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HLA/RTI 分布式仿真初学者指南.pdf
1. Introduction
1.1. How to use this tutorial
1.2. HLA is about Interoperability and Reuse
1.3. Who uses HLA
1.4. HLA is a standard
2. The Architecture and Topology of HLA
2.1. Topologies for Integrating Systems
2.2. HLA Terminology
2.3. The Federation Agreement and the Federation Object Model
2.4. Content of a FOM
3. HLA Services
3.1. HLA Services
3.2. Information Services
3.3. Synchronization Services
3.4. Coordination Services
3.5. Service grouping in the HLA standard
3.6. About the Standards documents
4. Connecting to a Federation
4.1. Getting Connected
4.2. An Overview of the Example Application
4.3. Practical Exercise
4.4. An HLA Module for Your Simulation
4.5. The Central and Local RTI components
4.6. Connecting and Joining
4.7. A look at the RTI
4.8. Resigning and Disconnecting
4.9. Calls and Callbacks
4.10. HLA Service: Connect
4.11. HLA Service: Create Federation Execution
4.12. HLA Service: Join Federation Execution
4.13. HLA Service: Resign Federation Execution
4.14. HLA Service: Destroy Federation Execution
4.15. HLA Service: Disconnect
4.16. Additional comments
4.17. Practical Exercise
5. Interactions – Creating the FOM
5.1. Overview
5.2. A First Look at the FOM
5.3. The Identification table
5.4. Interactions with parameters
5.5. A simple data type
5.6. More about FOMs
5.7. Practical Exercise
6. Interactions – Calls for Sending and Receiving
6.1. Initial preparations for Interactions
6.2. Encoding and Decoding Helpers
6.3. HLA Service: Get Interaction Class Handle
6.4. HLA Service: Get Parameter Handle
6.5. HLA Service: Publish Interaction Class
6.6. HLA Service: Subscribe Interaction Class
6.7. A look at the RTI
6.8. Code for Sending Interactions
6.9. HLA Service: Send Interaction
6.10. Receiving Interactions
6.11. HLA Service: Receive Interaction (callback)
6.12. Additional Comments
6.13. Practical Exercise
7. Objects – Creating the FOM
7.1. The Car Object Class
7.2. A closer look at the Name attribute
7.3. A closer look at the FuelType attribute
7.4. A closer look at the Position attribute
7.5. Practical Exercise
8. Objects – Calls for Registering and Discovering
8.1. Object Registration Overview
8.2. Initial preparations for Registering and Discovering Objects
8.3. HLA Service: Get Object Class Handle
8.4. HLA Service: Get Attribute Handle
8.5. HLA Service: Publish Object Class Attributes
8.6. HLA Service: Subscribe Object Class Attributes
8.7. A look at the RTI
8.8. Code for Registration of an Object Instance
8.9. HLA Service: Register Object Instance
8.10. A look at the RTI
8.11. How to discover object instances
8.12. HLA Service: Discover Object Instance (callback)
8.13. More about object registration
8.14. Practical Exercise
9. Objects - Calls for Updating and Reflecting Attribute Values
9.1. When to Update
9.2. Initial preparations
9.3. Sending Attribute Updates
9.4. HLA Service: Update Attribute Values
9.5. Responding to Provide
9.6. HLA Service: Provide Attribute Value Update (callback)
9.7. Reflecting Attribute Values (callback)
9.8. HLA Service: Reflect Attribute Values (callback)
9.9. Practical Exercise
10. Testing and Debugging Federates and Federations
10.1. What should you test?
10.2. Look at the RTI
10.3. Inspecting Data with a Data Logger
10.4. Tracing RTI Calls
10.5. Test with proven federates
10.6. Test with proven data
10.7. Get your federate certified
10.8. Test and understand the federate performance
11. Object Oriented HLA
11.1. What is Object Oriented HLA
11.2. Types of OO-HLA implementations
11.3. Using OO-HLA in the Fuel Economy Federation
11.4. Sample OO-HLA program code
12. Summary and Road Ahead
12.1. About the Fuel Economy Federation – interoperability and reuse
12.2. DSEEP - a process for developing federations
12.3. More HLA Features: Ownership, Time Management and DDM
12.4. Have Fun!
Purpose, audience
Revision history
Abbreviations, definitions
References
Related documents
Conceptual domain model
Federation and participating federates
FOM
Overview of information flow, DDM usage (optionally)
Relation to other systems
Standards, hardware, software and networks
Principles for sending interactions
Principles for updating attributes and ownership
Technical representation of data
Time management and time
Information about Car objects
Management interactions
Start-up and shutdown
The scenario management is required to take place before the execution management. The Master federate sends a LoadScenario interaction. Each federate responds, indicating whether the scenario was successfully loaded or not. The operator of the Master...
Scenario management
Execution management (starting and stopping)
Save/restore
Error handling
Logging
Analysis
12.5. Publish Subscribe Matrix
THE HLA TUTORIAL
A PRACTICAL GUIDE FOR DEVELOPING
DISTRIBUTED SIMULATIONS
GET AN OVERVIEW OF HLA
LEARN HOW TO DESIGN HLA FEDERATIONS
UNDERSTAND HOW TO DEVELOP
FEDERATION OBJECT MODELS
MASTER THE SERVICES OF THE
RUN-TIME INFRASTRUCTURE
PART 1
The HLA Tutorial v1.0
Copyright Pitch Technologies. See page 2.
STAY UP TO DATE!
THE MOST RECENT VERSION OF THIS DOCUMENT,
CODE SAMPLES AND SOFTWARE ARE AVAILABLE AT
WWW.PITCH.SE/HLATUTORIAL
Copyright Pitch Technologies AB, Sweden, 2012. All rights reserved
with the following exceptions: This document may be copied and
redistributed for commercial and non-commercial purposes with the
following restrictions:
The document must be provided in its entirety. No part of the
document may be removed or modified or reused in other
documents. No content may be added.
The copyright notice on the document cover and on each page must
be included and clearly visible.
It may not be translated without our prior consent.
No charge may apply for the document, except for direct media
costs.
Copies may only be provided as PDF files or in print.
The document is provided “as is”. Pitch assumes no responsibility or
liability for the content.
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ABOUT THIS TUTORIAL
“The High-Level Architecture is a powerful technology for developing distributed
simulations. It is amazing to see how people use it to make simulations work
together in many different domains, to create simulations that have never been
created before.
I have been involved in the HLA community since the mid 90’s both in the
standards development and the user community. I have also given at least one
hundred HLA courses and seminars on four continents. With this document I
want to offer everyone a practical introduction to HLA, based on these
experiences.
This tutorial is mainly targeted at developers. I have written the tutorial as a
small story where you can follow how an HLA federation is developed, step-by-
step. It is intended to complement the HLA standard, which provides the final
and complete specification of HLA.
I would also like to encourage the reader to become part of the HLA community
through SISO, colleagues, numerous simulation conferences, papers, and of
course the Internet. Enjoy the reading!”
Björn Möller
The team who developed “The HLA Tutorial” and the “HLA Evolved Starter Kit”:
Björn Möller
Åsa Wihlborg
Filip Klasson
Björn Löfstrand
Martin Johansson
Pär Aktanius
Mikael Karlsson
Steve Eriksson
Patrik Svensson
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Table of Contents
1.
Introduction ............................................................................................................................. 5
2. The Architecture and Topology of HLA .......................................................................... 8
3. HLA Services ........................................................................................................................... 13
4. Connecting to a Federation ............................................................................................... 17
5.
6.
Interactions – Creating the FOM ...................................................................................... 24
Interactions – Calls for Sending and Receiving .......................................................... 30
7. Objects – Creating the FOM ............................................................................................... 35
8. Objects – Calls for Registering and Discovering ........................................................ 42
9. Objects - Calls for Updating and Reflecting Attribute Values ............................... 48
10.
Testing and Debugging Federates and Federations ............................................ 53
11. Object Oriented HLA ....................................................................................................... 59
Summary and Road Ahead ............................................................................................ 64
12.
Appendix A: The Fuel Economy Federation Agreement .................................................. 67
Appendix B: The Fuel Economy FOM ...................................................................................... 74
Appendix C: Description of Federates and File Formats ................................................. 78
Appendix D: Lab Instructions ................................................................................................... 83
Lab D-1: A first test run of the federation ............................................................................. 84
Lab D-2: Connect, Create and Join. .......................................................................................... 86
Lab D-3: Developing a FOM for Interactions ........................................................................ 88
Lab D-4: Sending and receiving interactions ....................................................................... 90
Lab D-5: Developing a FOM for object classes ..................................................................... 92
Lab D-6: Registering and discovering object instances ................................................... 93
Lab D-7: Updating objects .......................................................................................................... 95
Lab D-8: Running a Distributed Federation ......................................................................... 97
Appendix E: The Sushi Restaurant federation .................................................................... 99
Appendix F: A summary of the HLA Rules ......................................................................... 101
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Copyright Pitch Technologies. See page 2.
1. Introduction
This tutorial provides both overview and technical details
The purpose of HLA is interoperability and reuse
HLA enables simulations to interoperate in a federation of systems
HLA originated in the defense sector but is today increasingly used
in civilian applications
The HLA standard is part of policies, for example in NATO
HLA enables a marketplace for simulations
1.1. How to use this tutorial
Welcome to the HLA Tutorial. This tutorial covers everything from an overview
of what HLA is used for, to the practical design and development of HLA based
systems. Here is a short guide for the reader:
If you want a quick overview of what HLA is all about, you can start with
reading this first chapter.
If you want to understand the technical architecture of HLA, also read
chapter two and three about the architecture and services of HLA.
If you intend to understand how to develop HLA based systems then
continue with the rest of the tutorial.
This tutorial is available as a stand-alone document or as part of the HLA Evolved
Starter Kit. This kit contains software and samples with source code that you can
run on your own computer, study, experiment with, extend or even use as a
starting point for your own HLA development. This document contains
instructions about practical labs that you can perform for many of the chapters.
This document is based on the latest version of HLA, commonly called HLA
Evolved with the formal name IEEE 1516-2010. HLA Evolved builds upon earlier
HLA versions such as HLA 1516-2000 and HLA 1.3.
1.2. HLA is about Interoperability and Reuse
The High-Level Architecture, HLA, is an architecture that enables several
simulation systems to work together. This is called interoperability, a term that
covers more than just sending and receiving data. The systems need to work
together in such a way that they can achieve an overarching goal by exchanging
services.
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Why do we need to connect several simulation systems? One reason is that an
organization may already have a number of simulation systems that need to be
used together with newly acquired simulations or simulations from other
organizations. Another reason is that there may be a requirement to simulate a
“bigger picture”, where models from different organizations interact. Experts
from different fields need to contribute different models. In many cases it would
also be a monumental task to build one big system that covers everything
compared to connecting several different simulations.
One important principle of HLA is to create a federation of systems. Most
simulation systems are highly useful on their own. With HLA, we can combine
them to simulate more complex scenarios and chains of events. HLA enables us
to reuse different systems in new combinations.
The two main merits of HLA are thus interoperability and reuse.
1.3. Who uses HLA
Two of the most common use cases for HLA are:
Training, where humans are trained to perform tasks.
Analysis, where we can try different scenarios in a simulated world.
Other use cases include test, engineering, and concept development.
HLA was originally developed for defense applications. This is still an important
use case for HLA. Examples include training several pilots in flight simulators in
motor skills, decision skills, and communications. Another area is command-level
training where officers are trained to manage complex situations and command
thousands of simulated participants. HLA enables this training to be joint
(between Army, Navy, and Air Force) and combined (for example between
Navies from different nations).
Training for peace support operations is a related area where defense units can
train operations together with police, fire fighters, and non-government
organizations such as the Red Cross.
Like many other technologies, originally developed in the defense area, there is
a growing civilian user base of HLA. One example is space applications where
complex missions, possibly taking months and years, can be simulated in a
shorter time and emergency situations can be trained without any real risk. HLA
has also been used for space mission control training, such as the docking of
automated transfer vehicles with the International Space Station.
Another area is Air Traffic Management where new procedures can be
developed, evaluated and trained using a number of interoperable simulations.
Yet other areas include manufacturing, offshore oil production, national railroad
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systems, medical simulations, environment, and hydrology.
1.4. HLA is a standard
HLA is an open international standard, developed by the Simulation
Interoperability Standards Organization (SISO) and published by IEEE. The
development process is open and transparent. Everyone can participate in the
development, suggest improvements, take part in the discussions and vote.
HLA is a standards document that describes the components of HLA and what
interfaces and properties they must have. Anyone can develop any software
component of HLA. Implementations of the different components are today
available from commercial companies, governments, academia, and open
source developers.
HLA is today a prescribed or recommended standard, for example in NATO as
well as by national departments of defense. By establishing such policies, it is
possible to facilitate the interoperability of different systems that are acquired
over time by an organization.
Another effect of standards is that they enable a marketplace. When systems
from different suppliers become interoperable, an end user can select and
combine systems that meet his requirements. This reduces the cost, time, and
risk for the end user while providing more opportunities for system vendors.
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2. The Architecture and Topology of HLA
The HLA topology is a Service Bus
Important terms in HLA are: RTI, Federate, Federation, Federation
Object Model, and Federation Execution
The Federation Agreement is a document that specifies the design
of a particular federation for a particular purpose
The Federation Object Model (FOM) is the language of the
Federation
2.1. Topologies for Integrating Systems
The previous chapter introduced the concept of a Federation of systems. So how
do we connect systems so that they can exchange services in order to meet a
common goal?
Figure 2-1 shows two common topologies:
Figure 2-1: Two topologies
When using pair-wise integration you connect systems that need to exchange
services in pairs. For each pair of systems, you establish an agreement of what
services to exchange. This works well for a few systems, but as the number of
systems grows the number of connections will grow exponentially. Another
issue is that each system needs explicit knowledge about all other systems that
it needs to exchange data with. When you add one new system, you may need
to modify a large number of existing systems.
The other type of integration is called Service Bus. Each system has just one
connection to the service bus. A common set of services has been agreed upon.
Each system provides or consumes the particular services that it is interested in.
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