From 91651a366e192438d9e088c44e279c05343927bf Mon Sep 17 00:00:00 2001
From: Benedikt Menne <BenediktM@dspace.de>
Date: Tue, 2 Jan 2024 13:58:41 +0100
Subject: [PATCH] Clarify usage of super-dense time instants

---
 ls-bus-guide/4____network_abstraction.adoc     |  6 ++++++
 .../images/can_arbitration_overview.drawio     | 18 +++++++++---------
 .../images/can_arbitration_overview.svg        |  2 +-
 ...can_arbitration_overview_with_buffer.drawio | 14 +++++++-------
 .../can_arbitration_overview_with_buffer.svg   |  2 +-
 5 files changed, 24 insertions(+), 18 deletions(-)

diff --git a/ls-bus-guide/4____network_abstraction.adoc b/ls-bus-guide/4____network_abstraction.adoc
index d6ed60c..4b21d30 100644
--- a/ls-bus-guide/4____network_abstraction.adoc
+++ b/ls-bus-guide/4____network_abstraction.adoc
@@ -355,6 +355,9 @@ FMU 1 receives a `Confirm` operation, because the specified frame with CAN ID 15
 [#figure-can-arbitration-overview]
 image::can_arbitration_overview.svg[width=80%, align="center"]
 
+_[Note: The number and use of super-dense time instants may differ depending on the implementation.
+Only one possible path is given here, which is permitted by the FMI specification.]_
+
 ===== CAN Arbitration with Buffering [[low-cut-can-example-can-arbitration-with-buffering]]
 <<#figure-can-arbitration-overview-with-buffer>> shows the realization of a CAN arbitration by using the `Arbitration Lost Behavior` option `BUFFER_AND_RETRANSMIT` within the `Configuration` operation.
 At the beginning, FMU 1 and FMU 2 each send network data at the same time.
@@ -371,6 +374,9 @@ FMU 1 gets a `Confirm` operation, because the specified frame with CAN ID 15 was
 [#figure-can-arbitration-overview-with-buffer]
 image::can_arbitration_overview_with_buffer.svg[width=80%, align="center"]
 
+_[Note: The number and use of super-dense time instants may differ depending on the implementation.
+Only one possible path is given here, which is permitted by the FMI specification.]_
+
 ==== Realization of CAN Error Handling [[low-cut-can-realization-of-can-error-handling]]
 This chapter describes a possible implementation of the CAN error handling within Network FMUs using a rule set based on `Bus Error` operations.
 According to the original CAN error confinement rules, each Network FMU provides its own Transmit Error Counter (TEC), Receive Error Counter (REC) and current CAN node state.
diff --git a/ls-bus-guide/images/can_arbitration_overview.drawio b/ls-bus-guide/images/can_arbitration_overview.drawio
index 4d53abf..0ff6c3d 100644
--- a/ls-bus-guide/images/can_arbitration_overview.drawio
+++ b/ls-bus-guide/images/can_arbitration_overview.drawio
@@ -1,6 +1,6 @@
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@@ -50,7 +50,7 @@
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@@ -97,7 +97,7 @@
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diff --git a/ls-bus-guide/images/can_arbitration_overview.svg b/ls-bus-guide/images/can_arbitration_overview.svg
index 772ea05..2b7fa43 100644
--- a/ls-bus-guide/images/can_arbitration_overview.svg
+++ b/ls-bus-guide/images/can_arbitration_overview.svg
@@ -1,3 +1,3 @@
 <?xml version="1.0" encoding="UTF-8"?>
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font-family="Helvetica" font-size="11px"><text x="4.5" y="612">Step Mode</text></g><rect x="406" y="527" width="10" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/><path d="M 420 527 L 430 527 Q 440 527 440 537 L 440 557 Q 440 567 434.06 567 L 428.12 567" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 421.12 567 L 428.12 563.5 L 428.12 570.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-anchor="middle" font-size="11px"><rect fill="rgb(255, 255, 255)" stroke="none" x="448" y="535" width="111" height="27" stroke-width="0"/><text x="502.5" y="545.44">Compute transmission</text><text x="502.5" y="558.44">time (ID = 16)</text></g><path d="M 409.5 700 L 747.56 699.83" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 754.56 699.83 L 747.56 703.33 L 747.56 696.33 Z" 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pointer-events="stroke"/><path d="M 234.12 656 L 241.13 652.53 L 241.11 659.53 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-anchor="middle" font-size="11px"><rect fill="rgb(255, 255, 255)" stroke="none" x="272" y="641" width="91" height="14" stroke-width="0"/><text x="316.17" y="650.77">Transmit (ID = 16)</text></g><path d="M 413 743 L 612.88 743" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 621.88 743 L 612.88 747.5 L 612.88 738.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-anchor="middle" font-size="11px"><rect fill="rgb(255, 255, 255)" stroke="none" x="475" y="728" width="87" height="14" stroke-width="0"/><text x="517.21" y="737.5">Confirm (ID = 16)</text></g><path d="M 174 636 L 169 636 Q 164 636 164 646 L 164 666 Q 164 676 159 676 L 156.5 676 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y="745">time iteration</text><text x="120.5" y="758">(2)</text></g></g></svg>
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y="481.5">Confirm(ID = 15)</text></g><path d="M 174 80 L 169 80 Q 164 80 164 90 L 164 190 Q 164 200 159 200 L 156.5 200 Q 154 200 159 200 L 161.5 200 Q 164 200 164 210 L 164 310 Q 164 320 169 320 L 174 320" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" pointer-events="all"/><path d="M 174 380 L 169 380 Q 164 380 164 390 L 164 410 Q 164 420 159 420 L 156.5 420 Q 154 420 159 420 L 161.5 420 Q 164 420 164 430 L 164 450 Q 164 460 169 460 L 174 460" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" pointer-events="all"/><rect x="80" y="188" width="80" height="26" fill="none" stroke="none" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-anchor="middle" font-size="11px"><text x="119.5" y="192">Super-dense</text><text x="119.5" y="205">time iteration</text><text x="119.5" y="218">(t, 1)</text></g><rect x="80" y="407" width="80" height="26" fill="none" stroke="none" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-anchor="middle" font-size="11px"><text x="119.5" y="411">Super-dense</text><text x="119.5" y="424">time iteration</text><text x="119.5" y="437">(t, 1)</text></g><rect x="0" y="187" width="80" height="26" fill="none" stroke="none" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px"><text x="4.5" y="204">Event Mode</text></g><rect x="68" y="340" width="17" height="20" fill="none" stroke="none" pointer-events="all"/><path d="M 85 340 L 76.5 340 L 76.5 360 L 85 360" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" pointer-events="all"/><path d="M 68 350 L 76.5 350" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" pointer-events="all"/><rect x="0" y="337" width="80" height="26" fill="none" stroke="none" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px"><text x="4.5" y="354">Step Mode</text></g><path d="M 174 466 L 169 466 Q 164 466 164 476 L 164 513 Q 164 523 159 523 L 156.5 523 Q 154 523 159 523 L 161.5 523 Q 164 523 164 533 L 164 570 Q 164 580 169 580 L 174 580" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" pointer-events="all"/><rect x="81" y="510" width="80" height="26" fill="none" stroke="none" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-anchor="middle" font-size="11px"><text x="120.5" y="514">Super-dense</text><text x="120.5" y="527">time iteration</text><text x="120.5" y="540">(t, 2)</text></g><rect x="68" y="598" width="17" height="20" fill="none" stroke="none" pointer-events="all"/><path d="M 85 598 L 76.5 598 L 76.5 618 L 85 618" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" pointer-events="all"/><path d="M 68 608 L 76.5 608" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" pointer-events="all"/><rect x="0" y="595" width="80" height="26" fill="none" stroke="none" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px"><text x="4.5" y="612">Step Mode</text></g><rect x="406" y="527" width="10" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/><path d="M 420 527 L 430 527 Q 440 527 440 537 L 440 557 Q 440 567 434.06 567 L 428.12 567" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 421.12 567 L 428.12 563.5 L 428.12 570.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-anchor="middle" font-size="11px"><rect fill="rgb(255, 255, 255)" stroke="none" x="448" y="536" width="111" height="27" stroke-width="0"/><text x="502.5" y="545.56">Compute transmission</text><text x="502.5" y="558.56">time (ID = 16)</text></g><path d="M 409.5 700 L 747.56 699.83" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 754.56 699.83 L 747.56 703.33 L 747.56 696.33 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-anchor="middle" font-size="11px"><rect fill="rgb(255, 255, 255)" stroke="none" x="468" y="684" width="91" height="14" stroke-width="0"/><text x="512.61" y="694.45">Transmit (ID = 16)</text></g><rect x="68" y="626" width="17" height="144" fill="none" stroke="none" pointer-events="all"/><path d="M 85 626 L 76.5 626 L 76.5 770 L 85 770" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" pointer-events="all"/><path d="M 68 698 L 76.5 698" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" pointer-events="all"/><rect x="1" y="685" width="80" height="26" fill="none" stroke="none" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px"><text x="5.5" y="702">Event Mode</text></g><path d="M 396.67 656.52 L 241.12 656.03" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 234.12 656 L 241.13 652.53 L 241.11 659.53 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-anchor="middle" font-size="11px"><rect fill="rgb(255, 255, 255)" stroke="none" x="271" y="641" width="91" height="14" stroke-width="0"/><text x="315.89" y="650.76">Transmit (ID = 16)</text></g><path d="M 413 743 L 612.88 743" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 621.88 743 L 612.88 747.5 L 612.88 738.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-anchor="middle" font-size="11px"><rect fill="rgb(255, 255, 255)" stroke="none" x="475" y="728" width="87" height="14" stroke-width="0"/><text x="517.5" y="737.5">Confirm (ID = 16)</text></g><path d="M 174 636 L 169 636 Q 164 636 164 646 L 164 666 Q 164 676 159 676 L 156.5 676 Q 154 676 159 676 L 161.5 676 Q 164 676 164 686 L 164 706 Q 164 716 169 716 L 174 716" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" pointer-events="all"/><rect x="80" y="663" width="80" height="26" fill="none" stroke="none" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-anchor="middle" font-size="11px"><text x="119.5" y="667">Super-dense</text><text x="119.5" y="680">time iteration</text><text x="119.5" y="693">(t, 1)</text></g><path d="M 174 722 L 169 722 Q 164 722 164 731.5 L 164 736.25 Q 164 741 159 741 L 156.5 741 Q 154 741 159 741 L 161.5 741 Q 164 741 164 750.5 L 164 755.25 Q 164 760 169 760 L 174 760" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" pointer-events="all"/><rect x="81" y="728" width="80" height="26" fill="none" stroke="none" pointer-events="all"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-anchor="middle" font-size="11px"><text x="120.5" y="732">Super-dense</text><text 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