Entity Mapping

System Models

ROS

• System

  Complex systems with more nodes running simultaneously

• Node

  Each node in ROS should be responsible for a single, module purpose. Each node can send and receive data to other nodes via topics, services, actions, or parameters.

• Service[Client Server]

  Services are method of communication for nodes based on a call-and-response model

• Parameters

  A parameter is a configuration value of a node. You can think of parameters as node settings.

• Subscriber

• Publisher

• Topic

  Topics are one of the main ways in which data is moved between nodes and therefore between different parts of the system.

• Interface (ROS2)

• Actions (ROS2)

  Actions are one of the communication types in ROS 2 and are intended for long running tasks. They consist of three parts: a goal, feedback, and a result.

• Package

  A package can be considered a container for your ROS2 code.

AUTOSAR

AUTOSAR meta model releases and a number of related services including AUTOSAR XSD compliant serialization, rule-based validation, tree and form-based views and editing, and template-based target code, documentation and report generation, and more.

The highest (most abstract) description level is the Virtual Functional Bus (VFB): * Software components

component -> behavior -> implementation

• Compositions

  Ports

• Interfaces * Client-Server * Sender-Receiver

ARText by Artop

The AUTOSAR Tool Platform (Artop) is an implementation of common base functionality for AUTOSAR development tools.

ARText is a framework for building textual modeling languages for AUTOSAR.

Example:

package CalculatorPkg

int UInt8 min 0 max 255
int UInt16 min 0 max 65535

interface clientServer Operations {
    operation Multiply {
            in UInt8 factor1
            in UInt8 factor2
            out UInt16 result
    }
}

interface senderReceiver Operands {
    data UInt8 op1
    data UInt8 op2
}

interface senderReceiver Result {
    data UInt16 res
}

component application Calculator {
    ports {
            server Operations provides Operations
            receiver AdditionInput requires Operands
            sender AdditionOutput provides Result
    }
}

internalBehavior CalculatorBehavior for Calculator {
    runnable Multiply[0.0] {
            operationInvokedEvent Operations.Multiply
    }

    runnable Cysclic [0.0] {
            timingEvent 0.1
            dataSendPoint AdditionOutput.res
            dataReceivePoint AdditionInput.*
    }
}

Software Component Language a Syntax Reference pdf

Runtime mappings

ROS: Package -> executable* -> Node* AUTOSAR: ECU -> Runnable* VFB: Composition SWC -> SWC* -> ports*

AUTOSAR	ROS	Remarks
ECU	Package	processor deployment
package	namespace	msg and svc namespaces
composition	system	VFB mapped on pubsub network
component application	executable	contain runnables
runnable	node
ports	interfaces
param	parameters
timingEvent	timer	node periodic execution
implementation	build-type	code generation for ApplicationSoftwareComponentType
modeSwitch	none	runnable state management
none	action	maybe use inout datatype for action notification
delegate port	none	not used in DDS context