High Level Architecture

Transcription

1 High Level Architecture Class 11 Dr. Roger Smith Copyright , Roger Smith Problem 1: No Filtering Node 1 Node 2 Node Network Traffic is O(N) All messages go everywhere Each simulator must contend with a blizzard of information No infrastructure to support the simulator Copyright , Roger Smith Page 11-1

2 Problem 2: Fixed Message Content Field Size Entity State PDU Fields Field Description (Bits) 96 PDU HEADER Protocol Version - 8-bit enumeration Exercise ID - 8-bit unsigned integer PDU Type - 8-bit enumeration Protocol Family - 8-bit enumeration Time Stamp - 32-bit unsigned integer Length - 16-bit unsigned integer Padding - 16 bits unused 48 ENTITY ID Site - 16-bit unsigned integer Application - 16-bit unsigned integer Entity - 16-bit unsigned integer 8 FORCE ID 8-bit enumeration 8 3 OF ARTICULATION 8-bit unsigned integer PARAMETERS (n) DIS PDU 64 ENTITY TYPE Entity Kind - 8-bit enumeration Domain - 8-bit enumeration Country - 16-bit enumeration Category - 8-bit enumeration Subcategory - 8-bit enumeration Specific 8-bit enumeration Extra - 8-bit enumeration 64 ALTERNATIVE Entity Kind - 8-bit enumeration ENTITY TYPE Domain - 8-bit enumeration Country - 16-bit enumeration Category - 8-bit enumeration Subcategory - 8-bit enumeration Specific 8-bit enumeration Extra - 8-bit enumeration 96 ENTITY X Component - 32-bit floating point LINEAR VELOCITY Y Component - 32-bit floating point Z Component - 32-bit floating point 192 ENTITY LOCATION X Component - 64-bit floating point Y Component - 64-bit floating point Z Component - 64-bit floating point 96 ENTITY Psi - 32-bit floating point ORIENTATION Theta - 32-bit floating point Phi - 32-bit floating point 32 ENTITY 32-bit record of enumerations APPEARANCE 320 DEAD RECKONING Algorithm - 8-bit enumeration PARAMETERS Other Parameters bits unused Entity Linear Accel - 3X32-bit floating point Entity Angular Accel - 3X32-bit floating point 96 ENTITY Character Set - 8-bit enumeration 32 MARKING 11 8-bit unsigned integers CAPABILITIES 32 Boolean fields n X 128 ARTICULATION Parameter Type Designator - 8-bit enumeration PARAMETERS Change - 8-bit unsigned integer ID - attached to - 16-bit unsigned integer Parameter Type - 32-bit parameter type record Parameter Value - 64-bit What about? Simulated Command and Control Perception Exchange Satellite Orbital Parameters Filter Settings (more ) Problem 3: No Ownership Transfer Load Balancing Distribute Work Use Best Model Mitigate Crashes Object Synchronization Lag Interferes with Coordination Requires Unnecessary Messages Oscillates in/out of synch Local Train Turns Remote Cargo DR s t1 t2 Copyright , Roger Smith Page 11-2

3 Problem 4: No Time Management G Synchronized Start 1:1 Rate Synchronized Stop S 2:1 Rate Synchronized Checkpoint C Synchronized Pause P Synchronized Restart R D 1:2 Rate Synchronized Rate Change Synchronized in Simulation Time AND/OR Real Time Solutions P1: No Filtering Publish/Subscribe Data Distribution Management P2: Fixed Message Content User Defined Federation Object Model P3: No Ownership Transfer Ownership Management P4: No Time Management Multiple Time Management Services Copyright , Roger Smith Page 11-3

4 Solution Implementation Requires Standard Middleware Sim Middleware? Time Management (Manage Events wrt Time) Track Attribute Ownership Locate Other Federates Generic Data Structures Filters Packet Management & Formatting Network What About CORBA? Common Object Request Broker Architecture Application Naming Relationship Trader Persist State Event Externaliz Notification Object Query Obj Trans Obj Propert Security Concurrency LifeCycle Licensing Secure Time Obj Collect Network CORBA Can Provide Dynamic Discovery Skeleton Connectors ID Remote Users IIOP Pub/Sub Services Transaction Synch Client Stub ORB Object Skel ORB Simulation Still Needs Time Management Geographic Filtering Copyright , Roger Smith Page 11-4

5 Building on the ORB HLA API ORB API IIOP Simulation Simulation-specific Services Off-the-Shelf ORB Network ORB Looks like a simulation-specific specific middleware to the Simulation Middleware has simulation-specific specific capabilities IIOP provides interoperability between different ORB s (different vendor products) Sim Middleware inherits performance of ORB 2-Way Communications 1 Start Sim 2 Send Data 3 Thread of Control Simulation HLA Runtime Infrastructure Network 5 Thread of Control Recv Data 4 Pass data both ways Send Out Receive In Share thread of control Lose ability to completely budget resources RTI requires CPU, RAM, Time Copyright , Roger Smith Page 11-5

6 Federate Construction The Federate s Code provides internal functionality. The Federate s code must define the abstract RTI::FederateAmbassador class Federate Federate Code Federate Ambassador LRC RTI Ambassador The Local RTI Components (LRC) provide external functionality as specified by the Interface Spec. The LRC include the methods for the RTI::RTIAmbassador class (DMSO Slide) HLA Gateway Simulation Simulation Simulation Simulation Simulation Simulation ACM ACM ACM DIS ALSP ABE Gateway Machine Translator HLA RTI Gateway Machine Translator HLA RTI IIOP/FOM Network Copyright , Roger Smith Page 11-6

7 HLA Gateway Positive Project Control Performance Control Keep Existing Applications (more ) Negative Duplicate Software Network Packaging Synchronization Compromises Compatibility Native-to-RTI-to- Native 2-step Transmit (more ) HLA Service Categories 1 Federation Management Create Federation Exec F1 Join Federation Exec F1: f1, f2 2 Declaration Management f1 f2 Exec f1 Pub >> OBJ: Tank ATT:Position, Size >> INT: Shoot f2 Pub >> OBJ: Ship ATT: Position, Side >> INT: Shoot f1 Sub >> OBJ: Ship ATT: Position >> INT: Shoot f2 Sub >> OBJ: Tank ATT: Position >> INT: Shoot Copyright , Roger Smith Page 11-7

8 HLA Service Categories 3 Object Management 4 Ownership Management f1 f2 f1 f2 Exec f1 Create Tank (T1, T2) f1 Update T1(Position, Size) f1 Update T1(Position, Size) f2 Create Ship (S1, S2) f2 Update S1(Position, Side) f2 Update S1(Position, Side) Exec f2 Request Own T1(Position) f1 Grant Own T1(Position) f2 Update T1(Position) f2 Create S1(Position), T1(Position) f1 Publish Shoot(T1, T2) f2 Publish Shoot(S1, T2) HLA Service Categories 5 Time Management 6 Data Distribution Management f1 f2 f1 f2 Exec f1 What time is it? f1 Events in Increasing Order RTI1 Deliver Events f2 Get Next Event Exec f1 Create Region A f1 T1 Listen to Region A Position->Latitude A Position->Longitude Note: Grid Previously defined in FOM Y = Position->Latitude X = Position->Longitude Copyright , Roger Smith Page 11-8

9 HLA Interface Specification Category Functionality Federation Management Declaration Management Object Management Ownership Management Time Management Data Distribution Management Create and delete federation executions Join and resign federation executions Control checkpoint, pause, resume, restart Establish intent to publish and subscribe to object attributes and interactions Create and delete object instances Control attribute and interaction publication Create and delete object reflections Transfer ownership of object attributes Coordinate the advance of logical time and its relationship to real time Support efficient routing of data Federation Object Model Format of data to be Exchanged Between Sims Object Classes Object Attributes Interaction Classes Interaction Parameters Includes Name of Field Format of Field Enumeration List for Field Copyright , Roger Smith Page 11-9

10 FOM-O-Rama 1: Different Formats FOM Translate f1 Ground Name = 6 char Position = UTM Grid Size = 3D in Meters Speed = Kilometers per Hour FOM? FOM Translate f2 Sea Name = 128 char Position = Latitude/Longitude Size = 3D in Feet Speed = Knots (Nautical MPH) FOM Defines standard for Publish/Subscribe Simulation remains internally different from FOM Different FOMs for different events >> Translation Layer FOM-O-Rama 2: Different Objects/Interactions/Attributes Publish Shoot: m, o, q Subscribe Helo: e, f, h Misl: a, d FOM Exact Match Objects (none) Interactions Shoot: m, o Similar Objects Vehicle: efg/abc Projectile: ad/adp Interactions Shoot: q/n Publish Ship: a, b, c Torp: a, d, p Shoot: m, n, o Subscribe Ship: a, b, c Sub: a, b, c, d Torp: a, d, p Shoot: m, n, o Copyright , Roger Smith Page 11-10

11 Publish Shoot: m, o, q Subscribe Helo: e, f, h Misl: a, d Publish Helo: e, f, h Misl: a, d Subscribe Helo: e, f, h Publish Shoot: m, o, q Subscribe Helo: e, f, h Misl: a, d FOM-O-Rama Leverage FOM Majority Match Objects Helo: e, f, h Misl: a, d Interactions Shoot: m, o, q Similar Objects Vehicle: efg/abc Projectile: ad/adp Interactions Shoot: q/n Publish Ship: a, b, c Torp: a, d, p Shoot: m, n, o Subscribe Ship: a, b, c Sub: a, b, c, d Torp: a, d, p Shoot: m, n, o Quick & Useful FOM s Convert DIS PDUs Real-time Platform Reference FOM Convert ALSP Messages JTC FOM Convert other existing data exchange formats to the HLA/RTI delivery mechanism and structure CCSIL (more ) Copyright , Roger Smith Page 11-11

12 HLA Rules HLA Compliant A set of rules which must be followed to achieve proper interaction of simulations in a federation. These describe the responsibilities of simulations and of the runtime infrastructure in HLA federations. Interface Specification Definition of the interface functions between the runtime infrastructure and the simulations subject to the HLA. Object Model Template A P I OBJECTS INTERACTIONS ROUTING SPACES The prescribed common method for recording the information contained in the required HLA Object Model for each federation and simulation. Object Model Templates Category Object Model Identification Table Object Class Structure Information Table Name <class> (<ps>) Interaction [<class> (<ps>)] Class [<class> Structure (<ps>)] Table [<class> (<ps>)] [,<class> (<ps>)]* [<ref>] Version <class> (<isr>) [<class> (<isr>)] [<class> [<class> (<isr>)] (<ps>)] [<class> [<class> (<isr>)] [,<class> (<ps>)] [,<class> (<isr>)]*(<ps>)]* [<ref>] [<ref>] Object Attribute Table Date [<class> (<isr>)] [<class> (<isr>)] [,<class> (<isr>)]* [<ref>] I=initiate Object Attribute Datatypnality Cardi- Purpose Units... Resolution Accuracy Accuracy... [<class> (<ps>)] Condition Update Update T/A U/R Routing S=senses Interaction Parameter Table [<class> Type(<ps>)] Condition [,<class> (<ps>)]* [<ref>] Space R=reacts P=publish Application Domain [<class> (<isr>)] [<class> (<isr>)] [,<class> (<isr>)]* [<ref>] Interaction Parameter Datatype <datatype> nality [<class> [<size>] [<class> Sponsor (<isr>)] <units> (<ps>)] [<class> <resolution> [<class> (<isr>)] <accuracy> (<ps>)] Condition <condition> [<class> Space [<class> (<isr>)] <type> [,<class> (<ps>)] <condition> [,<class> (<isr>)]*(<ps>)]* <ta> [<ref>] <ur> [<ref>] Cardi- Units Resolution Accuracy Accuracy Routing <rate> N=neither S=subscribe Routing Space Table <class> <attribute> T=transferable Routing Dimension Dimension Dimension Range/Set POC Normalization A=acceptable <interaction> <parameter> <attribute> <datatype> [<size>] <units> <resolution> <accuracy> <condition> <rate> Space Type Range/Set <datatype> [<size>] Units <units> [<class> <resolution> Function (<isr>)] <accuracy> <condition> [<class> (<isr>)] <type> [,<class> <condition> (<isr>)]* <ta> [<ref>] <ur> U=updatable POC Organization [<class> (<ps>)]... [<class> (<ps>)] [,<class> (<ps>)]* [<ref>] R=reflectable <dimension> <type>... <range/set> <units> <n_function> <parameter> <datatype> [<size>] <units> POC <resolution> Telephone <accuracy>... <condition> <dimension> <type> <range/set>... <units> <n_function> <class> POC <rate>... Weapon <attribute>... Detonate <datatype>... Weapon [<size>]... Detonate <units>... Weapon <resolution> Detonate... <accuracy>... <condition> <type> at Cruiser <condition> (IR) <ta> <ur> <dimension> (S) <type> <range/set> at Sea Target <units> (R) at <n_function> Surface Ship (R) at Carrier (IR) <interaction> <parameter> <attribute> <datatype> Air Vehicle (S) Fixed Wing (S) Fighter-Attack (S) <datatype> [<size>] <units> [<size>] <resolution> F-14 (PS) Name <units> <resolution> <accuracy> Strike <accuracy> <condition> Simulation <condition> Weapon SOMDetonate <type> <rate> at Destroyer <condition> (IR) <ta> <ur> Version 1.0 Alpha F-16 (PS) at Submarine (IR) <dimension> <type> <range/set> <units> <n_function> Date 1 Jan 1998 F-18 (PS) <dimension> <type> <range/set> at Land Target <units> (IR) <n_function> Weapon Aircraft Weapon Area Float Purpose 1 m2 0.1Bomber To (S) provide perfect an always example B-1 of (PS) cond an object scenmodel events for TA a federate Loc_c UR N/A Detonate 1 N/A N/A N/A N/A N/A Location that simulates strike operations. Velocity Double 1 m/sec none periodic 10 Hz TA UR N/A Warhead Unsigned at Air Target (R) at Fighter (IR) B-2 (PS) Location X_dim Size float State Short (0-100] 1 lbs 1.0 Activity_e 1km n/a linear(x) perfect n/a n/a always n/a cond scen events TA UR Location Warhead Rotary Wing (PS) Y_dim Position Loc_c 1 n/a at Bomber n/a (IR) Type float WH_Type(0-100] 1 N/Akm N/A linear(y) N/A n/a N/A n/a periodic 10 Hz TA UR Location Copyright , Roger Smith Page 11-12

13 Object Model Identification Table Object Model Identification Table Name Version Category Information Date Purpose Application Domain Sponsor POC POC Organization POC Telephone POC Name Version Date Purpose Strike Simulation SOM 1.0 Alpha 1 Jan 1998 To provide an example of an object model for a federate that simulates strike operations. Object Class Structure Table Object Class Structure Table <class> (<ps>) [<class> (<ps>)] [<class> (<ps>)] [<class> (<ps>)] [,<class> (<ps>)]* [<ref>] [<class> (<ps>)] [<class> (<ps>)] [,<class> (<ps>)]* [<ref>] [<class> (<ps>)] [<class> (<ps>)] [<class> (<ps>)] [<class> (<ps>)] [,<class> (<ps>)]* [<ref>] [<class> (<ps>)] [,<class> (<ps>)]* [<ref>] [<class> (<ps>)] [<class> (<ps>)] [,<class> (<ps>)]* [<ref>]... Air Vehicle (S) Fixed Wing (S) Fighter-Attack (S) F-14 (PS) F-16 (PS) F-18 (PS) Bomber (S) B-1 (PS) B-2 (PS) Rotary Wing (PS) Copyright , Roger Smith Page 11-13

14 Interaction Class Structure Table Interaction ClassStructure Table <class> (<isr>) [<class> (<isr>)] [<class> (<isr>)] [<class> (<isr>)] [,<class> (<isr>)]* [<ref>] [<class> (<isr>)] [<class> (<isr>)] [,<class> (<isr>)]* [<ref>] [<class> (<isr>)] [<class> (<isr>)] [,<class> (<isr>)]* [<ref>] [<class> (<isr>)] [<class> (<isr>)] [<class> (<isr>)] [,<class> (<isr>)]* [<ref>] [<class> (<isr>)]... [<class> (<isr>)] [,<class> (<isr>)]* [<ref>] (S) at Sea Target (R) at Surface Ship (R) at Cruiser (IR) at Carrier (IR) at Destroyer (IR) at Submarine (IR) at Land Target (IR) at Air Target (R) at Fighter (IR) at Bomber (IR) Object Attribute Table Object Attribute Table Object Attribute Datatype Cardinality Units Resolution Accuracy Accuracy Condition Update Update Type Condition T/A U/R Routing Space <class> <attribute> <datatype> [<size>] <units> <resolution> <accuracy> <condition> <type> <rate> <condition> <ta> <ur> <attribute> <datatype> [<size>] <units> <resolution> <accuracy> <condition> <type> <rate> <condition> <ta> <ur> <class> <attribute> <datatype> [<size>] <units> <resolution> <accuracy> <condition> <type> <rate> <condition> <ta> <ur> <attribute> <datatype> [<size>] <units> <resolution> <accuracy> <condition> <type> <rate> <condition> <ta> <ur> Aircraft Area Float 1 m2 0.1 perfect always cond scen events TA UR Velocity Double 1 m/sec none periodic 10 Hz TA UR State Activity_e 1 n/a n/a n/a n/a cond scen events TA UR Position Loc_c 1 n/a n/a n/a n/a periodic 10 Hz TA UR N/A N/A Location Location Copyright , Roger Smith Page 11-14

15 Interaction Parameter Table Interaction Parameter Table Interaction Parameter Datatype Cardinality Units Resolution Accuracy Accuracy Condition Routing Space <interaction> <parameter> <datatype> [<size>] <units> <resolution> <accuracy> <condition> <parameter> <datatype> [<size>] <units> <resolution> <accuracy> <condition>... <interaction> <parameter> <datatype> [<size>] <units> <resolution> <accuracy> <condition>... Weapon Detonate Weapon Location Warhead Size Warhead Type Loc_c 1 N/A N/A N/A N/A N/A Unsigned Short WH_Type 1 1 lbs N/A 1.0 N/A perfect N/A always N/A Routing Spaces Table Routing Space Table Routing Space Dimension Dimension Type Dimension Range/Set Range/Set Units Normalization Function <dimension> <type> <range/set> <units> <n_function> <dimension> <type> <range/set> <units> <n_function> <dimension> <type> <range/set> <units> <n_function> <dimension> <type> <range/set> <units> <n_function> <dimension> <type> <range/set> <units> <n_function> Location X_dim float (0-100] km linear(x) Y_dim float (0-100] km linear(y) Copyright , Roger Smith Page 11-15