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TonysCousin authored Jul 30, 2019
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86 changes: 43 additions & 43 deletions ATTRIBUTION.txt → ATTRIBUTION.md
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The following people have made direct and substantial contributions to the design and code in this repository, listed in alphabetical order:
* David Ference - Software Engineer (Leidos)
* Mae Fromm - Software Engineer (Leidos)
* Michael McConnell - Software Engineer (Leidos)
* Shuwei Qiang - Software Engineer (Leidos)
* Kyle Rush - Software Engineer (Leidos)
* John Stark - Software Engineer & Principal Investigator (Leidos)
Other significant contributions have been made by:
* Philip Azeredo - System Test (Volpe)
* Monica Brito - Graphics, Communications & Publicity (Leidos)
* Michael Chang - Unit Testing & Verification (Leidos)
* Laura Dailey - Graphics, Communications & Publicity (Leidos)
* Darrell Dorman - Site setup & Configuration Management (Leidos)
* Ed Leslie - Vehicle hardware & project management (Leidos)
* Sudkahar Nallamothu - Project Management (Leidos)
* Tim Tiernan - System Test Lead (Volpe)
* Thomas Watters - Driver Development (formerly of TORC Robotics)
The development team would also like to acknowledge vital participation from the following people:
* Osman Altan - Government oversight (formerly FHWA)
* Matt Barth – Traffic Signal Algorithm (University of California Riverside)
* Dave Bevly – Heavy truck integration & testing (Auburn University)
* Lowell Brown - Heavy truck integration & testing (Auburn University)
* Patrick Chuang –Test Coordination (Transurban)
* Aaron Dalton – Device driver & hardware integration (TORC Robotics)
* Valerie Garrison – Project Management (TORC Robotics)
* Ariel Gold - Government oversight and sponsor (USDOT ITS JPO)
* Randy Van Gorder - Government oversight (FHWA)
* Peng Hao - Traffic Signal Algorithm (University of California Riverside)
* Taylor Lochrane - Government Task Lead (FHWA)
* Jeff Loftus - Government oversight and sponsor (FMCSA)
* Amy Tang McElwain –Test Coordination (VDOT)
* Mike McGrath – Data Collection (Aberdeen Test Center)
* Kevin Myers – Test Coordination (Virginia State Police)
* Patrick Smith - Heavy truck integration & testing (Auburn University)
* Chris Stanley - STOL Program Manager (Leidos)
* Zachary Taylor – Device driver & hardware integration (TORC Robotics)
* Dale Thompson - Government oversight (FHWA)
* Mark Umansky – Device driver & hardware integration (TORC Robotics)
* David Will – Test Coordination (Aberdeen Test Center)
* Govindarajan Vadakpat - Government oversight (FHWA)
* Guoyuan Wu – Traffic Signal Algorithm (University of California Riverside)
#### The following people have made direct and substantial contributions to the design and code in this repository, listed in alphabetical order:
* David Ference - Software Engineer (Leidos)
* Mae Fromm - Software Engineer (Leidos)
* Michael McConnell - Software Engineer (Leidos)
* Shuwei Qiang - Software Engineer (Leidos)
* Kyle Rush - Software Engineer (Leidos)
* John Stark - Software Engineer & Principal Investigator (Leidos)

#### Other significant contributions have been made by:
* Philip Azeredo - System Test (Volpe)
* Monica Brito - Graphics, Communications & Publicity (Leidos)
* Michael Chang - Unit Testing & Verification (Leidos)
* Laura Dailey - Graphics, Communications & Publicity (Leidos)
* Darrell Dorman - Site setup & Configuration Management (Leidos)
* Ed Leslie - Vehicle hardware & project management (Leidos)
* Sudkahar Nallamothu - Project Management (Leidos)
* Tim Tiernan - System Test Lead (Volpe)
* Thomas Watters - Driver Development (formerly of TORC Robotics)

#### The development team would also like to acknowledge vital participation from the following people:
* Osman Altan - Government oversight (formerly FHWA)
* Matt Barth – Traffic Signal Algorithm (University of California Riverside)
* Dave Bevly – Heavy truck integration & testing (Auburn University)
* Lowell Brown - Heavy truck integration & testing (Auburn University)
* Patrick Chuang –Test Coordination (Transurban)
* Aaron Dalton – Device driver & hardware integration (TORC Robotics)
* Valerie Garrison – Project Management (TORC Robotics)
* Ariel Gold - Government oversight and sponsor (USDOT ITS JPO)
* Randy Van Gorder - Government oversight (FHWA)
* Peng Hao - Traffic Signal Algorithm (University of California Riverside)
* Taylor Lochrane - Government Task Lead (FHWA)
* Jeff Loftus - Government oversight and sponsor (FMCSA)
* Amy Tang McElwain –Test Coordination (VDOT)
* Mike McGrath – Data Collection (Aberdeen Test Center)
* Kevin Myers – Test Coordination (Virginia State Police)
* Patrick Smith - Heavy truck integration & testing (Auburn University)
* Chris Stanley - STOL Program Manager (Leidos)
* Zachary Taylor – Device driver & hardware integration (TORC Robotics)
* Dale Thompson - Government oversight (FHWA)
* Mark Umansky – Device driver & hardware integration (TORC Robotics)
* David Will – Test Coordination (Aberdeen Test Center)
* Govindarajan Vadakpat - Government oversight (FHWA)
* Guoyuan Wu – Traffic Signal Algorithm (University of California Riverside)
5 changes: 2 additions & 3 deletions Contributing.md
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Expand Up @@ -28,10 +28,9 @@ Welcome to the CARMAPlatform contributing guide. There are a few guidelines that
### Making Changes

#### Fork the Repository
**Make a fork of CARMA Platform.**

* Firstly you need a local fork of the project, so go ahead and press the “Fork” button in GitHub. Read the article ["Fork a repo"](https://help.github.com/articles/fork-a-repo/) on GitHub.
* This will create a copy of the repository in your own GitHub account and you’ll see a note that it’s been forked underneath the project name:
* First, you need a local fork of the CARMA repository of interest, so go ahead and press the “Fork” button in GitHub. Read the article ["Fork a repo"](https://help.github.com/articles/fork-a-repo/) on GitHub.
* This will create a copy of the repository in your own GitHub account and you’ll see a note that it’s been forked underneath the project name.
* With the repository forked, you’re ready to clone it so that you have a local working copy of the code base.

#### Clone the Repository
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57 changes: 14 additions & 43 deletions Detail_Design.md
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![CARMA Arch](docs/image/CARMA2_Cadillacs_platooning.jpg)
![CARMA Arch](docs/image/Lexus-Lexus-Pacifica.jpg)

# Detailed Design Page
The Connected and Automated Vehicle (CAV) Platform that is the subject of the STOL II, Task Order 13, and work is being built as a reusable and extensible platform to support research in connected and cooperative vehicle operations over the next several years. The architecture for this platform has been described in the CARMA Platform Architecture Document. This document picks up from that high level description and presents additional details of both the hardware and software design. The design presented here represents an as-built view of the platform, v2.7.2, as of August 2018. [CARMA Detail Design](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/29589570/CAV%20Platform%20Detailed%20Design.docx)
# Detailed Design
The CARMA Platform is a reusable and extensible platform to support research in connected and cooperative vehicle operations over the next several years. The architecture for this platform has been described in the CARMA Platform Architecture Document. This set of documents picks up from that high level description and presents additional details of both the hardware and software design. The design presented here represents an as-built view of the platform, v2.7.2, as of August 2018. [CARMA Detail Design](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/29589570/CAV%20Platform%20Detailed%20Design.docx)

## Software Package Detailed Designs
The following package diagram is repeated from the Architecture Document for easy reference. It serves as a visual index to the rest of the detailed design. Each package of non-trivial complexity is described in its own separate design document.

![CARMA Arch](docs/image/Software_Designs.png)
![CARMA Arch](docs/image/CARMA3_Architecture.png)

## Software Detailed Design Documents
The following table identifies the documents covering each of the packages.
The following table references the current CARMA3 detailed design documents. Only a few of the packages have been updated for use in CARMA3 at this point, but new ones are continually being added.

|Package|Attached Document(s)|
|----|-----------|
|Guidance|[CAV Platform Detailed Design – Guidance](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/29589642/CAV%20Platform%20Detailed%20Design%20-%20Guidance.docx0)
|Guidance.Arbitrator|[CAV Platform Detailed Design – Arbitrator](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/35323905/CAV%20Platform%20Detailed%20Design%20-%20Arbitrator.docx)
|Guidance.Tracking|[CAV Platform Detailed Design – Guidance.Tracking](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/35618850/CAV%20Platform%20Detailed%20Design%20-%20Guidance.Tracking.docx)
|Guidance.Trajectory|[CAV Platform Detailed Design – Trajectory](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/35717164/CAV%20Platform%20Detailed%20Design%20-%20Trajectory.docx)
|Guidance.Maneuvers|[CAV Platform Detailed Design – Maneuvers](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/37814273/CAV%20Platform%20Detailed%20Design%20-%20Maneuvers.docx)
|Guidance conflict handling (covers multiple packages)|[CAV Platform Detailed Design - Guidance.ConflictDetector](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/38633473/CAV%20Platform%20Detailed%20Design%20-%20Guidance.ConflictDetector.docx)
|Guidance.Plugins|[CAV Platform Detailed Design – Plugins](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/37912578/CAV%20Platform%20Detailed%20Design%20-%20Plugins.docx)
|Guidance.Cruising Plugins|[CAV Platform Detailed Design – Plug-ins.Cruising](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/37978138/CAV%20Platform%20Detailed%20Design%20-%20Plug-ins.Cruising.docx)
|Guidance.Platooning (not shown in digram)|[CAV Platform Detailed Design – Plug-ins.Platooning](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/38076417/CAV%20Platform%20Detailed%20Design%20-%20Plug-ins.Platooning.docx)
|Guidance.Lane Change Plugin (not shown in digram)|[CAV Platform Detailed Design - Lane Change Plugin](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/38666266/CAV%20Platform%20Detailed%20Design%20-%20Lane%20Change%20Plugin.docx)
|Guidance.Speed Harm Plugin (not shown in digram)|[CAV Platform Detailed Design – Plugins.SpeedHarmonization](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/35749942/CAV%20Platform%20Detailed%20Design%20-%20Plug-ins.SpeedHarmonization.docx)
|Transform Sever|[CAV Platform Detailed Design – TransformServer](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/35618858/CAV%20Platform%20Detailed%20Design%20-%20TransformServer.docx)
|Logger|[CAV Platform Detailed Design – Logging](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/40927282/CAV%20Platform%20Detailed%20Design%20-%20Logging.docx)
|Operator UI|[CAV Platform Detailed Design – Operator.UI](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/40894506/CAV%20Platform%20Detailed%20Design%20-%20Operator%20UI.docx)
|Vehicle Environment.Roadway|[CAV Platform Detailed Design – RoadwayEnvironment](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/35323924/CAV%20Platform%20Detailed%20Design%20-%20RoadwayEnvironment.docx)
|Vehicle Environment.Message|[CAV Platform Detailed Design – Message](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/41025565/CAV%20Platform%20Detailed%20Design%20-%20Message.docx)
|Vehicle Environment.Sensor Fusion|[CAV Platform Detailed Design – Sensor Fusion](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/44302337/CAV%20Platform%20Detailed%20Design%20-%20Sensor%20Fusion.docx)
|Vehicle Environment.Geometry|[CAV Platform Detailed Design – Geometry](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/38043655/CAV%20Platform%20Detailed%20Design%20-%20Geometry.docx)
||[CAV Platform Detailed Design – Geometry.Cartesian](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/37912617/CAV%20Platform%20Detailed%20Design%20-%20Geometry.Cartesian.docx)
||[CAV Platform Detailed Design – Geometry.Geodesic](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/35323929/CAV%20Platform%20Detailed%20Design%20-%20Geometry.Geodesic.docx)
|Vehicle Environment.Route|[CAV Platform Detailed Design – Route](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/37912635/CAV%20Platform%20Detailed%20Design%20-%20Route.docx)
|Interface Manager|[CAV Platform Detailed Design – Interface Mgr](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/38076452/CAV%20Platform%20Detailed%20Design%20-%20Interface%20Mgr.docx)
|Drivers.Controller|[CAV Platform Detailed Design – SRX Controller Driver](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/37748766/CAV%20Platform%20Detailed%20Design%20-%20SRX%20Controller%20Driver.docx)
||[CAV Platform Detailed Design – Truck Controller Driver](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/40894524/CAV%20Platform%20Detailed%20Design%20-%20Truck%20Controller%20Driver.docx)
||[CAV Platform Detailed Design – XGV Controller Driver](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/37945410/CAV%20Platform%20Detailed%20Design%20-%20XGV%20Controller%20Driver.docx)
|Drivers.DSRC Comms.|[CAV Platform Detailed Design – DSRC OBU Driver](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/38633504/CAV%20Platform%20Detailed%20Design%20-%20DSRC%20OBU%20Driver.docx)
|Drivers.Position|[CAV Platform Detailed Design – Pinpoint Driver](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/40828970/CAV%20Platform%20Detailed%20Design%20-%20Pinpoint%20Driver.docx)
|Drivers.Sensor|**Sensitive Document below please contact the CARMA Development Team**
||CAV Platform Detailed Design – SRX Radar Driver]
||[CAV Platform Detailed Design – Delphi Radar Driver](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/38633509/CAV%20Platform%20Detailed%20Design%20-%20Delphi%20Radar%20Driver.docx)
|Drivers.CAN|**Sensitive Documents below please contact the CARMA Development Team**
||CAV Platform Detailed Design – SRX CAN Driver
||CAV Platform Detailed Design – Truck CAN Drive
|System installation, configuration and startup (not shown in digram)|[CAV Platform Detailed Design – LaunchScript](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/40927236/CAV%20Platform%20Detailed%20Design%20-%20LaunchScript.docx)
||[CAV Platform Remote Install and Launch](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/37748788/CAV%20Platform%20Remote%20Install%20and%20Launch.docx)
||[CAV Platform Vehicle Configuration](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/37978189/CAV%20Platform%20Vehicle%20Configuration.docx)
||[CAV Platform Vehicle PC Setup](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/37945418/CAV%20Platform%20Vehicle%20PC%20Setup.docx)
||[CAV Platform Vehicle PC Structure and Use](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA+Project+Documentation?preview=/23330913/38043769/CAV%20Platform%20Vehicle%20PC%20Structure%20and%20Use.docx)
|Arbitrator|[CAV Platform Detailed Design - Arbitrator](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/196182019/CARMA3+Project+Documentation?preview=/196182019/197001236/CAV%20Platform%20Detailed%20Design%20-%20Velodyne%20Lidar%20Driver%20Wrapper.docx)
|PACMOD CAN Wrapper|[CAV Platform Detailed Design - PACMOD CAN Wrapper](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/196182019/CARMA3+Project+Documentation?preview=/196182019/196837399/CAV%20Platform%20Detailed%20Design%20-%20PACMOD%20CAN%20Wrapper.docx)
|Passenger Car Vehicle Model|[CAV Platform Detailed Design - Passenger Car Vehicle Model](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/196182019/CARMA3+Project+Documentation?preview=/196182019/197033985/CAV%20Platform%20Detailed%20Design%20-%20PassangerCarVehicleModel.docx)
|SSC Interface Wrapper|[CAV Platform Detailed Design - SSC Interface Wrapper](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/196182019/CARMA3+Project+Documentation?preview=/196182019/196771859/CAV%20Platform%20Detailed%20Design%20-%20SSC%20Interface%20Wrapper.docx)
|Trajectory Executor|[CAV Platform Detailed Design - Trajectory Executor](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/196182019/CARMA3+Project+Documentation?preview=/196182019/197001223/CAV%20Platform%20Detailed%20Design%20-%20Trajectory%20Executor.docx)
|VehicleModelLib|[CAV Platform Detailed Design - VehicleModelLib](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/196182019/CARMA3+Project+Documentation?preview=/196182019/197001223/CAV%20Platform%20Detailed%20Design%20-%20Trajectory%20Executor.docx)
|Velodyne Lidar Driver Wrapper|[CAV Platform Detailed Design - Velodyne Lidar Driver Wrapper](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/196182019/CARMA3+Project+Documentation?preview=/196182019/197001236/CAV%20Platform%20Detailed%20Design%20-%20Velodyne%20Lidar%20Driver%20Wrapper.docx)

For packages not documented in the table above, please see the [CARMA2 detailed design documentation](https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/23330913/CARMA2+Project+Documentation)
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