1. SP1/4 meeting 2007-09-26/27, BOSCH 1 Main PC SW Processes Processes controlled by operating system Communication (IPC) by database SW db instance DBMSData Fusion shared memory Client network socket Application clients OEM GW, VANET router, Positioning PC, Laserscanner PC DB, GPS card driver Otional client process Operating system DF process LDM process Co- ordi- nator

2. SP1/4 meeting 2007-09-26/27, BOSCH 2 Main PC SW Framework Fundamentals DF process is multithreaded All data exchange between threads through shared memory Memory is set of ring buffers with cell types, depths, etc. as defined by FW users Access to shared memory under control of FW, FW users get shared memory read/write methods for use in their code Memory read/write events defined by FW users but generated by FW Events induce calls of user’s thread methods Event triggered method calls coordinated by FW (scheduler), i.e. Hollywood principle: ‘Don’t call us, you will be called’ FW: framework

3. SP1/4 meeting 2007-09-26/27, BOSCH 3 Main PC Data Fusion Process

4. SP1/4 meeting 2007-09-26/27, BOSCH 4 Framework Fundamentals – Shared Memory Generic ring buffer defined by FW → same access methods and attributes for all ring buffers Ring buffer instantiations grouped according to sources (here systems, busses) → structured access Number and type of buffer objects defined by FW users → common class diagram Example: DAQ output region

5. SP1/4 meeting 2007-09-26/27, BOSCH 5 FW Fundamentals – Event Flow DAQ thread LAN packet arrived scheduler IP thread method23() POS BODY OR results SR results signal23 Ring buffer events generate signals Signals are connected with methods in one or more threads Scheduler coordinates method calls OR thread method23() 1. 2.

6. SP1/4 meeting 2007-09-26/27, BOSCH 6 FW Fundamentals – Event Flow Example DAQ thread 1. FW call following NTsocket event 2. item writing read 3. reading # unread write scheduler 3. signal23 emission OR/SR/IP thread method23() procPacket() switch(packet.type){ : case x: check(packet); writeSM(pos.lat); if( getUnread(pos.lat)>2 ) emit signal23; procPacket() switch(packet.type){ : case x: check(packet); writeSM(pos.lat); if( getUnread(pos.lat)>2 ) emit signal23; condition defined by FW user, which implements method23() 4. call of method bound to buffer condition

7. SP1/4 meeting 2007-09-26/27, BOSCH 7 Framework Fundamentals FW requires from FW users: list of Ring buffer objects (standard C++) with buffer depths table with event conditions and associated method names to be called Event NrObjectConditionThread:methodRemark 23 double latLon[2] unread items > 2InfoProv:updatePos() lat/long arrives every 0.5sec from SP3 PC, but only every 1s update in LDM 24 double latLon[2] item writtenOR_align:alignObj() alignment necessary as soon as new ego position known 25 double latLon[2] unread items > buffer depth SysMon:notify(25) buffer overflow exception to be thrown : DF Event List, Examples

8. SP1/4 meeting 2007-09-26/27, BOSCH 8 Main PC 1 st Framework Lab Test Single PC and single process configuration No (LAN) networking Partners test thread implementation and shared memory access Input to threads via shared memory from files File and shared memory contents to be defined by thread developers OR/SR threads shared memory player / recorder thread DF process Coordinator recorded / simulated data Main PC (any PC or eBox)

9. SP1/4 meeting 2007-09-26/27, BOSCH 9 Main PC 2 nd Framework Lab Test Still no LDM, only 1 process in main PC Data logging and replay in external PCs (not eBox) Test of network driven thread execution and RT performance (scheduling, network latency,…) shared memory Coordinator DF process recorded / simulated data player network socket recorder Main PC under test (eBox) Gw, Router, Appl,… Emulation PC Ethernet (cross link cable) network socket DAQ/OR/SR threads

10. SP1/4 meeting 2007-09-26/27, BOSCH 10 Main PC 3 rd Framework Lab Test LDM database integration, 2 processes in main PC Final SW configuration of main PC Test of T-/Q-API and RT performance with LDM (transaction/query latencies, etc.) db instance DBMS shared memory network socket DF process LDM process recorded / simulated data player network socket recorder Main PC under test (eBox) Gw, Router, Appl,… Emulation PC Ethernet (cross link cable) Coordinator network socket DAQ/OR/SR/IP threads

11. SP1/4 meeting 2007-09-26/27, BOSCH 11 Framework Fundamentals SW framework development thread development SP4 co-operation needed E10/07 M11/07 E11/07 M12/07 S01/08 E01/08 E02/08 fixed SP1 SW Integration plan

12. SP1/4 meeting 2007-09-26/27, BOSCH 12 Development Distribution Partner Frame work Shared mem def + event list DAQ thread OR threads SR threads Info prov thread Log thread Pos, Gw, VANET emul. SW LDM user (query, notific.) tests PC network integr. Appl integr., demo Prep. WP1.4 MM CRFXXXXXX25 ICCSXXX21 BoschXXXXXX25 SVDOXXXX8 IbeoXX12 MMSEXX10 VolvoXXX11 RenaultXX0 PiaggioXXX10

13. SP1/4 meeting 2007-09-26/27, BOSCH 13 Decisions HW SW Main PC: eBox 638FL (Plug-In), Pentium M, 1.4GHz, 1GB, 40GB automotive HDD, 12V, up to 100W, 3 serial ports, Ethernet, 4 USB 2.0, 2 PCI slots, PS/2, VGA Main PC: Windows XP, C++, partners’ DLLs with Visual Studio or MinGW, Qt commercial license only for framework (Bosch) LDM: 2 implementations: Navteq research platform (SQLite), spatial database (PostgresQL, PostGIS) VANET router: based on any 802.11a(p) card, NEC/NoW driver under Linux, eBox/PC104/PDA open