VirtualTestDrive(VTD)用户使用手册（英文）

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Project:

VirtualTestDrive

DocumentNo.

Issue:

Title:

UserManual

VI2008.076

N

Date:

October31st,2015

no.ofpages:

157

IssuingParty:

VIRESSimulationstechnologieGmbH

DistributionList:

3rdparty:VIRES:

VTDUsersany

Date: Oct.31st,2015

Title:

VIRESVirt

ualTestDrive–

UserManual

Name:MariusDupuise.a.

DocumentNo.:

VI2008.076

Issue:

N

Page:

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VersionControl:

Issue

Date

Author

Description

affectedchapters

N

31.10.2015

Dupuis

adaptationtoVTD2.0

all

M

12.06.2014

Dupuis

adaptationtoVTD1.4

all

L

03.09.2012

Dupuis

minortypos

all

K

23.03.2012

Dupuis

newexplanationofpatchidsetc.adaptationtoVTD1.1.2

2.1

2.2

12

J

27.12.2011

Dupuis

adaptationtoVTD1.1

all

J

27.12.2011

Dupuis

adaptationtoVTD1.1

all

I

11.08.2010

DupuisKarl

deletedSCPcommandtable(itisnowavailableasHTMLdocument)

harmonizationwithVTD1.0

finishedtranslationtoEnglishlanguage

8.2.1

all

H

19.07.2010

Dupuis

variousextensions(e.g.SCP),harmonizationwithVTD1.0

partialtranslationtoEnglishlanguage

8.2.1

all

G

09.03.2010

Dupuis

variousextensions(e.g.SCP),

adaptationtonewfilestructure,removeddescriptionofVIRESinternalinterfaces

AnynewcontentsareinEnglishlanguage;theremainingchapterswillbe"upgraded"duringthenextreleases.

DescriptionsofGUIandbinaryrecordformatareoutofdateandwillbereviewedwiththenextrelease

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TableofContents

Introduction 7

Overview 7

References 7

Trouble-shooting 7

ResourcesundInstallation(quick-start) 8

Resources 8

Installation 9

SystemRequirements 9

NewInstallation 9

AddOns 10

Patches 11

Ad-hocUpdates 11

Configuration 12

BasicConcept 12

Distributions 12

Setups 12

Projects 13

GettingStarted 13

OperationStages–Overview 13

StartingwithGUI–QuickVersion 14

StartingwithGUI–SlowVersion(Configure–Start–Reconfigure...) 16

TerminatingtheSimulation 21

Saving/LoadingConfigurationData 22

StartingfromCommandPrompt 25

CommonDefinitions 26

Units 26

Co-ordinateSystems 26

InertialCo-ordinates 26

VehicleCo-ordinates 27

ScreenCo-ordinates 28

OtherCo-ordinateSystems 28

SystemDesignandComponents 29

SystemDesign 29

RuntimeEnvironments 29

Layout 30

Components 33

Overview 33

Interfaces 35

Workflow 36

Overview 36

DesignPhase 37

RuntimePhase 38

FileManagement 39

ConfigurationFiles 40

SimulationFiles 41

DependenciesofConfigurationandSimulationFiles 41

FileFinding 42

DirectoryStructure 43

MainDirectories 43

Directoriesin"Data" 44

Directoriesin"Runtime" 46

Directory"Develop" 47

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ComponentsinDetail 49

ComponentManagement 49

Single-andMulti-HostOperation 49

SimServer 50

AddingCustomComponents 52

VT-GUI 53

GUILayout 53

ProjectFiles 56

OperatingModes 57

ToolbarFunctionality 58

ProjectConfiguration 59

MessageWidget 67

ParameterWindow 68

VILMonitoringWindow 69

PreferencesWindow 71

ConfigurationDatabase 72

FilesandFileFormats 72

Communication 72

Installation/Options 73

StartProcedure 73

ScenarioEditor 74

ActionsfortheSimulationSystem 74

FilesandFileFormats 75

Communication 75

Installation/Options 76

StartProcedure 76

ImageGenerator(IG) 77

Preface 77

Hardware 77

ImageGeneration 77

Databases 77

Animations 77

OverlaysandSymbols 78

Weather 78

IlluminationoftheScene 78

CameraFrustum 79

Operation 80

FilesandFileFormats 81

Communication 95

Installation/Options 95

LaunchProcedure 96

TaskControl(TC) 96

Overview 96

Configuration 97

SimulationControl 97

Interfaces 99

ExtendedConfiguration 99

Record/Playback 101

ImageTransfer/VideoGeneration 102

CameraSettings 105

ExportFormats 105

FilesandFileFormats 105

Communication 106

Installation/Options 106

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StartProcedure 107

TrafficSimulation 108

FilesandFileFormats 108

Communication 108

Installation/Options 109

StartProcedure 109

DynamicsandDriverModeloftheEgoVehicle 110

Sound 111

FilesandFileFormats 111

Communication 111

Installation/Options 112

StartProcedure 112

ModuleManager 113

Preface 113

Implementation 114

Run-timeBehavior 114

Configuration 114

SensorPlug-ins 115

DynamicsPlug-ins 118

FilesandFileFormats 119

Communication 120

Installation/Options 120

StartProcedure 120

SCP-Generator 121

Installation/Options 121

Examples 121

RDB-Sniffer 122

Installation/Options 122

Databases 123

RoadDesigner(ROD) 124

Preface 124

Overview 124

Extensions 124

Operation 125

FilesandFileFormats 126

Installation/Options 126

StartingROD 126

Interfaces 127

DataFlows 127

RoadDesignerRoadLibrary 127

RoadDesignerScenarioEditor 127

OperatorStationTaskControl 127

TaskControlRuntimeDataBus 128

TaskControlRuntimeDataBus 130

ImageGeneratorRuntimeDataBus 132

Resources 138

Ports 138

EnvironmentVariables 139

MessageFormats 140

BinaryMessagesAccordingtoVIRESStandard 140

SpecialMessageFormats 140

SimulationControlProtocol(SCP) 140

RuntimeDataBus(TC->any) 143

SharedMemoryforVIL 145

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FileFormats 146

RoadDesigner 146

RoadDescription 146

ScenarioEditor 148

ConfigurationFiles 148

RoadDescription 148

ScenarioDescription 148

VT-GUI(IOS) 149

ConfigurationFile 149

ProjectFile 149

ImageGenarator 150

TaskControl 150

DataRecording(binary) 150

DataRecording(CSV) 151

BatchFileoftheSCP-Generator 152

ModulePlug-Ins 153

Abbreviations 154

Tips'nTricks 155

Initialization 155

TriggeringInitialization 155

InitializationInvolving3rdPartyComponents 155

FrameSynchronization 156

Preface 156

SingleSyncSourcewithExplicitStepWidth 156

MultipleSyncDependencies 157

FAQs 157

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Introduction

Overview

“VIRESVirtualTestDrive”(VTD)isatool-chainandmodularframeworkfortheprovisionofvirtualenvironmentsinengineeringsimulationsfortheautomotiveandrailroadindustry.ThisdocumentprovidesanintroductiontoinstallingandoperatingVTD.

Themanualstartswithashortinstallationinstruction(chapter

2

),followedbyasystemoverview(chapter

4

),generaldefinitions(chapter

3

)andadetaileddescriptionofallcomponents(startingfromchapter

6

).Foraquickstart,pleasereadchapter

2

first.

SomeTips'nTrickscanbefoundinchapter

11.

Frequentlyaskedquestionscanbefoundinchapter

12.

Sincepaper(eveninelectronicformat)tendstobeup-to-dateonlyonthedayofprinting,wehaveestablishedanextensiveWikionoursupportwebsitewhichaddressesthemostrecentquestionsandinstructionsaswellasalotofconfigurationinfo.TheURLis:

\h

Itishighlyrecommendedthatyoubecomeregistereduserofthisvaluableresource.Fordetailsabouttheaccess,pleaseseethechapter“Trouble-shooting”below.

References

notforpublic

notforpublic

"ScenarioEditor,UserManual",VI2008.027,VIRESGmbH

"ROD,Tutorial",VIRESGmbH

obsolete

Virtual_Test_Drive_Dokumentation.pdf,29.10.2008,TESISDYNAwareGmbH

RDB_HTML,documentationoftheRDB,createdwithdoxygen,2014,VIRESGmbH

SCP_HTML,documentationoftheSCPsyntax,IssueW,2014,VIRESGmbH

VTDWiki,

\h

,

2014,VIRESGmbH

Trouble-shooting

Ifyouhavetechnicalquestionsorifyouareexperiencinganykindoftrouble,pleaseusethefollowingmeansintheindicatedorder:

Website:

\h

Note:ifyouarenotyetregistered,dothefollowing:

gototheindicatedwebsite

youwillbeforwardedtothebug/featurereportingtool

click"register"inthetoprightcorner

createyourownloginandpassword

waitforapprovalofyouraccount;wereservetherighttorefuseaprovalwithoutfurtherexplanation;usually,wewillsendyouane-mailandaskforfurtherreferenceswithinyourcompanysothatwecanalsoprovideyouwithaccesstorelevantsub-projects.

Thetrackingwebsiteprovidesabug/featurereportingandmonitoringtoolaswellasaWiki

withFAQs,installationinstructionsetc.Fortechnicalissues,pleaseconsulttheWikifirst.

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Ifyou'rereportingabug,wanttoproposeanimprovementoranewfeature,pleaseselect"NewIssue"andfillin/selectallfieldsyou'refamiliarwith.Pleaseleaveallotherfieldsblank.TheywillbefilledinbyVIRESstaff.

Importantnote:mostcustomershavetheirprivateareaswithinourreportingsystem(typicallycalled"VirtualTestDrive-<customername>").Ifyouhaveaccesstoaprivateareayouwillalsohaveaccesstothecommonarea(called"VirtualTestDrive").Whenreportingnewissues,makesureyoureportthemwithintheprivatearea.OtherwiseALLregisteredusersofVTDwillbeabletoreadyourreport.Onlyifyouarereallysure,youhavenoobjectionstoallusersknowingyourissue,pleasefeelfreetoreportitinthecommonarea.

E-Mail:

\h

supportVTD@

YoumaycontactthedevelopersofVTDviae-mailifyoucan'tfindthesolutioninourWikiorbug-andfeature-trackingsystem.

Telephone: +49.8061.939093-0

PointsofContact: MariusDupuis/WunibaldKarl/EstherHekele

Pleaseusethetelephoneonlyforurgentproblemsandquestionsoranyotherissuesthatmightbetoocomplextodescribeinoneoftheabovesystems.

ResourcesundInstallation(quick-start)

Resources

ThecomponentsofVirtualTestDriveareprovidedforauthorized/licensedusersinthefollowingway:

download://workgroups/vtd/<subDir>

(oraspecificaddressyouhavebeengivenbyVIRESstaff)

LoginandpasswordforthedownloadareaareavailablefromVIRESorfromyourcompany’sco-ordinatorforVTD.Thefilesontheserverareencrypted.Thekeyfordecryptionisalsoavailablefromyourco-ordinator.

Therepository'sstructureisasfollows:

vtd/

ReleaseNotes.txt notesconcerningthecurrentrelease

vtd.x.y.[date].tgz packagewithcompletecurrentdistribution(x=majorrevision,y=minorrevision)

vtd/Patches/

vtd.x.y.[PatchId].[date].tgz patchforrelease(candidaten)x.y

PatchIdisanintegernumber

vtd/Adhoc/

ad-hocfixes,testversions,preliminaryversionsetc.whichwillusuallybecomepartofthenextpatchorrelease.Onlyusethefilesinthisdirectoryafteryouhavebeeninstructedtodosobythedevelopers.

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vtd/AddOns/

additionalcomponentswhicharenotpartofthecommonVTDdistribution;thesemayincludesoundsimulation,dedicatedvehicledynamicssolutions,theOpenDRIVEGatewayandmanyothertools.

Installation

Thesoftwaremaybeinstalledonsystemsconsistingof1toncomputers.Inthefollowingdescription,unlessotherwisestated,asingle-computersystemisassumedtobepresent.Systemsconsistingofmorethanonecomputerareusuallyfoundwhenhighgraphicsperformanceisrequiredorwhenmultiplegraphicsoutputchannelsaretobegenerated.

Foracompletedescriptionofvarioustypesofinstallation,pleaseseetheonlinedocumentation:

\h

70/projects/vtd/wiki/VTD_Configuration_Issues

SystemRequirements

ThelatestrecommendationsforthesystemconfigurationcanbefoundinouronlineWikiattheaddressindicatedabove.

Yoursystemshouldfulfillthefollowingminimumrequirements:

64bitLinuxoperatingsystem(reference:SuSE12.3+,Ubuntu14.04LTS)Nvidiagraphicscardwith24bitXserver

RAM:8+GB

VTDmayalsorunonvirtualmachines(VMs).However,theimagegeneratormayneitherreachfullperformancenorprovidesufficientimagequalitysinceitreliesonthenativesupportoftheNvidiadriverforrendering.ThissupportcannotbeguaranteedwithinaVM.

NewInstallation

Preparation

Pleaseperformthefollowingpreparationstepsforanewinstallation:

CreateauserandloginorcreateadedicateddirectoryforVTD

Downloadthecompletedistribution

De-cryptthedistribution,ifapplicable

ChecksBeforeyouBeginInstallation

VTDcomeswithcheckscriptsthatyoumayrunbeforeyoustarttheactualinstallation.Inordertoretrieveandrunthescripts,pleaseperformthefollowingsteps:

Openashell

Execute

tar-xzfvtd.x.y.[date].tgzVTD.x.y/Runtime/Tools/Installation

cdintoVTD.x.y/Runtime/Tools/Installation

Execute./checkLibs.sh

Dependingontheresultsofthecheck:installmissinglibrariesorcontinuewithinstallation

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Single-vs.Multi-UserEnvironment

VTDmaybeinstalledcompletelyinuserspace.Formulti-usersystems,weprovideascriptwherecommonpartsofVTDareinstalledunder

/opt/VIRES/VTD.x.y

/var/VIRES/VTD.x.y

andallfilesrelevanttotheindividualuserareinstalledinuserspace.Thescript

vtdInstallMultiUser.sh

isprovidedseparately.Pleaserunitwiththefollowingoptiontoseeitsparameterization

./vtdInstallMultiUser.sh–h

InstallingStandardDistributionFiles(Single-User)Performthefollowingsteps:

Unzipthedistributionpackage(e.g.tar-xzfvtd.x.y.[date].tgz)inthedirectory

whichyouhavecreatedbefore

Followtheinstructionsin

2.4

InstallingtheLicense

YourinstallationmaybeprotectedbyaUSBlicensedongle,alicensefileoranindividuallicensingmechanism.

FortheactivationofaUSBdongle,performthefollowingsteps:

GotoVTD.x.y/Runtime/Tools/LicServer

Makesureyouaresuper-userorhaverootpermissions

Execute./install.sh

ExecutechkconfigviLicServeron

Execute/etc/init.d/viLicServerstart

Plug-inthedongle

Uponthenextbootingofyoursystem,theVIRESlicenseserver(processname:viLicServer)willbestartedautomatically.

Fortheactivationofalicensefile,justcopythelicensefiletoyourcurrentsetup(VTD.x.y/Data/Setups/Current/Bin)andmakesureitisnamed“license.dat”

Fortheactivationofanindividuallicensingmechanism,pleasecontactusdirectly.

AddOns

Yourdistributionmaycontainadditionalcomponents(e.g.3rdpartyvehicledynamics,sound,OdrGatewayetc.).YouwillbenotifiedbyVIRESwhichpackagesyouhavetodownloadinadditiontothebasepackage.Inordertoinstalltheadditionalcomponents,performthefollowingstepsforeachofthem:

Downloadyouradd-onarchives

De-cryptthearchives,ifapplicable

Unpackeacharchiveinthedirectorywhichalsocontainsthedirectory„VTD.x.y“.

Followspecificrulesforindividualpackages,ifapplicable

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Patches

Patches,ifavailable,areonlyvalidforagivendistribution.Don’teventhinkaboutinstallingpatchesofonedistributionontopofanotherdistribution.Theversionnumbers(majorANDminor)ofexistingdistributionandpatchmustmatch!

Thepatchlabels1,2,3etc.indicatethesequenceofavailablepatches.Ifmorethanonepatchisavailableforadistribution,thenonlyinstallthelatestpatch.Thiswillincludealsothefilesofallpreviouspatches(e.g.vtd.1.4.2isanupdateofreleasevtd.1.4andcontainsalldataofpatchvtd.1.4.1whichisstillrelevant).

Fortheinstallation,performthefollowingsteps:

Backupalldatathathasbeenmodifiedbytheuserand,thus,deviatesfromthestandarddistribution;inaddition,itishighlyrecommendedtofirstmakeabackupoftheentireactivedistributioninitscurrentstate(justincaseyouforgottoaddsomefilestothepartialbackup)

Downloadthepatchfile

De-cryptthepatchfile

Unpackthefileinthedirectorywhichalsocontainsthedirectory„VTD.x.y“.

Ad-hocUpdates

Ifanad-hocupdateisavailable,it’suptotheusertoreadthereleasenotesanddecidewhethertostartwithacompletedistributionoronlytoupdatesomecomponents.Inbothcases,thefollowingmodeofoperationisrecommended:

Backupalldatathathasbeenmodifiedbytheuserand,thus,deviatesfromthestandarddistrbution;inaddition,itishighlyrecommendedtofirstmakeabackupoftheentireactivedistributioninitscurrentstate(justincaseyouforgottoaddsomefilestothepartialbackup)

Downloadtheupdatefile

De-crypttheupdatefile

Unpackthefileinthedirectorywhichalsocontainsthedirectory„VTD.x.y“.

Onlyinexceptionalcaseswilltheinstallation/unpackinghavetotakeplaceinadirectoryotherthantheonenotedin4.Inthesecases,youwillbegivenindividualinstructions.

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Configuration

BasicConcept

Theoverallconfigurationanddataorganizationisdistributedoverthreedifferentlevels:

Distributions(Data/Distros)

Setups(Data/Setups)

Projects(Data/Projects)

Configurationandsimulationdataforrun-timecomponentsmaybefoundinallthreelevels.Aso-calledfilefinderisusedtolocatedatasearchingforitfromthespecific(project)leveltothegenerallevel(distribution).

Distributions

Adistributioncontainsthebasicconfigurationandsimulationdata(e.g.visualdatabases)whichisapplicabletoallkindsofsetupsandprojects(seebelow).ThedataisorganizedbyVIRESuponpackingoftherelease.Nouser-datashallbeplacedwithintheDistrosdirectory.TheapplicabledistributionissymbolicallylinkedtoCurrentinthedirectoryData/Distros.ThislinkmaybechangedbyinvokingthescriptselectDistro.shinthesamedirectory.

Setups

“Setups”representdifferentenvironmentsinwhichVTDissupposedtorun.Withtheintroductionofthesetups,astrongerconceptofseparationofplatformsfromprojectdatahasbeenrealized.

Thefollowingsetupsarepartofthedefaultdistribution:

Standard desktopinstallation,singlemachine

Standard.noIG desktopinstallation,singlemachine,withoutimagegeneratorStandard.Legacy desktopinstallation,singlemachine,"old"colormodeJoystick forjoystick/game-wheeloperation

DualHost dualchanneloperationusingtwoseparatehosts

Stereo stereosetupofIGonasinglehost

Otherdistributionsmayincludeadditionalsetupslike:

Standard.HDR HDRconfigurationofimagegeneratorUpondelivery,the"Standard"setupisconfiguredasthecurrentsetup.

SwitchingbetweensetupsmaybeperformedoptionallyuponstartingVTD:

gotothedirectoryVTD.x.y/bin

execute./vtdStart.sh–select.

Newsetupsmaybecreatedbyrecursivelycopyingthesetup"Template"toanewname.Whencopyingrecursively,makesurethatsymboliclinksarepreserved.ThefollowingcommandwilldojustthatinaLinuxshell:

cp–RTemplateMyNewSetup

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Projects

Theactualuserandtestdataiscontainedinthesub-tree"Projects".Here,theusermaycreateadditionalsub-direcotriesforeachproject.TheGUIwillguidetheuserduringtheprocessofcreatingneworactivatingexistingprojects.

GettingStarted

YoumaystartthesystemeitherwithorwithouttheGUI(e.g.fromwithinyourtestautomationsystem).

Note:VTD.2.0isahybridversionwhichwillstillrunwithinthestructureofsetupsandprojectsasdefinedbypreviousversions(VTD1.4.3andbefore).Itisalsotransitionalintermsofmigratingallcomponentstoournewconfigurationsystem(viatheso-calledParameterServerandSimServer).IfyouarerunningatestautomationsystemoranyothersystemwithoutGUIinteraction,maywerecommendthatyouuseyourexistingscriptsandsetupfiles.JustreplaceVTD.x.y/Data/Setups/CommoninVTD.2.0withyour"old"version.

OperationStages–Overview

StartingwithVTD2.0anewstage"Config"hasbeenintroducedwhichwillprovidemeanstoconfiguretasksinteractivelybymeansofaso-called"ParameterGUI".ThefirstcomponentforwhichthisstageisrelevantistheTaskControl.Basedonexperiencewiththiscomponent,wewillmigrateallothercomponentstothenewmechanism.Thefollowingfiguregivesanoverviewofthesimulationstages:

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StartingwithGUI–QuickVersion

Pleaseperformthefollowingsteps:

gotothedirectoryVTD.x.y

execute

bin/vtdStart.sh

or

bin/vtdStart.sh–select(forselectingthecurrentsetup)

VTDwillbestartedin"Config"mode(TaskControl–redwindow–andParameterServer–greenwindow–willbepresent):

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IfyoudonotwanttochangeanyofthedefaultsettingsofthecurrentprojectandwanttorunVTDimmediatelyinstead,dothefollowing:

presstheAPPLYbuttonintheGUI

theTaskControl(TC)willbeconfigured

allremainingcomponentswillbeloaded

pressthePLAYbutton(theIGmayberestartedautomatically)

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enjoyyourride

StartingwithGUI–SlowVersion(Configure–Start–Reconfigure...)

WithVTD2.0,westartedmigratingtheconfigurationofVTD'scomponentsfromdedicatedconfigurationfilestobetterserviceableuserconfigurationfiles;thesewillbeeasiertomigratebetweendifferentsetupsandprojects.InVTD2.0.0,theTaskControlisthefirstcomponentthatmaybeconfiguredwiththenewmechanism.

ConfigurationandFirstStartPleaseperformthefollowingsteps:

gotothedirectoryVTD.x.y

execute

bin/vtdStart.sh

or

bin/vtdStart.sh–select(forselectingthecurrentsetup)

VTDwillbestartedin"Config"mode(TaskControl–redwindow–andParameterServer–greenwindow–willbepresent):

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presstheCONFIGUREbuttonintheGUI

thecomponentParameterBrowserwillopen

expandthetreeviewasnecessary

adjusttheparametersasrequiredforyourconfiguration(here:sync)

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note:newparametersettingswillbedisplayedinredcoloruntilconfirmedbythecorrespondingcomponent(here:TaskControl)

afterhavingperformedallsettings,youmayclosetheParameterBrowserwindow

thewindowmaybere-openedbypressingtheShowParameterBrowserbuttonintheGUI

nowpressAPPLYintheGUI.

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theTCwillbeconfigured

allremainingcomponentswillbeloaded

youarenowatthesamestagethatyoureachedafterexecutingloadcomponentsinVTD1.4.3

pressthePLAYbutton(theIGmayberestartedautomatically)

fromhere,eitherterminatethesimulationorgobacktotheconfigurationstage.

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ParameterModificationatRun-time

Selectedparametersofthecomponents(here:TaskControl)maybemodifiedatrun-time.TheseparametersmaybeaccessedbyopeningtheParameterBrowserandchangingthevaluesaccordingly

opentheParameterBrowserwindowbypressingthebuttonontheleftsideoftheGUI

changeindividualparameters'values;theywillbetransferredtoTCautomaticallyandwillbeconfirmedbyTCifthesettingsarevalid

Re-configuringtheSimulation

Severalparametersofacomponent(here:TaskControl)willonlybeaccessibleduringconfigurationstage.Inordertotransferarunningsimulationbacktotheconfigurationstage,dothefollowing:

presstheSTOPbutton

presstheCONFIGUREbutton

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allprocessesbutTaskControl,ParamServerandGUIwillbeterminated

theParameterBrowswerwindowwillopenandyouwillbeabletoadjusttheparameters

whendone,presstheAPPLYbuttonagain.

TerminatingtheSimulation

presstheSTOPbuttonintheGUI

inordertoshutdownthesimulationcompletely,selectFile->ExitfromtheGUIandconfirminthesubsequentdialog.

ifyouneedto"kill"thecompletesimulation,dothefollowing:

openashell

gotothedirectoryVTD2.0

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cdVTD.2.0

stopVTDviascript

bin/vtdStop.sh

note:thisproceduremayresult