSender</library>
        <parameters/>
    </component>

## Priorities

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

Prioritizer can be applied on different levels depending on the modules/data they need to handle levels as following can be defined:

- Level 1 describes data produced by ADAS and drivers

- Level 2 describes data output by vehicle dynamic controllers

- Level 3 describes data delivered by dynamics

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

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

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

Name | Library | Priority | Scope | Note
--- | --- | --- | --- | ---
ParametersAgentModules | ParametersAgent | 500 | Parameters | Sets all init-data and is updated cyclically
OpenScenarioActions | OpenScenarioActions | 400 | ADAS | Reads events from OpenScenario Actions and forwards them to other components
SensorObjectDetector | Sensor_OSI | 398 | Sensor | Gets instantiated multiple times (one time per sensor)
SensorAggregation | SensorAggregation_OSI | 351 | Sensor |
SensorFusionErrorless | SensorFusionErrorless_OSI | 350 | Sensor |
AlgorithmAgentFollowingDriverModel | AlgorithmAgentFollowingDriverModel | 310 | DriverModels |
AEB | AlgorithmAutonomousEmergencyBraking | 250 | ADAS |
FMU1 | AlgorithmFmuWrapper | 250 | ADAS |
FMU2 | AlgorithmFmuWrapper | 250 | ADAS |
FMU3 | AlgorithmFmuWrapper | 250 | ADAS |
ComponentController | ComponentController | 200 | ADAS | Manages vehicle component states with regard to other vehicle component states and conditions and in response to events.
PrioritizerLaterDriver | SignalPrioritizer | 150 | Prioritizer |
PrioritizerAccelerationDriver | SignalPrioritizer | 150 | Prioritizer |
PrioritizerTurningIndicator | SignalPrioritizer | 150 | Prioritizer |
PrioritizerSteeringVehicleComponents | SignalPrioritizer | 150 | Prioritizer |
PrioritizerAccelerationVehicleComponents | SignalPrioritizer | 150 | Prioritizer |
LimiterAccelerationVehicleComponents | LimiterAccelerationVehicleComponents | 120 | VehicleDynamicsControllers |
AlgorithmLateralDriver | AlgorithmLateralDriver | 100 | VehicleDynamicsControllers |
AlgorithmLongitudinalVehicleComponents | AlgorithmLongitudinalVehicleComponents | 100 | VehicleDynamicsControllers |
AlgorithmLongitudinalDriver | AlgorithmLongitudinalDriver | 100 | VehicleDynamicsControllers |
PrioritizerSteering | SignalPrioritizer | 75 | Prioritizer |
PrioritizerLongitudinal | SignalPrioritizer | 75 | Prioritizer |
DynamicsCollision | DynamicsCollision | 50 | Dynamics |
DynamicsRegularDriving | DynamicsRegularDriving | 50 | Dynamics |
DynamicsTrajectoryFollower | DynamicsTrajectoryFollower | 50 | Dynamics |
PrioritizerDynamics | SignalPrioritizer | 25 | Prioritizer |
SensorRecordStateModule | SensorRecordState | 2 | Updater | Since values are “frozen” for current time step, logging can be placed anywhere
ActionLongitudinalDriverModules | ActionLongitudinalDriver | 3 | Updater | Will be expanded to ActionPrimary DriverTasks
ActionSecondaryDriverTasksModules | ActionSecondaryDriverTasks | 3 | Updater |
AgentUpdater | AgentUpdater | 1 | Updater |

## Channel-Ids

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

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

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

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

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

Ids for Modules (first two digits)

Index range for module groups:

Group | Id
--- | ---
Dynamics | 1…10
Algorithm | 11…30
DriverTasks | 31…40
Driver | 41…50
VehicleComponent | 51…70
Special | 81…89
Sensor | 91…99

With corresponding defined indices:

Module | Group | Id
--- | --- | ---
AgentUpdater | Dynamics | 1
Dynamics_TrajectoryFollower | Dynamics | 2
Dynamics_RegularDriving | Dynamics | 3
Dynamics_Collision | Dynamics | 4
PrioritizerDynamics | Dynamics | 5
Dynamics_Scenario | Dynamics | 6
ControllerSwitch | Dynamics | 7
Algorithm_LongitudinalVehicleComponent | Algorithm | 11
Algorithm_LongitudinalAfdm | Algorithm | 12
Algorithm_SteeringVehicleComponent | Algorithm | 14
Algorithm_LateralVehicleAfdm | Algorithm | 15
LimiterAccelerationVehicleComponents | Algorithm | 17
PrioritizerLongitudinal | Algorithm | 21
PrioritizerSteering | Algorithm | 22
PrioritizerAccelerationVehicleComponents | Algorithm | 23
PrioritizerSteeringVehicleComponents | Algorithm | 24
Action_LongitudinalDriver | DriverTasks | 31
Action_SecondaryDriverTasks | DriverTasks | 32
PrioritizerTurningIndicator | DriverTasks | 33
AlgorithmAgentFollowingDriverModel | Driver | 41
AEB | VehicleComponent | 52
FMU1 | VehicleComponent | 71
FMU2 | VehicleComponent | 72
FMU3 | VehicleComponent | 73
ComponentController | Special | 83
OpenScenarioActions | Special | 84
Parameter_Vehicle | Sensor | 92
SensorAggregation | Sensor | 93
SensorFusionErrorless | Sensor | 94
Sensor_Driver | Sensor | 95
SensorObjectDetector | Sensor | 98

Ids for Signals (last two digits)

Index range for signal groups:

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

With corresponding defined indices:

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

## Parameters

For more information on the type of parameters (especially stochastic distributions), please refer to the ProfilesGroup section.

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

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