diff --git a/doc/mainDocument/mainDocument.tex b/doc/mainDocument/mainDocument.tex
index dbe35edbd93f3c898ab74c69ab57eecb2aa086db..3b8fbf99c7f9f4bf3d900b2e19e13dd8da3a9ff8 100644
--- a/doc/mainDocument/mainDocument.tex
+++ b/doc/mainDocument/mainDocument.tex
@@ -17,7 +17,7 @@
\usepackage{ifthen, tikz, xstring, calc, pgfopts} % required for tikz-uml
\usepackage{../tikz-uml}
\usepackage{geometry}
-\geometry{scale = 0.5}
+%\geometry{scale = 0.5} %for class diagram???
%%% GLOSSARY %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\input{../glossary.tex}
@@ -59,7 +59,7 @@
\subfile{sections/02_organisation}
\subfile{sections/03_ausbaustufen}
\subfile{sections/04_usecases}
-%\subfile{sections/05_architektur} %erzeugt momentan folgenden Fehler: pdfTeX warning (ext4): destination with the same identifier (name{table.10}) has been already used, duplicate ignored
+\subfile{sections/05_architektur}
\subfile{sections/06_modspez}
\subfile{sections/07_test}
\subfile{sections/08_auswertung}
diff --git a/doc/mainDocument/sections/05_architektur.tex b/doc/mainDocument/sections/05_architektur.tex
index b1e3ed9b38dd56b4238809e9456766ea80f866c2..fe71b9822cb1a55504ca1745968e256b04c1691e 100644
--- a/doc/mainDocument/sections/05_architektur.tex
+++ b/doc/mainDocument/sections/05_architektur.tex
@@ -1,12 +1,185 @@
\documentclass[../mainDocument.tex]{subfiles}
+\begin{document}
\section{Architektur und Integrationstests}
\subsection{Odroid}
-\includegraphics[width=0.6\textwidth]{Odroid}
+\includegraphics[width=\textwidth]{Odroid}
-%\subsection{wtfSystemarchitektur}
-%\includegraphics[width=0.6\textwidth]{Systemarchitektur}
+\subsection{Systemarchitektur}
+\includegraphics[width=\textwidth]{Systemarchitektur}
\subsection{Object Oriented Analysis}
-% Tikz Picture
+\begin{tikzpicture}
+ \begin{umlpackage}{Car}
+ \begin{umlpackage}{Odroid}
+ % classes
+ \umlclass[scale = 0.5]
+ {MAV-Link}
+ {
+ - $v_{new}$ : Integer\\
+ - $\alpha_{new}$ : Integer\\
+ - $v_O$ : Interger\\
+ - $\alpha_O$ : Integer\\
+ - RC-State : Integer
+ }
+ {
+ + set($v_{new}$, $\alpha_{new}$)\\
+ + RequestNewState(RC-State)\\
+ + updateOwn() : (Integer, Integer)
+ }
+ \umlclass[scale = 0.5, xshift = -8cm]
+ {Lane-Keeping}
+ {
+ - Image/Path : ?\\
+ - $\alpha_{new}$ : Integer
+ }
+ {
+ + Lanekeeping() : ?
+ }
+ \umlclass[scale = 0.5, xshift = 8cm, yshift = -4cm]
+ {Cruise-Control}
+ {
+ - $d_O$ : Integer\\
+ - $v_P$ : Integer\\
+ - $IPD$ : Integer\\
+ - $PS$ : Integer\\
+ - PlatoonState : Integer\\
+ - $v_s$ : Integer\\
+ - $d_s$ : Integer\\
+ + $v_{new}$ Integer
+ }
+ {
+ - CACC($d_O, v_P, IPD, PS$) : Integer\\
+ - ACC($d_O, v_P, v_s, d_s$) : Integer\\
+ - calcNewOptimalDistance($v_s$) : Integer\\
+ + setNewSpeed($v_{new}$)
+ } (CruiseConrol)
+ \umlclass[scale = 0.5, xshift = -5.5cm, yshift = -9cm]
+ {Egomotion}
+ {
+ - $d_O$ : Integer\\
+ - $v_O$ : Integer\\
+ - $v_R$ : Integer\\
+ - $v_P$ : Integer\\
+ - $\alpha_O$ : Integer\\
+ - Path : ?\\
+ + $\alpha_{new}$ : Integer\\
+ + $v_{new}$ : Integer\\
+ }
+ {
+ - calc\_$v_P$($v_R$) : Integer\\
+ %- getEnvoirment() : (Integer, Integer)\\
+ %- getMavLink() : (Integer, Integer)\\
+ %- getCurseControl : Integer
+ } (EgoMotion)
+ \umlclass[scale = 0.5, xshift = 6.7cm, yshift = -14cm]
+ {PlatoonController}
+ {
+ - $IPD$ : Integer\\
+ - $PS$ : Integer\\
+ - PlatoonState : ENUM\\
+ - $v_s$ : Integer\\
+ - $CarID$ : Integer\\
+ - PlatoonMemberList : ?\\
+ - PlatoonPos : Integer\\
+ - PlatoonPrevID : ?\\
+ + WantsPlatton : Boolean
+ }
+ {
+ - evaluate\_PlatoonState(PlatoonState : Integer) : ?\\
+ - determine\_LV\_IPD-PS() : (Integer, Integer)\\
+ - handle\_PBM() : ?\\
+ - handle\_PCM() : ?\\
+ - handle\_PHM() : ?\\
+ - send\_PBM() : ?\\
+ - send\_PCM() : ?\\
+ - send\_PHM() : ?
+ }
+ \umlclass[scale = 0.5, xshift = -9cm, yshift = -20cm]
+ {Envoirment}
+ {
+ - USS-Data : Integer\\
+ + $d_O$ : Interger\\
+ + $v_R$ : Integer\\
+ + PlatoonPrevID : ?
+ }
+ {
+ - calc\_$v_R$
+ }
+ \umlclass[scale = 0.5, xshift = -4cm, yshift = -23cm]
+ {Logging}
+ {
+ + $d_O$ : Integer\\
+ + $v_O$ : Integer\\
+ + $\alpha_O$ : Integer\\
+ + $v_R$ : Integer\\
+ + $v_P$ : Integer\\
+ + Path : ?\\
+ + $\alpha_{new}$ : Integer\\
+ + $v_{new}$ : Integer\\
+ + WantsPlatton : Boolean\\
+ + UpdateReady : Boolean\\
+ + $IPD$ : Integer\\
+ + $PS$ : Integer\\
+ + PlatoonState : ENUM\\
+ + $v_s$ : Integer\\
+ + $CarID$ : Integer\\
+ + PlatoonMemberList : ?\\
+ + PlatoonPos : Integer\\
+ + PlatoonPrevID : Integer
+ }
+ {
+ - cacheDate() : ?\\
+ + sendToPC(ALL)
+ }
+ \umlclass[scale = 0.5, xshift = -11.5cm, yshift = -25cm]
+ {Camera}
+ {}
+ {}
+ \umlclass[scale = 0.5, xshift = -11.2cm, yshift = -28cm]
+ {Ultrasonic}
+ {}
+ {}
+ \umlclass[scale = 0.5, xshift = 9.5cm, yshift = -25cm]
+ {Network}
+ {
+ + $IPD$ : Integer\\
+ + $PS$ : Integer
+ }
+ {
+ + send\_PBM()\\
+ + send\_PCM()\\
+ + send\_PHM()\\
+ + send\_PLM()\\
+ + handle\_PBM()\\
+ + handle\_PCM()\\
+ + handle\_PHM()\\
+ + handle\_PLM()\\
+ + Car2PC-MSGs.
+ }
+
+ %arrows
+ \umlinherit [geometry=-| ,anchors= 0 and 250] {Camera}{Envoirment}
+ \umlinherit [geometry=|- ,anchors= 90 and 180] {Camera}{Lane-Keeping}
+ \umlinherit [geometry=|- ,anchors= 90 and 25] {Cruise-Control}{MAV-Link}
+ \umlinherit [geometry=|- ,anchors= 217 and 50] {Cruise-Control}{Egomotion}
+ \umlinherit [geometry=|- ,anchors= 50 and 217] {Egomotion}{Cruise-Control}
+ \umlinherit [geometry=|- ,anchors= -35 and 152] {Egomotion}{PlatoonController}
+ \umlinherit [geometry=-| ,anchors= 115 and 300] {Egomotion}{Lane-Keeping}
+ \umlinherit [geometry=-|] {Egomotion}{Logging}
+ \umlinherit [geometry=|-|,anchors=90 and 245] {Envoirment}{Egomotion}
+ \umlinherit [geometry=--] {Lane-Keeping}{MAV-Link}
+ \umlinherit [geometry=-| ,anchors= 300 and 115] {Lane-Keeping}{Egomotion}
+ \umlinherit [geometry=|- ,anchors= -55 and 222] {Logging}{Network}
+ \umlinherit [geometry=|-|,anchors= 235 and 70] {MAV-Link}{Egomotion}
+ \umlinherit [geometry=-| ,anchors= 180 and 270] {Network}{MAV-Link}
+ \umlinherit [geometry=-|] {PlatoonController}{Cruise-Control}
+ \umlinherit [geometry=|- ,anchors= 240 and 25] {PlatoonController}{Logging}
+ \umlinherit [geometry=-|, anchors= 300 and 85] {PlatoonController}{Network}
+ \umlinherit [geometry=-|, anchors= 85 and 300] {Network}{PlatoonController}
+ \umlinherit [geometry=-| ,anchors= 0 and 290] {Ultrasonic}{Envoirment}
+ \end{umlpackage}
+ \end{umlpackage}
+\end{tikzpicture}
+
\end{document}
\ No newline at end of file