diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2267c5a..94d3613 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,6 +31,8 @@ set(SOURCES
     src/gltrafficsign.cpp
     src/qrc_resources.cpp
     src/osiparser.cpp
+    src/glfieldofview.cpp
+    src/fmureceiver.cpp
 )
 
 set(HEADERS
@@ -55,9 +57,15 @@ set(HEADERS
     include/glpoint.h
     include/gltrafficsign.h
     include/osiparser.h
+    include/glfieldofview.h
+    include/fmureceiver.h
+)
+
+
+include_directories(
+    ${CMAKE_CURRENT_LIST_DIR}/include
 )
 
-include_directories(include)
 
 add_executable(${PROJECT_NAME}
     ${HEADERS}
@@ -72,7 +80,9 @@ target_link_libraries(${PROJECT_NAME}
     Qt5::OpenGL
     Qt5::Network
 
-    open_simulation_interface_pic
+    open_simulation_interface
+    fmilib_shared
     protobuf
     zmq
 )
+
diff --git a/Dockerfile b/Dockerfile
index 5fc2e48..607dcc7 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,7 +1,10 @@
 FROM ubuntu:latest
 
 RUN mkdir -p /project
-RUN apt-get update && apt-get install -y git vim unzip zip cmake gcc g++ qtbase5-dev libprotobuf-dev protobuf-compiler libzmq3-dev
+RUN apt-get update && apt-get install -y git vim unzip zip cmake gcc g++ qtbase5-dev libprotobuf-dev protobuf-compiler libzmq3-dev wget
+RUN mkdir -p /build
+WORKDIR /build
+RUN wget http://www.jmodelica.org/downloads/FMIL/FMILibrary-2.0.3-src.zip && unzip FMILibrary-2.0.3-src.zip && mkdir build-fmil && cd build-fmil && cmake -DFMILIB_INSTALL_PREFIX=/usr/local ../FMILibrary-2.0.3 && make install
 
 VOLUME [ "/project"]
 WORKDIR /project
diff --git a/include/appconfig.h b/include/appconfig.h
index 8b3765e..b9e8a66 100644
--- a/include/appconfig.h
+++ b/include/appconfig.h
@@ -21,20 +21,39 @@ class AppConfig
         QString  ch1IPAddress_;
         QString  ch1PortNum_;
         DataType ch1DataType_;
+        bool     ch1FMURxCheck_;
+        QString  ch1LoadFMURx_;
         QString  ch1LoadFile_;
         DataType ch1PlaybackDataType_;
         int      ch1DeltaDelay_;
         bool     ch1EnableSendOut_;
         QString  ch1SendOutPortNum_;
+        bool     ch1FMUTxCheck_;
+        QString  ch1LoadFMUTx_;
+        bool     ch1ShowFOV_;
+        float    ch1MinRadius_;
+        float    ch1MaxRadius_;
+        float    ch1AzimuthPos_;
+        float    ch1AzimuthNeg_;
+
 
         QString  ch2IPAddress_;
         QString  ch2PortNum_;
         DataType ch2DataType_;
+        bool     ch2FMURxCheck_;
+        QString  ch2LoadFMURx_;
         QString  ch2LoadFile_;
         DataType ch2PlaybackDataType_;
         int      ch2DeltaDelay_;
         bool     ch2EnableSendOut_;
         QString  ch2SendOutPortNum_;
+        bool     ch2FMUTxCheck_;
+        QString  ch2LoadFMUTx_;
+        bool     ch2ShowFOV_;
+        float    ch2MinRadius_;
+        float    ch2MaxRadius_;
+        float    ch2AzimuthPos_;
+        float    ch2AzimuthNeg_;
 
         bool combineChannel_;
         bool showGrid_;
diff --git a/include/fmureceiver.h b/include/fmureceiver.h
new file mode 100644
index 0000000..4a4aa29
--- /dev/null
+++ b/include/fmureceiver.h
@@ -0,0 +1,110 @@
+///
+/// @file
+/// @copyright Copyright (C) 2017, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+///
+/// @brief
+///
+
+
+
+#pragma once
+
+#include <QtConcurrent/QtConcurrent>
+
+#include <string>
+
+#include "osi_sensordata.pb.h"
+#include "imessagesource.h"
+#include "types.h"
+
+
+extern "C" {
+#include <JM/jm_portability.h>
+#include <fmilib.h>
+}
+
+/* The following names come from FMU modelDescription.in.xml */
+#define FMI_SENDER_NAME   "sender"
+#define FMI_RECEIVER_NAME "receiver"
+#define FMI_ADDRESS_NAME  "address"
+#define FMI_PORT_NAME     "port"
+
+#define FMI_DATA_OUT_BASELO_NAME "OSMPSensorDataOut.base.lo"
+#define FMI_DATA_OUT_BASEHI_NAME "OSMPSensorDataOut.base.hi"
+#define FMI_DATA_OUT_SIZE_NAME   "OSMPSensorDataOut.size"
+
+/* local index defines */
+#define FMI_INTEGER_SENSORDATA_OUT_BASELO_IDX 0 // correspond to FMI_DATA_OUT_BASELO_NAME
+#define FMI_INTEGER_SENSORDATA_OUT_BASEHI_IDX 1 // correspond to FMI_DATA_OUT_BASEHI_NAME
+#define FMI_INTEGER_SENSORDATA_OUT_SIZE_IDX   2 // correspond to FMI_DATA_OUT_SIZE_NAME
+#define FMI_INTEGER_LAST_OUT_IDX FMI_INTEGER_SENSORDATA_OUT_SIZE_IDX
+#define FMI_INTEGER_OUT_VARS (FMI_INTEGER_LAST_OUT_IDX + 1)
+
+class FMUReceiver: public QObject, public IMessageSource
+{
+    Q_OBJECT
+
+    public:
+        FMUReceiver();
+
+        signals:
+            void Connected(DataType dataType);
+            void Disconnected(const QString& message = "");
+            void MessageReceived(const osi::SensorData& sensorData,
+                                 const DataType datatype);
+
+    public slots:
+            void DisconnectRequested();
+            void ConnectRequested(const QString& ipAddress,
+                                  const QString& port,
+                                  const QString& fmuPath,
+                                  DataType dataType);
+
+    private:
+
+        void ReceiveLoop();
+
+
+        bool isRunning_;
+        bool isThreadTerminated_;
+        DataType currentDataType_;
+
+
+        // FMU interface
+        fmi2_import_t* fmu_;
+        fmi2_callback_functions_t callBackFunctions_;
+        jm_callbacks callbacks_;
+        fmi_import_context_t* context_;
+
+        jm_status_enu_t jmStatus_;
+        fmi2_status_t fmiStatus_;
+
+        fmi2_real_t tStart_;
+        fmi2_real_t tEnd_;
+        fmi2_real_t tCurrent_;
+        fmi2_real_t hStep_;
+
+        std::string ip_;
+        std::string port_;
+        std::string FMUPath_;
+        std::string tmpPath_;
+        enum class LogLevel
+        {
+            Warn,
+            Debug
+        };
+        LogLevel logLevel_;
+        std::string currentBuffer_;
+        fmi2_value_reference_t vr_[FMI_INTEGER_OUT_VARS];
+
+        // initialize fmu wrapper specific logger, create fmi import context and check fmi version
+        bool initializeFMUWrapper();
+        // import fmu binary file
+        bool importFMU();
+        // setup and initialize FMU
+        bool initializeFMU();
+        // protobuf accessors
+        bool get_fmi_sensor_data_in(osi::SensorData& data);
+};
+
+
diff --git a/include/glfieldofview.h b/include/glfieldofview.h
new file mode 100644
index 0000000..0f059c2
--- /dev/null
+++ b/include/glfieldofview.h
@@ -0,0 +1,23 @@
+
+
+
+
+#pragma once
+#include "globject.h"
+
+class GLFieldOfView : public GLObject
+{
+    public:
+        GLFieldOfView(QOpenGLFunctions_4_3_Core* functions,
+                      const float minRadius,
+                      const float maxRadius,
+                      const float azimuthPosAngle,
+                      const float azimuthNegAngle);
+
+        void UpdateParameter(const float minRadius,
+                             const float maxRadius,
+                             const float azimuthPosAngle,
+                             const float azimuthNegAngle);
+};
+
+
diff --git a/include/glvehicle.h b/include/glvehicle.h
index a7f437d..cf3ce03 100644
--- a/include/glvehicle.h
+++ b/include/glvehicle.h
@@ -12,4 +12,11 @@ class GLVehicle : public GLObject
 {
     public:
         GLVehicle(QOpenGLFunctions_4_3_Core* functions, QString id, float xExtend, float zExtend);
+
+        GLVehicle(QOpenGLFunctions_4_3_Core* functions,
+                  QString id,
+                  QVector3D v0,
+                  QVector3D v1,
+                  QVector3D v2,
+                  QVector3D v3);
 };
diff --git a/include/glwidget.h b/include/glwidget.h
index d8dabbd..f4de771 100644
--- a/include/glwidget.h
+++ b/include/glwidget.h
@@ -14,6 +14,8 @@
 #include "lane.h"
 #include "imessagesource.h"
 
+#include "glfieldofview.h"
+
 #include <QOpenGLWidget>
 #include <QTreeWidgetItem>
 #include <QOpenGLFunctions>
@@ -35,6 +37,13 @@ class GLWidget : public QOpenGLWidget, protected QOpenGLFunctions_4_3_Core
 
         void UpdateIMessageSource(IMessageSource* msgSource);
 
+        void UpdateFOVPaint(const bool showFOV);
+
+        void UpdateFOVParam(const float minRadius,
+                            const float maxRadius,
+                            const float azimuthPosAngle,
+                            const float azimuthNegAngle);
+
     signals:
         void DisplayObjectInformation(GLObject* object);
         void SetTrackingEnabled(bool enable);
@@ -87,4 +96,7 @@ class GLWidget : public QOpenGLWidget, protected QOpenGLFunctions_4_3_Core
         QOpenGLShaderProgram shaderProgram_;
         QMap<ObjectType, QTreeWidgetItem*>& treeNodes_;
 
+        bool showFOV_;
+        GLFieldOfView* objFOV_;
+
 };
diff --git a/include/mainwindow.h b/include/mainwindow.h
index 7cafb34..2a4f0eb 100644
--- a/include/mainwindow.h
+++ b/include/mainwindow.h
@@ -18,6 +18,7 @@
 
 class GLWidget;
 class TCPReceiver;
+class FMUReceiver;
 class AppConfig;
 class OsiParser;
 class OsiReader;
@@ -35,6 +36,8 @@ class MainWindow : public QMainWindow
         explicit MainWindow(QWidget* parent = nullptr);
         ~MainWindow();
 
+        void LocalUpdate();
+
     signals:
         void UpdateGrid();
         void UpdateLane();
@@ -47,11 +50,23 @@ class MainWindow : public QMainWindow
                                const QString& port,
                                const DataType dataType);
 
+        void FMUConnectRequested(const QString& ipAddress,
+                                 const QString& port,
+                                 const QString& fmuPath,
+                                 const DataType dataType);
+
+        void FMUConnectRequested2(const QString& ipAddress,
+                                  const QString& port,
+                                  const QString& fmuPath,
+                                  const DataType dataType);
+
         void StartPlaybackRequested(const QString& fileName,
-                                    const DataType dataType);
+                                    const DataType dataType,
+                                    const QString& fmuPath);
 
         void StartPlaybackRequested2(const QString& fileName,
-                                     const DataType dataType);
+                                     const DataType dataType,
+                                     const QString& fmuPath);
 
     public slots:
         void EnableExport(bool enable);
@@ -68,7 +83,9 @@ class MainWindow : public QMainWindow
         void UpdateSliderRange(int sliderRange);
         void UpdateSliderRange2(int sliderRange);
         void UpdateSliderValue(int sliderValue);
+        void UpdateSliderTime(int sliderValue);
         void UpdateSliderValue2(int sliderValue);
+        void UpdateSliderTime2(int sliderValue);
 
         void DisplayObjectInformation(GLObject* object);
         void DisplayObjectInformation2(GLObject* object);
@@ -91,9 +108,29 @@ class MainWindow : public QMainWindow
         void RBPlayback();
         void RBPlayback2();
 
+        void CBDataTypeCon(int index);
+        void CBDataTypePlay(int index);
+        void CBDataTypeCon2(int index);
+        void CBDataTypePlay2(int index);
+        void ToggleShowFOV();
+        void ToggleShowFOV2();
+
+        void CheckBoxFMURx();
+        void CheckBoxFMURx2();
+        void LoadFMURxEdited(const QString& text);
+        void LoadFMURxBrowse();
+        void LoadFMURxEdited2(const QString& text);
+        void LoadFMURxBrowse2();
+
+        void CheckBoxFMUTx();
+        void CheckBoxFMUTx2();
+        void LoadFMUTxEdited(const QString& text);
+        void LoadFMUTxBrowse();
+        void LoadFMUTxEdited2(const QString& text);
+        void LoadFMUTxBrowse2();
+
         void LoadFileEdited(const QString& text);
         void LoadFileBrowse();
-
         void LoadFileEdited2(const QString& text);
         void LoadFileBrowse2();
 
@@ -112,6 +149,9 @@ class MainWindow : public QMainWindow
 
         void CombineChannels();
 
+        void ShowFOV();
+        void ShowFOV2();
+
 
     private:
 
@@ -184,6 +224,9 @@ class MainWindow : public QMainWindow
 
         void ShowErrorMessage(const QString& errMsg);
 
+        void EnableShowFOV(const bool enable);
+        void EnableShowFOV2(const bool enable);
+
 
         // Configurations
         AppConfig config_;
@@ -211,12 +254,14 @@ class MainWindow : public QMainWindow
         Ui::MainWindow *ui_;
 
         GLWidget*    glWidget_;
-        TCPReceiver* receiver_;
+        TCPReceiver* tcpReceiver_;
+        FMUReceiver* fmuReceiver_;
         OsiReader*   reader_;
         OsiParser*   osiparser_;
 
         GLWidget*    glWidget2_;
-        TCPReceiver* receiver2_;
+        TCPReceiver* tcpReceiver2_;
+        FMUReceiver* fmuReceiver2_;
         OsiReader*   reader2_;
         OsiParser*   osiparser2_;
 
diff --git a/include/osireader.h b/include/osireader.h
index 5792c0f..aaf84bd 100644
--- a/include/osireader.h
+++ b/include/osireader.h
@@ -8,8 +8,8 @@
 
 #pragma once
 
-#include <osi_version.pb.h>
-#include <osi_sensordata.pb.h>
+#include "osi_version.pb.h"
+#include "osi_sensordata.pb.h"
 
 #include <zmq.hpp>
 
@@ -24,6 +24,29 @@
 #include "types.h"
 
 
+extern "C" {
+#include <JM/jm_portability.h>
+#include <fmilib.h>
+}
+
+
+#define FMI_SENDER_NAME   "sender"
+#define FMI_RECEIVER_NAME "receiver"
+#define FMI_ADDRESS_NAME  "address"
+#define FMI_PORT_NAME     "port"
+
+#define FMI_DATA_IN_BASELO_NAME "OSMPSensorViewIn.base.lo"
+#define FMI_DATA_IN_BASEHI_NAME "OSMPSensorViewIn.base.hi"
+#define FMI_DATA_IN_SIZE_NAME   "OSMPSensorViewIn.size"
+
+/* local index defines */
+#define FMI_INTEGER_SENSORDATA_IN_BASELO_IDX 0 // correspond to FMI_DATA_IN_BASELO_NAME
+#define FMI_INTEGER_SENSORDATA_IN_BASEHI_IDX 1 // correspond to FMI_DATA_IN_BASEHI_NAME
+#define FMI_INTEGER_SENSORDATA_IN_SIZE_IDX   2 // correspond to FMI_DATA_IN_SIZE_NAME
+#define FMI_INTEGER_LAST_IN_IDX FMI_INTEGER_SENSORDATA_IN_SIZE_IDX
+#define FMI_INTEGER_IN_VARS (FMI_INTEGER_LAST_IN_IDX + 1)
+
+
 class OsiReader: public QObject, public IMessageSource
 {
     Q_OBJECT
@@ -31,11 +54,13 @@ class OsiReader: public QObject, public IMessageSource
     public:
         OsiReader(int* deltaDelay,
                   const bool& enableSendOut,
-                  const std::string& zmqPubPortNum);
+                  const std::string& pubPortNum,
+                  const bool &enalbeFMU,
+                  const std::string &fmuPath = "");
 
         QString SetupConnection(bool enable);
 
-        void SetSendOutPortNum(const std::string& port) { zmqPubPortNumber_ = port; }
+        void SetSendOutPortNum(const std::string& port) { pubPortNumber_ = port; }
 
         signals:
             void Connected(DataType dataType);
@@ -46,7 +71,9 @@ class OsiReader: public QObject, public IMessageSource
                                 const DataType datatype);
 
     public slots:
-            void StartReadFile(const QString& osiFileName, const DataType dataType);
+            void StartReadFile(const QString& osiFileName,
+                               const DataType dataType,
+                               const QString& fmuPath);
             void StopReadFile();
             void SliderValueChanged(int newValue);
 
@@ -59,8 +86,12 @@ class OsiReader: public QObject, public IMessageSource
         void SaveHeader();
 
         void SendMessageLoop();
+        void SendOutMessage(const std::string& message);
 
-        void ZMQSendOutMessage(const std::string& message);
+        QString SetZMQConnection();
+        QString FreeZMQConnection();
+        QString SetFMUConnection();
+        void FreeFMUConnection();
 
 
 
@@ -70,6 +101,7 @@ class OsiReader: public QObject, public IMessageSource
         QString osiFileName_;
         QString osiHeaderName_;
 
+        uint64_t firstTimeStamp_;
         // std::map<time stamp in nanosecond, input file stream position>
         std::vector<std::pair<uint64_t, std::streamoff> > stamp2Offset_;
         std::vector<std::pair<uint64_t, std::streamoff> >::iterator iterStamp_;
@@ -80,10 +112,45 @@ class OsiReader: public QObject, public IMessageSource
         const int* const deltaDelay_;
 
         const bool&     enableSendOut_;
-        std::string     zmqPubPortNumber_;
+        std::string     pubPortNumber_;
+        std::string     currentBuffer_;
+
+        // ZMQ
         zmq::context_t  zmqContext_;
         zmq::socket_t   zmqPublisher_;
 
+        // FMU
+        const bool&    enableFMU_;
+        fmi2_import_t* fmu_;
+        fmi2_callback_functions_t callBackFunctions_;
+        jm_callbacks callbacks_;
+        fmi_import_context_t* fmuContext_;
+        jm_status_enu_t jmStatus_;
+        fmi2_status_t fmiStatus_;
+        fmi2_real_t tStart_;
+        fmi2_real_t tEnd_;
+        fmi2_real_t tCurrent_;
+        fmi2_real_t hStep_;
+        std::string FMUPath_;
+        std::string tmpPath_;
+        enum class LogLevel
+        {
+            Warn,
+            Debug
+        };
+        LogLevel logLevel_;
+        fmi2_value_reference_t vr_[FMI_INTEGER_IN_VARS];
+
+        // Initialize fmu wrapper specific logger, create fmi import context and check fmi version
+        bool initializeFMUWrapper();
+        // import fmu binary file
+        bool importFMU();
+        // setup and Initialize FMU
+        bool initializeFMU();
+        // protobuf accessors
+        void set_fmi_sensor_data_out();
+
+
         // read from input file: data type is always SensorData
         DataType defaultDatatype_ = DataType::Groundtruth;
         const QString defaultHeaderPrifix_ = "Header_";
diff --git a/include/tcpreceiver.h b/include/tcpreceiver.h
index f0b81f5..872ed41 100644
--- a/include/tcpreceiver.h
+++ b/include/tcpreceiver.h
@@ -26,7 +26,7 @@ class TCPReceiver : public QObject, public IMessageSource
         signals:
             void Connected(DataType dataType);
             void Disconnected(const QString& message = "");
-            void ExportOsiMessage();
+            void UpdateSliderTime(int sliderValue);
             void MessageReceived(const osi::SensorData& sensorData,
                                  const DataType datatype);
 
@@ -39,6 +39,7 @@ class TCPReceiver : public QObject, public IMessageSource
     private:
 
         void ReceiveLoop();
+        uint64_t GetTimeStampInNanoSecond(osi::SensorData &osiSD);
 
         // socket.Connected returns always true after it has been connected once
         // (even after disconnect)
@@ -52,3 +53,5 @@ class TCPReceiver : public QObject, public IMessageSource
         DataType currentDataType_;
 };
 
+
+
diff --git a/include/types.h b/include/types.h
index bad24d6..42349f2 100644
--- a/include/types.h
+++ b/include/types.h
@@ -60,6 +60,7 @@ struct MessageStruct
     QVector3D velocitie;
     QVector3D acceleration;
     osi::Dimension3d dimension;
+    QVector<QVector3D> basePoly;
 };
 using Message = QVector<MessageStruct>;
 
diff --git a/open-simulation-interface b/open-simulation-interface
index 132eb8a..d76b814 160000
--- a/open-simulation-interface
+++ b/open-simulation-interface
@@ -1 +1 @@
-Subproject commit 132eb8a7727ba650939bbeeae64eba0b7d55e07e
+Subproject commit d76b814083747a77213dd7392a344f377d2eb404
diff --git a/src/appconfig.cpp b/src/appconfig.cpp
index 4b4ed7a..6c0f8d1 100644
--- a/src/appconfig.cpp
+++ b/src/appconfig.cpp
@@ -10,29 +10,47 @@ AppConfig::AppConfig(QString fileName)
     : ch1IPAddress_("")
     , ch1PortNum_("")
     , ch1DataType_(DataType::Groundtruth)
+    , ch1FMURxCheck_(false)
+    , ch1LoadFMURx_("")
     , ch1LoadFile_("")
     , ch1PlaybackDataType_(DataType::Groundtruth)
     , ch1DeltaDelay_(0)
     , ch1EnableSendOut_(false)
     , ch1SendOutPortNum_("5564")
+    , ch1FMUTxCheck_(false)
+    , ch1LoadFMUTx_("")
+    , ch1ShowFOV_(false)
+    , ch1MinRadius_(0.1)
+    , ch1MaxRadius_(1)
+    , ch1AzimuthPos_(1)
+    , ch1AzimuthNeg_(-1)
 
     , ch2IPAddress_("")
     , ch2PortNum_("")
     , ch2DataType_(DataType::Groundtruth)
+    , ch2FMURxCheck_(false)
+    , ch2LoadFMURx_("")
     , ch2LoadFile_("")
     , ch2PlaybackDataType_(DataType::Groundtruth)
     , ch2DeltaDelay_(0)
     , ch2EnableSendOut_(false)
     , ch2SendOutPortNum_("5564")
+    , ch2FMUTxCheck_(false)
+    , ch2LoadFMUTx_("")
+    , ch2ShowFOV_(false)
+    , ch2MinRadius_(0.1)
+    , ch2MaxRadius_(1)
+    , ch2AzimuthPos_(1)
+    , ch2AzimuthNeg_(-1)
 
     , combineChannel_(false)
     , showGrid_(true)
-    , showObjectDetails_(true)
+    , showObjectDetails_(false)
     , lockCamera_(false)
     , laneType_(LaneType::BoundaryLanes)
     , typeColors_()
 
-    , osiMsgSaveThreshold_(1000)
+    , osiMsgSaveThreshold_(1000000)
     , srcPath_("./")
 
     , configFileName_(fileName)
@@ -60,20 +78,38 @@ AppConfig::Load()
     ch1IPAddress_  = root.elementsByTagName("CH1IpAddress").at(0).toElement().text();
     ch1PortNum_    = root.elementsByTagName("CH1PortNumber").at(0).toElement().text();
     ch1DataType_   = (DataType)root.elementsByTagName("CH1DataType").at(0).toElement().text().toInt();
+    ch1FMURxCheck_ = root.elementsByTagName("CH1FMURxCheck").at(0).toElement().text() == "1" ? true : false;
+    ch1LoadFMURx_  = root.elementsByTagName("CH1LoadFMURx").at(0).toElement().text();
     ch1LoadFile_   = root.elementsByTagName("CH1LoadFile").at(0).toElement().text();
     ch1PlaybackDataType_ = (DataType)root.elementsByTagName("CH1PlaybackDataType").at(0).toElement().text().toInt();
     ch1DeltaDelay_       = root.elementsByTagName("CH1DeltaDelay").at(0).toElement().text().toInt();
     ch1EnableSendOut_    = root.elementsByTagName("CH1EnableSendOut").at(0).toElement().text() == "1" ? true : false;
     ch1SendOutPortNum_   = root.elementsByTagName("CH1SendOutPortNumber").at(0).toElement().text();
+    ch1FMUTxCheck_       = root.elementsByTagName("CH1FMUTxCheck").at(0).toElement().text() == "1" ? true : false;
+    ch1LoadFMUTx_        = root.elementsByTagName("CH1LoadFMUTx").at(0).toElement().text();
+    ch1ShowFOV_          = root.elementsByTagName("CH1ShowFOV").at(0).toElement().text() == "1" ? true : false;
+    ch1MinRadius_        = root.elementsByTagName("CH1MinRadius").at(0).toElement().text().toFloat();
+    ch1MaxRadius_        = root.elementsByTagName("CH1MaxRadius").at(0).toElement().text().toFloat();
+    ch1AzimuthPos_       = root.elementsByTagName("CH1AzimuthPos").at(0).toElement().text().toFloat();
+    ch1AzimuthNeg_       = root.elementsByTagName("CH1AzimuthNeg").at(0).toElement().text().toFloat();
 
     ch2IPAddress_  = root.elementsByTagName("CH2IpAddress").at(0).toElement().text();
     ch2PortNum_    = root.elementsByTagName("CH2PortNumber").at(0).toElement().text();
     ch2DataType_   = (DataType)root.elementsByTagName("CH2DataType").at(0).toElement().text().toInt();
+    ch2FMURxCheck_ = root.elementsByTagName("CH2FMUCheck").at(0).toElement().text() == "1" ? true : false;
+    ch2LoadFMURx_  = root.elementsByTagName("CH2LoadFMU").at(0).toElement().text();
     ch2LoadFile_   = root.elementsByTagName("CH2LoadFile").at(0).toElement().text();
     ch2PlaybackDataType_ = (DataType)root.elementsByTagName("CH2PlaybackDataType").at(0).toElement().text().toInt();
     ch2DeltaDelay_       = root.elementsByTagName("CH2DeltaDelay").at(0).toElement().text().toInt();
     ch2EnableSendOut_    = root.elementsByTagName("CH2EnableSendOut").at(0).toElement().text() == "1" ? true : false;
     ch2SendOutPortNum_   = root.elementsByTagName("CH2SendOutPortNumber").at(0).toElement().text();
+    ch2FMUTxCheck_       = root.elementsByTagName("CH2FMUTxCheck").at(0).toElement().text() == "1" ? true : false;
+    ch2LoadFMUTx_        = root.elementsByTagName("CH2LoadFMUTx").at(0).toElement().text();
+    ch2ShowFOV_          = root.elementsByTagName("CH2ShowFOV").at(0).toElement().text() == "1" ? true : false;
+    ch2MinRadius_        = root.elementsByTagName("CH2MinRadius").at(0).toElement().text().toFloat();
+    ch2MaxRadius_        = root.elementsByTagName("CH2MaxRadius").at(0).toElement().text().toFloat();
+    ch2AzimuthPos_       = root.elementsByTagName("CH2AzimuthPos").at(0).toElement().text().toFloat();
+    ch2AzimuthNeg_       = root.elementsByTagName("CH2AzimuthNeg").at(0).toElement().text().toFloat();
 
     combineChannel_    = root.elementsByTagName("CombineChannel").at(0).toElement().text() == "1" ? true : false;
     showGrid_          = root.elementsByTagName("ShowGrid").at(0).toElement().text() == "1" ? true : false;
@@ -116,20 +152,38 @@ AppConfig::Save()
     writer.writeTextElement("CH1IpAddress", ch1IPAddress_);
     writer.writeTextElement("CH1PortNumber", ch1PortNum_);
     writer.writeTextElement("CH1DataType", QString::number(static_cast<int>(ch1DataType_)));
+    writer.writeTextElement("CH1FMURxCheck", QString::number(ch1FMURxCheck_));
+    writer.writeTextElement("CH1LoadFMURx", ch1LoadFMURx_);
     writer.writeTextElement("CH1LoadFile", ch1LoadFile_);
     writer.writeTextElement("CH1PlaybackDataType", QString::number(static_cast<int>(ch1PlaybackDataType_)));
     writer.writeTextElement("CH1DeltaDelay", QString::number(static_cast<int>(ch1DeltaDelay_)));
     writer.writeTextElement("CH1EnableSendOut", QString::number(ch1EnableSendOut_));
     writer.writeTextElement("CH1SendOutPortNumber", ch1SendOutPortNum_);
+    writer.writeTextElement("CH1FMUTxCheck", QString::number(ch1FMUTxCheck_));
+    writer.writeTextElement("CH1LoadFMUTx", ch1LoadFMUTx_);
+    writer.writeTextElement("CH1ShowFOV", QString::number(ch1ShowFOV_));
+    writer.writeTextElement("CH1MinRadius", QString::number(static_cast<float>(ch1MinRadius_)));
+    writer.writeTextElement("CH1MaxRadius", QString::number(static_cast<float>(ch1MaxRadius_)));
+    writer.writeTextElement("CH1AzimuthPos", QString::number(static_cast<float>(ch1AzimuthPos_)));
+    writer.writeTextElement("CH1AzimuthNeg", QString::number(static_cast<float>(ch1AzimuthNeg_)));
 
     writer.writeTextElement("CH2IpAddress", ch2IPAddress_);
     writer.writeTextElement("CH2PortNumber", ch2PortNum_);
     writer.writeTextElement("CH2DataType", QString::number(static_cast<int>(ch2DataType_)));
+    writer.writeTextElement("CH2FMUCheck", QString::number(ch2FMURxCheck_));
+    writer.writeTextElement("CH2LoadFMU", ch2LoadFMURx_);
     writer.writeTextElement("CH2LoadFile", ch2LoadFile_);
     writer.writeTextElement("CH2PlaybackDataType", QString::number(static_cast<int>(ch2PlaybackDataType_)));
     writer.writeTextElement("CH2DeltaDelay", QString::number(static_cast<int>(ch2DeltaDelay_)));
     writer.writeTextElement("CH2EnableSendOut", QString::number(ch2EnableSendOut_));
     writer.writeTextElement("CH2SendOutPortNumber", ch2SendOutPortNum_);
+    writer.writeTextElement("CH2FMUTxCheck", QString::number(ch2FMUTxCheck_));
+    writer.writeTextElement("CH2LoadFMUTx", ch2LoadFMUTx_);
+    writer.writeTextElement("CH2ShowFOV", QString::number(ch2ShowFOV_));
+    writer.writeTextElement("CH2MinRadius", QString::number(static_cast<float>(ch2MinRadius_)));
+    writer.writeTextElement("CH2MaxRadius", QString::number(static_cast<float>(ch2MaxRadius_)));
+    writer.writeTextElement("CH2AzimuthPos", QString::number(static_cast<float>(ch2AzimuthPos_)));
+    writer.writeTextElement("CH2AzimuthNeg", QString::number(static_cast<float>(ch2AzimuthNeg_)));
 
     writer.writeTextElement("CombineChannel", QString::number(combineChannel_));
     writer.writeTextElement("ShowGrid", QString::number(showGrid_));
diff --git a/src/fmureceiver.cpp b/src/fmureceiver.cpp
new file mode 100644
index 0000000..e34588d
--- /dev/null
+++ b/src/fmureceiver.cpp
@@ -0,0 +1,292 @@
+#include "fmureceiver.h"
+
+
+
+/**
+*  local functions
+*/
+static void fmuWrapperLogger(jm_callbacks* c, jm_string module, jm_log_level_enu_t log_level, jm_string message)
+{
+    switch (log_level)
+    {
+        case jm_log_level_fatal:
+            qDebug() << (message);
+            break;
+        case jm_log_level_error:
+        case jm_log_level_warning:
+            qDebug() << message;
+            break;
+        case jm_log_level_nothing:
+        case jm_log_level_info:
+        case jm_log_level_verbose:
+        case jm_log_level_debug:
+        case jm_log_level_all:
+            qDebug() << message;
+            break;
+    }
+}
+
+static void* decode_integer_to_pointer(fmi2_integer_t hi, fmi2_integer_t lo)
+{
+#if PTRDIFF_MAX == INT64_MAX
+    union addrconv
+    {
+        struct
+        {
+            int lo;
+            int hi;
+        } base;
+        unsigned long long address;
+    } myaddr;
+    myaddr.base.lo = lo;
+    myaddr.base.hi = hi;
+    return reinterpret_cast<void*>(myaddr.address);
+#elif PTRDIFF_MAX == INT32_MAX
+    return reinterpret_cast<void*>(lo);
+#else
+#error "Cannot determine 32bit or 64bit environment!"
+#endif
+}
+
+FMUReceiver::FMUReceiver()
+    : IMessageSource()
+    , isRunning_(false)
+    , isThreadTerminated_(false)
+    , currentDataType_(DataType::Groundtruth)
+{
+}
+
+void FMUReceiver::ConnectRequested(const QString &ipAddress, const QString &port, const QString& fmuPath, DataType dataType)
+{
+    if (!fmuPath.isEmpty())
+    {
+        logLevel_ = LogLevel::Warn;
+        ip_ = ipAddress.toStdString();
+        port_ = port.toStdString();
+        FMUPath_ = fmuPath.toStdString();
+        tmpPath_ = FMUPath_.substr(0, FMUPath_.find_last_of("/\\"));
+        currentDataType_ = dataType;
+
+        // Start initialization
+        if (!initializeFMUWrapper())
+        {
+            QString message = "FMU Wrapper initialization failed!";
+            emit Disconnected(message);
+            return;
+        }
+
+        fmu_ = fmi2_import_parse_xml(context_, tmpPath_.c_str(), 0);
+
+        if (!fmu_)
+        {
+            QString message = "Error parsing modeldescription.xml of fmu ";
+            emit Disconnected(message);
+            return;
+        }
+
+        if (fmi2_import_get_fmu_kind(fmu_) != fmi2_fmu_kind_cs)
+        {
+            QString message = "Only Co-Simulation 2.0 is supported by this code";
+            emit Disconnected(message);
+            return;
+        }
+
+        if (!importFMU())
+        {
+            QString message = "Could not create the DLL loading mechanism (error: " + QString(fmi2_import_get_last_error(fmu_)) + ").";
+            emit Disconnected(message);
+            return;
+        }
+
+        if (!initializeFMU())
+        {
+            QString message = "FMU initialization failed:" + QString(fmi2_import_get_last_error(fmu_));
+            emit Disconnected(message);
+            return;
+        }
+    }
+    else
+    {
+        QString message = "fmu_path is empty";
+        emit Disconnected(message);
+        return;
+    }
+
+    isPaused_ = false;
+    isRunning_ = true;
+    QtConcurrent::run(this, &FMUReceiver::ReceiveLoop);
+
+    isConnected_ = true;
+    emit Connected(currentDataType_);
+}
+
+void
+FMUReceiver::DisconnectRequested()
+{
+    if (!isConnected_)
+        return;
+
+    isThreadTerminated_ = false;
+    isRunning_ = false;
+
+    if(fmu_ != nullptr)
+    {
+        fmi2_import_terminate(fmu_);
+        fmi2_import_free(fmu_);
+        fmi_import_free_context(context_);
+    }
+
+    while (!isThreadTerminated_)
+    {
+        QThread::msleep(50);
+    }
+
+    isConnected_ = false;
+    emit Disconnected();
+}
+
+void
+FMUReceiver::ReceiveLoop()
+{
+    while (isRunning_)
+    {
+        bool msgReceived = false;
+
+        if (!isPaused_)
+        {
+            fmi2_boolean_t newStep = fmi2_true;
+            time_t timeC = time(NULL);
+            fmiStatus_ = fmi2_import_do_step(fmu_, (fmi2_real_t)timeC, hStep_, newStep);
+
+            osi::SensorData sd;
+            if (get_fmi_sensor_data_in(sd))
+            {
+                msgReceived = true;
+                emit MessageReceived(sd, currentDataType_);
+            }
+            else
+            {
+//                qDebug() << "FMU SensorData receiving error";
+            }
+        }
+
+        if (!msgReceived)
+        {
+            QThread::msleep(5);
+        }
+    }
+
+    isThreadTerminated_ = true;
+}
+
+bool
+FMUReceiver::initializeFMUWrapper()
+{
+    // TODO: config or use default values?
+    callbacks_.malloc = malloc;
+    callbacks_.calloc = calloc;
+    callbacks_.realloc = realloc;
+    callbacks_.free = free;
+    callbacks_.logger = fmuWrapperLogger;
+    if (logLevel_ == LogLevel::Warn)
+    {
+        callbacks_.log_level = jm_log_level_warning;
+    }
+    else
+    {
+        callbacks_.log_level = jm_log_level_debug;
+    }
+    callbacks_.context = 0;
+
+    context_ = fmi_import_allocate_context(&callbacks_);
+    fmi_version_enu_t version = fmi_import_get_fmi_version(context_, FMUPath_.c_str(), tmpPath_.c_str());
+
+    if (version != fmi_version_2_0_enu)
+    {
+        qDebug() << "The code only supports version 2.0";
+        return false;
+    }
+    return true;
+}
+
+bool
+FMUReceiver::importFMU()
+{
+    // TODO: config or use default values?
+    callBackFunctions_.logger = fmi2_log_forwarding;
+    callBackFunctions_.allocateMemory = calloc;
+    callBackFunctions_.freeMemory = free;
+    callBackFunctions_.componentEnvironment = fmu_;
+
+    jmStatus_ = fmi2_import_create_dllfmu(fmu_, fmi2_fmu_kind_cs, &callBackFunctions_);
+
+    if (jmStatus_ == jm_status_error)
+    {
+        return false;
+    }
+    return true;
+}
+
+bool
+FMUReceiver::initializeFMU()
+{
+    // TODO: config or use default values?
+    // TODO: alternative solution for start values & verify parameters for setup and initiliazation functions
+    // start values
+    fmi2_string_t instanceName = "Test CS model instance";
+    fmi2_boolean_t visible = fmi2_false;
+    fmi2_real_t relativeTol = 1e-4;
+
+    tStart_ = 0;
+    tCurrent_ = tStart_;
+    fmi2_boolean_t StopTimeDefined = fmi2_false;
+    // Do we need it?
+    fmi2_string_t fmuGUID;
+    fmuGUID = fmi2_import_get_GUID(fmu_);
+
+    jmStatus_ = fmi2_import_instantiate(fmu_, instanceName, fmi2_cosimulation, FMUPath_.c_str(), visible);
+
+    fmi2_value_reference_t vr[2];
+    vr[0] = fmi2_import_get_variable_vr(fmi2_import_get_variable_by_name(fmu_, FMI_SENDER_NAME));
+    vr[1] = fmi2_import_get_variable_vr(fmi2_import_get_variable_by_name(fmu_, FMI_RECEIVER_NAME));
+    fmi2_boolean_t booleanVars_[2];
+    booleanVars_[0] = false; // Sender
+    booleanVars_[1] = true;  // Receiver
+    fmi2_import_set_boolean(fmu_, vr, 2, booleanVars_);
+
+    vr[0] = fmi2_import_get_variable_vr(fmi2_import_get_variable_by_name(fmu_, FMI_ADDRESS_NAME));
+    vr[1] = fmi2_import_get_variable_vr(fmi2_import_get_variable_by_name(fmu_, FMI_PORT_NAME));
+    fmi2_string_t stringVars_[2];
+    stringVars_[0] = ip_.c_str();
+    stringVars_[1] = port_.c_str();
+    fmi2_import_set_string(fmu_, vr, 2, stringVars_);
+
+    fmiStatus_ = fmi2_import_setup_experiment(fmu_, fmi2_true, relativeTol, tStart_, StopTimeDefined, tEnd_);
+    fmiStatus_ = fmi2_import_enter_initialization_mode(fmu_);
+    fmiStatus_ = fmi2_import_exit_initialization_mode(fmu_);
+
+    vr_[FMI_INTEGER_SENSORDATA_OUT_BASELO_IDX] = fmi2_import_get_variable_vr(fmi2_import_get_variable_by_name(fmu_, FMI_DATA_OUT_BASELO_NAME));
+    vr_[FMI_INTEGER_SENSORDATA_OUT_BASEHI_IDX] = fmi2_import_get_variable_vr(fmi2_import_get_variable_by_name(fmu_, FMI_DATA_OUT_BASEHI_NAME));
+    vr_[FMI_INTEGER_SENSORDATA_OUT_SIZE_IDX] = fmi2_import_get_variable_vr(fmi2_import_get_variable_by_name(fmu_, FMI_DATA_OUT_SIZE_NAME));
+
+    return true;
+}
+
+bool
+FMUReceiver::get_fmi_sensor_data_in(osi::SensorData& data)
+{
+    fmi2_integer_t integerVars[FMI_INTEGER_OUT_VARS];
+    fmiStatus_ = fmi2_import_get_integer(fmu_, vr_, FMI_INTEGER_OUT_VARS, integerVars);
+    if (integerVars[FMI_INTEGER_SENSORDATA_OUT_SIZE_IDX] > 0)
+    {
+        void* buffer = decode_integer_to_pointer(integerVars[FMI_INTEGER_SENSORDATA_OUT_BASEHI_IDX],
+                                                 integerVars[FMI_INTEGER_SENSORDATA_OUT_BASELO_IDX]);
+
+        return data.ParseFromArray(buffer, integerVars[FMI_INTEGER_SENSORDATA_OUT_SIZE_IDX]);
+    }
+
+    return false;
+}
+
+
+
diff --git a/src/glfieldofview.cpp b/src/glfieldofview.cpp
new file mode 100644
index 0000000..d74edf1
--- /dev/null
+++ b/src/glfieldofview.cpp
@@ -0,0 +1,60 @@
+#include "glfieldofview.h"
+#include <QtMath>
+
+
+GLFieldOfView::GLFieldOfView(QOpenGLFunctions_4_3_Core* functions,
+                             const float minRadius,
+                             const float maxRadius,
+                             const float azimuthPosAngle,
+                             const float azimuthNegAngle)
+    : GLObject(GL_LINE_LOOP, functions)
+{
+    UpdateParameter(minRadius, maxRadius, azimuthPosAngle, azimuthNegAngle);
+}
+
+
+void
+GLFieldOfView::UpdateParameter(const float minRadius,
+                               const float maxRadius,
+                               const float azimuthPosAngle,
+                               const float azimuthNegAngle)
+{
+    vertices_.clear();
+
+    float angle = azimuthNegAngle;
+
+    int minSlices = 50;
+    int maxSlices = 200;
+    float minAngleSteps = (azimuthPosAngle - azimuthNegAngle) / (float)minSlices;
+    float maxAngleSteps = (azimuthPosAngle - azimuthNegAngle) / (float)maxSlices;
+
+    for (int i = 0; i <= minSlices; ++i)
+    {
+        float x = minRadius * sin(angle);
+        float z = minRadius * cos(angle);
+        vertices_ << QVector3D(x, 0, z);
+
+        angle += minAngleSteps;
+    }
+
+    QVector<QVector3D> outCurve;
+    angle = azimuthNegAngle;
+
+    for (int i = 0; i <= maxSlices; ++i)
+    {
+        float x = maxRadius * sin(angle);
+        float z = maxRadius * cos(angle);
+        outCurve << QVector3D(x, 0, z);
+
+        angle += maxAngleSteps;
+    }
+
+    for (int i = outCurve.size() - 1; i >= 0; --i)
+    {
+        vertices_ << outCurve[i];
+    }
+}
+
+
+
+
diff --git a/src/glvehicle.cpp b/src/glvehicle.cpp
index d2a3c4b..3c1ddb0 100644
--- a/src/glvehicle.cpp
+++ b/src/glvehicle.cpp
@@ -16,3 +16,17 @@ GLVehicle::GLVehicle(QOpenGLFunctions_4_3_Core* functions,
               << QVector3D(xHalfExtend, 0, -zHalfExtend)
               << QVector3D(-xHalfExtend, 0, -zHalfExtend);
 }
+
+GLVehicle::GLVehicle(QOpenGLFunctions_4_3_Core* functions,
+                     QString id,
+                     QVector3D v0,
+                     QVector3D v1,
+                     QVector3D v2,
+                     QVector3D v3)
+    : GLObject(GL_QUADS, functions, id)
+{
+    vertices_ << v0 << v1 << v2 << v3;
+}
+
+
+
diff --git a/src/glwidget.cpp b/src/glwidget.cpp
index 3b25fc2..a40b4cc 100644
--- a/src/glwidget.cpp
+++ b/src/glwidget.cpp
@@ -3,6 +3,7 @@
 #include "gltriangle.h"
 #include "glpoint.h"
 #include "global.h"
+#include "glfieldofview.h"
 #include "customtreewidgetitem.h"
 
 //#include <QMutex>
@@ -40,6 +41,8 @@ GLWidget::GLWidget(QWidget* parent,
     , simulationObjects_()
     , shaderProgram_()
     , treeNodes_(treeNodes)
+    , showFOV_(false)
+    , objFOV_(nullptr)
 {
     installEventFilter(this);
 }
@@ -50,6 +53,24 @@ GLWidget::UpdateIMessageSource(IMessageSource* msgSource)
     msgSource_ = msgSource;
 }
 
+void
+GLWidget::UpdateFOVPaint(const bool showFOV)
+{
+    showFOV_ = showFOV;
+    this->update();
+}
+
+void
+GLWidget::UpdateFOVParam(const float minRadius,
+                         const float maxRadius,
+                         const float azimuthPosAngle,
+                         const float azimuthNegAngle)
+{
+    objFOV_->UpdateParameter(minRadius, maxRadius, azimuthPosAngle, azimuthNegAngle);
+    objFOV_->UpdateVertexBuffer();
+    UpdateFOVPaint(true);
+}
+
 void
 GLWidget::initializeGL()
 {
@@ -110,8 +131,12 @@ GLWidget::initializeGL()
     center->Init();
     staticObjects_.append(center);
 
-    isOpenGLInitizalized_ = true;
+    objFOV_ = new GLFieldOfView(this, 0, 1, 1, -1);
+    objFOV_->SetColor(Qt::yellow);
+    objFOV_->SetOrientation(M_PI_2);
+    objFOV_->Init();
 
+    isOpenGLInitizalized_ = true;
 }
 
 void
@@ -135,7 +160,8 @@ GLWidget::paintGL()
     // Afterwards the lanes, then the vehicles etc. are drawn, the texts are the last ones.
     foreach (GLObject* staticObject, staticObjects_)
     {
-        RenderObject(staticObject);
+        if(staticObject->isVisible_)
+            RenderObject(staticObject);
     }
 
     //mutex2.lock();
@@ -143,26 +169,35 @@ GLWidget::paintGL()
     {
         foreach (Lane* lane, lanes_)
         {
-            foreach (GLLaneMarking* laneMarking, lane->glLaneMarkings_)
+            if(lane->isVisible_)
             {
-                RenderObject(laneMarking);
+                foreach (GLLaneMarking* laneMarking, lane->glLaneMarkings_)
+                {
+                    RenderObject(laneMarking);
+                }
             }
         }
     }
-        //mutex2.unlock();
+    //mutex2.unlock();
 
     // TODO: Mutex for object list?
     //mutex.lock();
     foreach (GLObject* object, simulationObjects_)
     {
-        RenderObject(object);
+        if(object->isVisible_)
+            RenderObject(object);
     }
+
     foreach (GLObject* object, simulationObjects_)
     {
-        if (object->GetTextObject()) {
+        if (object->GetTextObject() != nullptr && object->GetTextObject()->isVisible_)
+        {
             RenderObject(object->GetTextObject());
         }
     }
+
+    if(showFOV_)
+        RenderObject(objFOV_);
     //mutex.unlock();
 }
 
@@ -413,7 +448,25 @@ GLWidget::MessageParsed(const Message& message,
 
                     object->isVisible_ = true;
                     object->SetPosition(msg.position, false);
-                    object->SetOrientation(msg.orientation);
+
+                    if(msg.basePoly.size() == 4)
+                    {
+                        object->vertices_.clear();
+                        object->vertices_ << msg.basePoly[0] << msg.basePoly[1] << msg.basePoly[2] << msg.basePoly[3];
+                        object->SetOrientation(msg.orientation);
+                    }
+                    else
+                    {
+                        osi::Dimension3d dimension = msg.dimension;
+                        object->vertices_.clear();
+                        object->vertices_ << QVector3D(-dimension.width()/2, 0, dimension.length()/2)
+                                          << QVector3D(dimension.width()/2, 0, dimension.length()/2)
+                                          << QVector3D(dimension.width()/2, 0, -dimension.length()/2)
+                                          << QVector3D(-dimension.width()/2, 0, -dimension.length()/2);
+                        object->SetOrientation(msg.orientation + M_PI_2);
+                    }
+                    object->UpdateVertexBuffer();
+
                     if (object->GetTextObject())
                     {
                         object->GetTextObject()->isVisible_ = true;
@@ -451,7 +504,10 @@ GLWidget::MessageParsed(const Message& message,
                  type == ObjectType::MotorBike ||
                  type == ObjectType::Bicycle )
             {
-                newObject = new GLVehicle(this, msg.id, msg.dimension.length(), msg.dimension.width());
+                if(msg.basePoly.size() == 4)
+                    newObject = new GLVehicle(this, msg.id, msg.basePoly[0], msg.basePoly[1], msg.basePoly[2], msg.basePoly[3]);
+                else
+                    newObject = new GLVehicle(this, msg.id, msg.dimension.length(), msg.dimension.width());
             }
             else
             {
diff --git a/src/main.cpp b/src/main.cpp
index 4d16841..3115d70 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -21,6 +21,7 @@ int main(int argc, char *argv[])
     QApplication app(argc, argv);
     MainWindow window;
     window.show();
+    window.LocalUpdate();
 
     return app.exec();
 }
diff --git a/src/mainwindow.cpp b/src/mainwindow.cpp
index 94d3cc1..df22ee4 100644
--- a/src/mainwindow.cpp
+++ b/src/mainwindow.cpp
@@ -2,6 +2,7 @@
 #include "ui_mainwindow.h"
 #include "customtreewidgetitem.h"
 #include "tcpreceiver.h"
+#include "fmureceiver.h"
 #include "glwidget.h"
 #include "global.h"
 #include "osiparser.h"
@@ -46,13 +47,15 @@ MainWindow::MainWindow(QWidget *parent)
     , ui_(new Ui::MainWindow)
 
     , glWidget_(nullptr)
-    , receiver_(new TCPReceiver())
-    , reader_(new OsiReader(&config_.ch1DeltaDelay_, config_.ch1EnableSendOut_, config_.ch1SendOutPortNum_.toStdString()))
+    , tcpReceiver_(new TCPReceiver())
+    , fmuReceiver_(new FMUReceiver())
+    , reader_(new OsiReader(&config_.ch1DeltaDelay_, config_.ch1EnableSendOut_, config_.ch1SendOutPortNum_.toStdString(), config_.ch1FMUTxCheck_, config_.ch1LoadFMUTx_.toStdString()))
     , osiparser_(new OsiParser(config_.osiMsgSaveThreshold_))
 
     , glWidget2_(nullptr)
-    , receiver2_(new TCPReceiver())
-    , reader2_(new OsiReader(&config_.ch2DeltaDelay_, config_.ch2EnableSendOut_, config_.ch2SendOutPortNum_.toStdString()))
+    , tcpReceiver2_(new TCPReceiver())
+    , fmuReceiver2_(new FMUReceiver())
+    , reader2_(new OsiReader(&config_.ch2DeltaDelay_, config_.ch2EnableSendOut_, config_.ch2SendOutPortNum_.toStdString(), config_.ch2FMUTxCheck_, config_.ch2LoadFMUTx_.toStdString()))
     , osiparser2_(new OsiParser(config_.osiMsgSaveThreshold_))
 
     , colorWidgets_()
@@ -66,27 +69,22 @@ MainWindow::MainWindow(QWidget *parent)
 {
     ui_->setupUi(this);
 
-    QPixmap logo(config_.srcPath_ + "Resources/Images/BMW_Logo.png");
-    ui_->logoLabel->setPixmap(logo);
+//    QPixmap logo(config_.srcPath_ + "Resources/Images/BMW_Logo.png");
+//    ui_->logoLabel->setPixmap(logo);
 
     InitObjectTree();
     InitObjectTree2();
     ui_->objectTree->header()->setSortIndicator(0, Qt::AscendingOrder);
     ui_->objectTree_2->header()->setSortIndicator(0, Qt::AscendingOrder);
 
-    glWidget_ = new GLWidget(this, receiver_, treeNodes_, config_);
+    glWidget_ = new GLWidget(this, tcpReceiver_, treeNodes_, config_);
     ui_->glLayout->addWidget(glWidget_);
     glWidget_->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
 
-    glWidget2_ = new GLWidget(this, receiver2_, treeNodes2_, config_);
+    glWidget2_ = new GLWidget(this, tcpReceiver2_, treeNodes2_, config_);
     ui_->glLayout_2->addWidget(glWidget2_);
     glWidget2_->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
 
-    ConnectSignalsToSlots();
-    InitComboBoxes();
-    InitLaneTypeMenu();
-    InitLoadConfigure();
-
     QSurfaceFormat format;
     format.setDepthBufferSize(24);
     format.setSamples(4);
@@ -95,6 +93,15 @@ MainWindow::MainWindow(QWidget *parent)
     glWidget_->setFormat(format);
     glWidget2_->setFormat(format);
 
+    ui_->saveOSIMessage->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
+    ui_->saveOSIMessage->setIcon(playIcon_);
+    ui_->saveOSIMessage_2->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
+    ui_->saveOSIMessage_2->setIcon(playIcon_);
+
+    ConnectSignalsToSlots();
+    InitComboBoxes();
+    InitLaneTypeMenu();
+    InitLoadConfigure();
     InitLegendGroupBox();
     ToggleSrcGroups();
     ToggleSrcGroups2();
@@ -102,15 +109,21 @@ MainWindow::MainWindow(QWidget *parent)
     TogglePlayPauseButton2();
     EnableSlider(false);
     EnableSlider2(false);
-
-    ui_->saveOSIMessage->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
-    ui_->saveOSIMessage->setIcon(playIcon_);
-    ui_->saveOSIMessage_2->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
-    ui_->saveOSIMessage_2->setIcon(playIcon_);
+    UpdateGLWidgetMessageSource();
+    UpdateGLWidgetMessageSource2();
 
     QTimer::singleShot(1000, this, SLOT(showMaximized()));
 }
 
+void
+MainWindow::LocalUpdate()
+{
+    ShowFOV();
+    ShowFOV2();
+    ToggleShowFOV();
+    ToggleShowFOV2();
+}
+
 MainWindow::~MainWindow()
 {
     // Call all deletes in reversed order!
@@ -118,8 +131,10 @@ MainWindow::~MainWindow()
     delete glWidget2_;
     delete osiparser_;
     delete osiparser2_;
-    delete receiver_;
-    delete receiver2_;
+    delete tcpReceiver_;
+    delete fmuReceiver_;
+    delete tcpReceiver2_;
+    delete fmuReceiver2_;
     delete reader_;
     delete reader2_;
     delete ui_;
@@ -131,6 +146,7 @@ MainWindow::RBConnection()
     isSrcConnection_ = true;
     UpdateGLWidgetMessageSource();
     ToggleSrcGroups();
+    ToggleShowFOV();
 }
 
 void
@@ -139,6 +155,7 @@ MainWindow::RBConnection2()
     isSrcConnection2_ = true;
     UpdateGLWidgetMessageSource2();
     ToggleSrcGroups2();
+    ToggleShowFOV2();
 }
 
 void
@@ -147,6 +164,7 @@ MainWindow::RBPlayback()
     isSrcConnection_ = false;
     UpdateGLWidgetMessageSource();
     ToggleSrcGroups();
+    ToggleShowFOV();
 }
 
 void
@@ -155,11 +173,221 @@ MainWindow::RBPlayback2()
     isSrcConnection2_ = false;
     UpdateGLWidgetMessageSource2();
     ToggleSrcGroups2();
+    ToggleShowFOV2();
+}
+
+void
+MainWindow::CBDataTypeCon(int index)
+{
+    if(index == 1)
+    {
+        ui_->showFOV->setEnabled(true);
+        glWidget_->UpdateFOVPaint(ui_->showFOV->isChecked());
+        EnableShowFOV(!ui_->showFOV->isChecked());
+    }
+    else
+    {
+        ui_->showFOV->setEnabled(false);
+        glWidget_->UpdateFOVPaint(false);
+        EnableShowFOV(false);
+    }
+}
+
+void
+MainWindow::CBDataTypePlay(int index)
+{
+    if(index == 1)
+    {
+        ui_->showFOV->setEnabled(true);
+        glWidget_->UpdateFOVPaint(ui_->showFOV->isChecked());
+        EnableShowFOV(!ui_->showFOV->isChecked());
+    }
+    else
+    {
+        ui_->showFOV->setEnabled(false);
+        glWidget_->UpdateFOVPaint(false);
+        EnableShowFOV(false);
+    }
+}
+
+void
+MainWindow::CBDataTypeCon2(int index)
+{
+    if(index == 1)
+    {
+        ui_->showFOV_2->setEnabled(true);
+        glWidget2_->UpdateFOVPaint(ui_->showFOV_2->isChecked());
+        EnableShowFOV2(!ui_->showFOV_2->isChecked());
+    }
+    else
+    {
+        ui_->showFOV_2->setEnabled(false);
+        glWidget2_->UpdateFOVPaint(false);
+        EnableShowFOV2(false);
+    }
+}
+
+void
+MainWindow::CBDataTypePlay2(int index)
+{
+    if(index == 1)
+    {
+        ui_->showFOV_2->setEnabled(true);
+        glWidget2_->UpdateFOVPaint(ui_->showFOV_2->isChecked());
+        EnableShowFOV2(!ui_->showFOV_2->isChecked());
+    }
+    else
+    {
+        ui_->showFOV_2->setEnabled(false);
+        glWidget2_->UpdateFOVPaint(false);
+        EnableShowFOV2(false);
+    }
+}
+
+void
+MainWindow::ToggleShowFOV()
+{
+    if(isSrcConnection_)
+        CBDataTypeCon(ui_->dataType->currentIndex());
+    else
+        CBDataTypePlay(ui_->playbackDataType->currentIndex());
+}
+
+void
+MainWindow::ToggleShowFOV2()
+{
+    if(isSrcConnection2_)
+        CBDataTypeCon2(ui_->dataType_2->currentIndex());
+    else
+        CBDataTypePlay2(ui_->playbackDataType_2->currentIndex());
+}
+
+void
+MainWindow::CheckBoxFMURx()
+{
+    bool enableFmu = ui_->checkBoxFMURx->isChecked();
+    ui_->loadFMURx->setEnabled(enableFmu);
+    ui_->loadFMURxBrowse->setEnabled(enableFmu);
+    UpdateGLWidgetMessageSource();
+}
+
+void
+MainWindow::CheckBoxFMURx2()
+{
+    bool enableFmu = ui_->checkBoxFMURx_2->isChecked();
+    ui_->loadFMURx_2->setEnabled(enableFmu);
+    ui_->loadFMURxBrowse_2->setEnabled(enableFmu);
+    UpdateGLWidgetMessageSource2();
+}
+
+void
+MainWindow::LoadFMURxEdited(const QString& text)
+{
+    ui_->loadFMURx->setText(text);
+    ui_->loadFMURx->setToolTip(text);
+}
+
+void
+MainWindow::LoadFMURxBrowse()
+{
+    QString fileName = ui_->loadFMURx->text();
+
+    fileName = QFileDialog::getOpenFileName(this,
+        tr("Load file"), fileName, tr("FMU Files (*.fmu)"));
+
+    if(!fileName.isEmpty())
+    {
+        ui_->loadFMURx->setText(fileName);
+        ui_->loadFMURx->setToolTip(fileName);
+    }
+}
+
+void
+MainWindow::LoadFMURxEdited2(const QString& text)
+{
+    ui_->loadFMURx_2->setText(text);
+    ui_->loadFMURx_2->setToolTip(text);
+}
+
+void
+MainWindow::LoadFMURxBrowse2()
+{
+    QString fileName = ui_->loadFMURx_2->text();
+
+    fileName = QFileDialog::getOpenFileName(this,
+        tr("Load file"), fileName, tr("FMU Files (*.fmu)"));
+
+    if(!fileName.isEmpty())
+    {
+        ui_->loadFMURx_2->setText(fileName);
+        ui_->loadFMURx_2->setToolTip(fileName);
+    }
+}
+
+void
+MainWindow::CheckBoxFMUTx()
+{
+    bool enableFmu = ui_->checkBoxFMUTx->isChecked();
+    ui_->loadFMUTx->setEnabled(enableFmu);
+    ui_->loadFMUTxBrowse->setEnabled(enableFmu);
+}
+
+void
+MainWindow::CheckBoxFMUTx2()
+{
+    bool enableFmu = ui_->checkBoxFMUTx_2->isChecked();
+    ui_->loadFMUTx_2->setEnabled(enableFmu);
+    ui_->loadFMUTxBrowse_2->setEnabled(enableFmu);
+}
+
+void
+MainWindow::LoadFMUTxEdited(const QString& text)
+{
+    ui_->loadFMUTx->setText(text);
+    ui_->loadFMUTx->setToolTip(text);
+}
+
+void
+MainWindow::LoadFMUTxBrowse()
+{
+    QString fileName = ui_->loadFMUTx->text();
+
+    fileName = QFileDialog::getOpenFileName(this,
+        tr("Load file"), fileName, tr("FMU Files (*.fmu)"));
+
+    if(!fileName.isEmpty())
+    {
+        ui_->loadFMUTx->setText(fileName);
+        ui_->loadFMUTx->setToolTip(fileName);
+    }
+}
+
+void
+MainWindow::LoadFMUTxEdited2(const QString& text)
+{
+    ui_->loadFMUTx_2->setText(text);
+    ui_->loadFMUTx_2->setToolTip(text);
+}
+
+void
+MainWindow::LoadFMUTxBrowse2()
+{
+    QString fileName = ui_->loadFMUTx_2->text();
+
+    fileName = QFileDialog::getOpenFileName(this,
+        tr("Load file"), fileName, tr("FMU Files (*.fmu)"));
+
+    if(!fileName.isEmpty())
+    {
+        ui_->loadFMUTx_2->setText(fileName);
+        ui_->loadFMUTx_2->setToolTip(fileName);
+    }
 }
 
 void
 MainWindow::LoadFileEdited(const QString& text)
 {
+    ui_->loadFile->setText(text);
     ui_->loadFile->setToolTip(text);
 }
 
@@ -181,6 +409,7 @@ MainWindow::LoadFileBrowse()
 void
 MainWindow::LoadFileEdited2(const QString& text)
 {
+    ui_->loadFile_2->setText(text);
     ui_->loadFile_2->setToolTip(text);
 }
 
@@ -202,13 +431,23 @@ MainWindow::LoadFileBrowse2()
 void
 MainWindow::EnableSendToNetwork()
 {
-    ui_->sendOutPortNum->setEnabled(ui_->enableSendToNetwork->checkState() == Qt::Checked);
+    bool enableSend = ui_->enableSendToNetwork->checkState() == Qt::Checked;
+    ui_->sendOutPortNum->setEnabled(enableSend);
+    bool enableFMU = ui_->checkBoxFMUTx->checkState() == Qt::Checked;
+    ui_->checkBoxFMUTx->setEnabled(enableSend);
+    ui_->loadFMUTx->setEnabled(enableSend && enableFMU);
+    ui_->loadFMUTxBrowse->setEnabled(enableSend && enableFMU);
 }
 
 void
 MainWindow::EnableSendToNetwork2()
 {
-    ui_->sendOutPortNum_2->setEnabled(ui_->enableSendToNetwork_2->checkState() == Qt::Checked);
+    bool enableSend = ui_->enableSendToNetwork_2->checkState() == Qt::Checked;
+    ui_->sendOutPortNum_2->setEnabled(enableSend);
+    bool enableFMU = ui_->checkBoxFMUTx_2->checkState() == Qt::Checked;
+    ui_->checkBoxFMUTx_2->setEnabled(enableSend);
+    ui_->loadFMUTx_2->setEnabled(enableSend && enableFMU);
+    ui_->loadFMUTxBrowse_2->setEnabled(enableSend && enableFMU);
 }
 
 void
@@ -350,6 +589,13 @@ MainWindow::CheckFieldsValidity()
         ui_->portNumber->text().toUInt(&success);
         if(success == false)
             errMsg += "  Port number should be valid integer!\n";
+
+        // Rx FMU file
+        if(ui_->checkBoxFMURx->isChecked() && QFileInfo::exists(ui_->loadFMURx->text()) == false)
+        {
+            success = false;
+            errMsg += "  Connection FMU file doesn't exist!\n";
+        }
     }
     else
     {
@@ -367,6 +613,15 @@ MainWindow::CheckFieldsValidity()
             if(success == false)
                 errMsg += "  Port number should be valid positive integer!\n";
         }
+
+        // Tx FMU file
+        if( ui_->enableSendToNetwork->isChecked() &&
+            ui_->checkBoxFMUTx->isChecked() &&
+            QFileInfo::exists(ui_->loadFMUTx->text()) == false )
+        {
+            success = false;
+            errMsg += "  Send FMU file doesn't exist!\n";
+        }
     }
 
     if(errMsg.isEmpty() == false)
@@ -397,6 +652,13 @@ MainWindow::CheckFieldsValidity2()
         ui_->portNumber_2->text().toUInt(&success);
         if(success == false)
             errMsg += "  Port number should be valid integer!\n";
+
+        // Rx FMU file
+        if(ui_->checkBoxFMURx_2->isChecked() && QFileInfo::exists(ui_->loadFMURx_2->text()) == false)
+        {
+            success = false;
+            errMsg += "  Connection FMU file doesn't exist!\n";
+        }
     }
     else
     {
@@ -414,6 +676,15 @@ MainWindow::CheckFieldsValidity2()
             if(success == false)
                 errMsg += "  Port number should be valid positive integer!\n";
         }
+
+        // Tx FMU file
+        if( ui_->enableSendToNetwork_2->isChecked() &&
+            ui_->checkBoxFMUTx_2->isChecked() &&
+            QFileInfo::exists(ui_->loadFMUTx_2->text()) == false )
+        {
+            success = false;
+            errMsg += "  Send FMU file doesn't exist!\n";
+        }
     }
 
     if(errMsg.isEmpty() == false)
@@ -443,6 +714,23 @@ MainWindow::ConnectSignalsToSlots()
     connect(ui_->rbConnection_2, &QRadioButton::clicked, this, &MainWindow::RBConnection2);
     connect(ui_->rbPlayback_2,   &QRadioButton::clicked, this, &MainWindow::RBPlayback2);
 
+    // fmu rx
+    connect(ui_->checkBoxFMURx,     &QCheckBox::clicked,    this, &MainWindow::CheckBoxFMURx);
+    connect(ui_->checkBoxFMURx_2,   &QCheckBox::clicked,    this, &MainWindow::CheckBoxFMURx2);
+    connect(ui_->loadFMURx,         &QLineEdit::textEdited, this, &MainWindow::LoadFMURxEdited);
+    connect(ui_->loadFMURxBrowse,   &QPushButton::clicked,  this, &MainWindow::LoadFMURxBrowse);
+    connect(ui_->loadFMURx_2,       &QLineEdit::textEdited, this, &MainWindow::LoadFMURxEdited2);
+    connect(ui_->loadFMURxBrowse_2, &QPushButton::clicked,  this, &MainWindow::LoadFMURxBrowse2);
+
+
+    // fmu rx
+    connect(ui_->checkBoxFMUTx,     &QCheckBox::clicked,    this, &MainWindow::CheckBoxFMUTx);
+    connect(ui_->checkBoxFMUTx_2,   &QCheckBox::clicked,    this, &MainWindow::CheckBoxFMUTx2);
+    connect(ui_->loadFMUTx,         &QLineEdit::textEdited, this, &MainWindow::LoadFMUTxEdited);
+    connect(ui_->loadFMUTxBrowse,   &QPushButton::clicked,  this, &MainWindow::LoadFMUTxBrowse);
+    connect(ui_->loadFMUTx_2,       &QLineEdit::textEdited, this, &MainWindow::LoadFMUTxEdited2);
+    connect(ui_->loadFMUTxBrowse_2, &QPushButton::clicked,  this, &MainWindow::LoadFMUTxBrowse2);
+
     // load/save playback file
     connect(ui_->loadFile,         &QLineEdit::textEdited, this, &MainWindow::LoadFileEdited);
     connect(ui_->loadFileBrowse,   &QPushButton::clicked, this, &MainWindow::LoadFileBrowse);
@@ -450,7 +738,7 @@ MainWindow::ConnectSignalsToSlots()
     connect(ui_->loadFileBrowse_2, &QPushButton::clicked, this, &MainWindow::LoadFileBrowse2);
 
     // enable sent out
-    connect(ui_->enableSendToNetwork, &QCheckBox::clicked, this, &MainWindow::EnableSendToNetwork);
+    connect(ui_->enableSendToNetwork,   &QCheckBox::clicked, this, &MainWindow::EnableSendToNetwork);
     connect(ui_->enableSendToNetwork_2, &QCheckBox::clicked, this, &MainWindow::EnableSendToNetwork2);
 
     // Play/Pause
@@ -459,17 +747,33 @@ MainWindow::ConnectSignalsToSlots()
 
     // signals and slots related to connection status
     // If not queued, this signal will block the GUI. Same applies for Connect/Disconnect in TCPReceiver.
-    connect(this, &MainWindow::ConnectRequested, receiver_, &TCPReceiver::ConnectRequested, Qt::QueuedConnection);
-    connect(receiver_, &TCPReceiver::Connected, this, &MainWindow::Connected);
-    connect(receiver_, &TCPReceiver::Disconnected, this, &MainWindow::Disconnected);
-    connect(receiver_, &TCPReceiver::Connected, glWidget_, &GLWidget::Connected, Qt::DirectConnection);
-    connect(receiver_, &TCPReceiver::Disconnected, glWidget_, &GLWidget::Disconnected, Qt::DirectConnection);
-
-    connect(this, &MainWindow::ConnectRequested2, receiver2_, &TCPReceiver::ConnectRequested, Qt::QueuedConnection);
-    connect(receiver2_, &TCPReceiver::Connected, this, &MainWindow::Connected2);
-    connect(receiver2_, &TCPReceiver::Disconnected, this, &MainWindow::Disconnected2);
-    connect(receiver2_, &TCPReceiver::Connected, glWidget2_, &GLWidget::Connected, Qt::DirectConnection);
-    connect(receiver2_, &TCPReceiver::Disconnected, glWidget2_, &GLWidget::Disconnected, Qt::DirectConnection);
+    connect(this, &MainWindow::ConnectRequested, tcpReceiver_, &TCPReceiver::ConnectRequested, Qt::QueuedConnection);
+    connect(tcpReceiver_, &TCPReceiver::Connected, this, &MainWindow::Connected);
+    connect(tcpReceiver_, &TCPReceiver::Disconnected, this, &MainWindow::Disconnected);
+    connect(tcpReceiver_, &TCPReceiver::Connected, glWidget_, &GLWidget::Connected, Qt::DirectConnection);
+    connect(tcpReceiver_, &TCPReceiver::Disconnected, glWidget_, &GLWidget::Disconnected, Qt::DirectConnection);
+
+    connect(tcpReceiver_, &TCPReceiver::UpdateSliderTime, this, &MainWindow::UpdateSliderTime);
+
+    connect(this, &MainWindow::ConnectRequested2, tcpReceiver2_, &TCPReceiver::ConnectRequested, Qt::QueuedConnection);
+    connect(tcpReceiver2_, &TCPReceiver::Connected, this, &MainWindow::Connected2);
+    connect(tcpReceiver2_, &TCPReceiver::Disconnected, this, &MainWindow::Disconnected2);
+    connect(tcpReceiver2_, &TCPReceiver::Connected, glWidget2_, &GLWidget::Connected, Qt::DirectConnection);
+    connect(tcpReceiver2_, &TCPReceiver::Disconnected, glWidget2_, &GLWidget::Disconnected, Qt::DirectConnection);
+
+    connect(tcpReceiver2_, &TCPReceiver::UpdateSliderTime, this, &MainWindow::UpdateSliderTime2);
+
+    connect(this, &MainWindow::FMUConnectRequested, fmuReceiver_, &FMUReceiver::ConnectRequested, Qt::QueuedConnection);
+    connect(fmuReceiver_, &FMUReceiver::Connected, this, &MainWindow::Connected);
+    connect(fmuReceiver_, &FMUReceiver::Disconnected, this, &MainWindow::Disconnected);
+    connect(fmuReceiver_, &FMUReceiver::Connected, glWidget_, &GLWidget::Connected, Qt::DirectConnection);
+    connect(fmuReceiver_, &FMUReceiver::Disconnected, glWidget_, &GLWidget::Disconnected, Qt::DirectConnection);
+
+    connect(this, &MainWindow::FMUConnectRequested2, fmuReceiver2_, &FMUReceiver::ConnectRequested, Qt::QueuedConnection);
+    connect(fmuReceiver2_, &FMUReceiver::Connected, this, &MainWindow::Connected2);
+    connect(fmuReceiver2_, &FMUReceiver::Disconnected, this, &MainWindow::Disconnected2);
+    connect(fmuReceiver2_, &FMUReceiver::Connected, glWidget2_, &GLWidget::Connected, Qt::DirectConnection);
+    connect(fmuReceiver2_, &FMUReceiver::Disconnected, glWidget2_, &GLWidget::Disconnected, Qt::DirectConnection);
 
     connect(this, &MainWindow::StartPlaybackRequested, reader_, &OsiReader::StartReadFile, Qt::QueuedConnection);
     connect(reader_, &OsiReader::Connected, this, &MainWindow::Connected);
@@ -490,8 +794,11 @@ MainWindow::ConnectSignalsToSlots()
     connect(reader2_, &OsiReader::UpdateSliderValue, this, &MainWindow::UpdateSliderValue2);
 
     //Main loop: receive(read) -> parse -> update objects
-    connect(receiver_, &TCPReceiver::MessageReceived, osiparser_, &OsiParser::ParseReceivedMessage, Qt::QueuedConnection);
-    connect(receiver2_, &TCPReceiver::MessageReceived, osiparser2_, &OsiParser::ParseReceivedMessage, Qt::QueuedConnection);
+    connect(tcpReceiver_, &TCPReceiver::MessageReceived, osiparser_, &OsiParser::ParseReceivedMessage, Qt::QueuedConnection);
+    connect(tcpReceiver2_, &TCPReceiver::MessageReceived, osiparser2_, &OsiParser::ParseReceivedMessage, Qt::QueuedConnection);
+
+    connect(fmuReceiver_, &FMUReceiver::MessageReceived, osiparser_, &OsiParser::ParseReceivedMessage, Qt::QueuedConnection);
+    connect(fmuReceiver2_, &FMUReceiver::MessageReceived, osiparser2_, &OsiParser::ParseReceivedMessage, Qt::QueuedConnection);
 
     connect(reader_, &OsiReader::MessageSendout, osiparser_, &OsiParser::ParseReceivedMessage, Qt::QueuedConnection);
     connect(reader2_, &OsiReader::MessageSendout, osiparser2_, &OsiParser::ParseReceivedMessage, Qt::QueuedConnection);
@@ -556,6 +863,15 @@ MainWindow::ConnectSignalsToSlots()
 
     // menu quit
     connect(ui_->actionQuit, &QAction::triggered, this, &MainWindow::Quit);
+
+    // FOV connection
+    connect(ui_->showFOV, &QToolButton::clicked, this, &MainWindow::ShowFOV);
+    connect(ui_->showFOV_2, &QToolButton::clicked, this, &MainWindow::ShowFOV2);
+    connect(ui_->dataType, static_cast<void(QComboBox::*)(int)>(&QComboBox::currentIndexChanged), this, &MainWindow::CBDataTypeCon);
+    connect(ui_->playbackDataType, static_cast<void(QComboBox::*)(int)>(&QComboBox::currentIndexChanged), this, &MainWindow::CBDataTypePlay);
+    connect(ui_->dataType_2, static_cast<void(QComboBox::*)(int)>(&QComboBox::currentIndexChanged), this, &MainWindow::CBDataTypeCon2);
+    connect(ui_->playbackDataType_2, static_cast<void(QComboBox::*)(int)>(&QComboBox::currentIndexChanged), this, &MainWindow::CBDataTypePlay2);
+
 }
 
 void
@@ -613,6 +929,19 @@ MainWindow::EnableSrcGroups2(bool enable)
 void
 MainWindow::EnableConnectionGroup1(bool enable)
 {
+    ui_->checkBoxFMURx->setEnabled(enable);
+    if(enable)
+    {
+        bool enableFmu = ui_->checkBoxFMURx->isChecked();
+        ui_->loadFMURx->setEnabled(enableFmu);
+        ui_->loadFMURxBrowse->setEnabled(enableFmu);
+    }
+    else
+    {
+        ui_->loadFMURx->setEnabled(false);
+        ui_->loadFMURxBrowse->setEnabled(false);
+    }
+
     ui_->ipAddress->setEnabled(enable);
     ui_->portNumber->setEnabled(enable);
     ui_->dataType->setEnabled(enable);
@@ -621,6 +950,19 @@ MainWindow::EnableConnectionGroup1(bool enable)
 void
 MainWindow::EnableConnectionGroup2(bool enable)
 {
+    ui_->checkBoxFMURx_2->setEnabled(enable);
+    if(enable)
+    {
+        bool enableFmu = ui_->checkBoxFMURx_2->isChecked();
+        ui_->loadFMURx_2->setEnabled(enableFmu);
+        ui_->loadFMURxBrowse_2->setEnabled(enableFmu);
+    }
+    else
+    {
+        ui_->loadFMURx_2->setEnabled(false);
+        ui_->loadFMURxBrowse_2->setEnabled(false);
+    }
+
     ui_->ipAddress_2->setEnabled(enable);
     ui_->portNumber_2->setEnabled(enable);
     ui_->dataType_2->setEnabled(enable);
@@ -634,7 +976,12 @@ MainWindow::EnablePlaybackGroup1(bool enable)
     ui_->playbackDataType->setEnabled(enable);
     ui_->deltaDelay->setEnabled(enable);
     ui_->enableSendToNetwork->setEnabled(enable);
-    ui_->sendOutPortNum->setEnabled(enable && ui_->enableSendToNetwork->checkState() == Qt::Checked);
+    bool enableSend = ui_->enableSendToNetwork->checkState() == Qt::Checked;
+    ui_->sendOutPortNum->setEnabled(enable && enableSend);
+    ui_->checkBoxFMUTx->setEnabled(enable && enableSend);
+    bool enableFMU = ui_->checkBoxFMUTx->checkState() == Qt::Checked;
+    ui_->loadFMUTx->setEnabled(enable && enableSend && enableFMU);
+    ui_->loadFMUTxBrowse->setEnabled(enable && enableSend && enableFMU);
 }
 
 void
@@ -645,7 +992,12 @@ MainWindow::EnablePlaybackGroup2(bool enable)
     ui_->playbackDataType_2->setEnabled(enable);
     ui_->deltaDelay_2->setEnabled(enable);
     ui_->enableSendToNetwork_2->setEnabled(enable);
-    ui_->sendOutPortNum_2->setEnabled(enable && ui_->enableSendToNetwork_2->checkState() == Qt::Checked);
+    bool enableSend = ui_->enableSendToNetwork_2->checkState() == Qt::Checked;
+    ui_->sendOutPortNum_2->setEnabled(enable && enableSend);
+    ui_->checkBoxFMUTx_2->setEnabled(enable && enableSend);
+    bool enableFMU = ui_->checkBoxFMUTx_2->checkState() == Qt::Checked;
+    ui_->loadFMUTx_2->setEnabled(enable && enableSend && enableFMU);
+    ui_->loadFMUTxBrowse_2->setEnabled(enable && enableSend && enableFMU);
 }
 
 void
@@ -711,7 +1063,10 @@ MainWindow::UpdateGLWidgetMessageSource()
 {
     if(isSrcConnection_)
     {
-        glWidget_->UpdateIMessageSource(receiver_);
+        if(ui_->checkBoxFMURx->isChecked())
+            glWidget_->UpdateIMessageSource(fmuReceiver_);
+        else
+            glWidget_->UpdateIMessageSource(tcpReceiver_);
     }
     else
     {
@@ -724,7 +1079,10 @@ MainWindow::UpdateGLWidgetMessageSource2()
 {
     if(isSrcConnection2_)
     {
-        glWidget2_->UpdateIMessageSource(receiver2_);
+        if(ui_->checkBoxFMURx_2->isChecked())
+            glWidget2_->UpdateIMessageSource(fmuReceiver2_);
+        else
+            glWidget2_->UpdateIMessageSource(tcpReceiver2_);
     }
     else
     {
@@ -796,6 +1154,18 @@ MainWindow::UpdateConfigure()
         config_.ch1DataType_ = (DataType)ui_->dataType->currentIndex();
     }
 
+    if(config_.ch1FMURxCheck_ != (ui_->checkBoxFMURx->checkState() == Qt::Checked))
+    {
+        saveChange = true;
+        config_.ch1FMURxCheck_ = (ui_->checkBoxFMURx->checkState() == Qt::Checked);
+    }
+
+    if(config_.ch1LoadFMURx_ != ui_->loadFMURx->text())
+    {
+        hasChange = true;
+        config_.ch1LoadFMURx_ = ui_->loadFMURx->text();
+    }
+
     if(config_.ch1LoadFile_ != ui_->loadFile->text())
     {
         hasChange = true;
@@ -827,6 +1197,18 @@ MainWindow::UpdateConfigure()
         reader_->SetSendOutPortNum(config_.ch1SendOutPortNum_.toStdString());
     }
 
+    if(config_.ch1FMUTxCheck_ != (ui_->checkBoxFMUTx->checkState() == Qt::Checked))
+    {
+        hasChange = true;
+        config_.ch1FMUTxCheck_ = (ui_->checkBoxFMUTx->checkState() == Qt::Checked);
+    }
+
+    if(config_.ch1LoadFMUTx_ != ui_->loadFMUTx->text())
+    {
+        hasChange = true;
+        config_.ch1LoadFMUTx_ = ui_->loadFMUTx->text();
+    }
+
     if(hasChange || saveChange)
         config_.Save();
 
@@ -857,6 +1239,18 @@ MainWindow::UpdateConfigure2()
         config_.ch2DataType_ = (DataType)ui_->dataType_2->currentIndex();
     }
 
+    if(config_.ch2FMURxCheck_ != (ui_->checkBoxFMURx_2->checkState() == Qt::Checked))
+    {
+        saveChange = true;
+        config_.ch2FMURxCheck_ = (ui_->checkBoxFMURx_2->checkState() == Qt::Checked);
+    }
+
+    if(config_.ch2LoadFMURx_ != ui_->loadFMURx_2->text())
+    {
+        hasChange = true;
+        config_.ch2LoadFMURx_ = ui_->loadFMURx_2->text();
+    }
+
     if(config_.ch2LoadFile_ != ui_->loadFile_2->text())
     {
         hasChange = true;
@@ -888,6 +1282,18 @@ MainWindow::UpdateConfigure2()
         reader2_->SetSendOutPortNum(config_.ch2SendOutPortNum_.toStdString());
     }
 
+    if(config_.ch2FMUTxCheck_ != (ui_->checkBoxFMUTx_2->checkState() == Qt::Checked))
+    {
+        hasChange = true;
+        config_.ch2FMUTxCheck_ = (ui_->checkBoxFMUTx_2->checkState() == Qt::Checked);
+    }
+
+    if(config_.ch2LoadFMUTx_ != ui_->loadFMUTx_2->text())
+    {
+        hasChange = true;
+        config_.ch2LoadFMUTx_ = ui_->loadFMUTx_2->text();
+    }
+
     if(hasChange || saveChange)
         config_.Save();
 
@@ -902,9 +1308,17 @@ MainWindow::InitLoadConfigure()
         ui_->ipAddress->setText(config_.ch1IPAddress_);
         ui_->portNumber->setText(config_.ch1PortNum_);
         ui_->dataType->setCurrentIndex( static_cast<int>(config_.ch1DataType_) );
+
+        if(config_.ch1FMURxCheck_)
+            ui_->checkBoxFMURx->setCheckState(Qt::Checked);
+        else
+            ui_->checkBoxFMURx->setCheckState(Qt::Unchecked);
+        ui_->loadFMURx->setText(config_.ch1LoadFMURx_);
+
         ui_->loadFile->setText(config_.ch1LoadFile_);
         ui_->playbackDataType->setCurrentIndex( static_cast<int>(config_.ch1PlaybackDataType_) );
         ui_->deltaDelay->setText(QString::number(config_.ch1DeltaDelay_));
+
         if(config_.ch1EnableSendOut_)
             ui_->enableSendToNetwork->setCheckState(Qt::Checked);
         else
@@ -912,12 +1326,39 @@ MainWindow::InitLoadConfigure()
         ui_->sendOutPortNum->setText(config_.ch1SendOutPortNum_);
         reader_->SetSendOutPortNum(config_.ch1SendOutPortNum_.toStdString());
 
+        if(config_.ch1FMUTxCheck_)
+            ui_->checkBoxFMUTx->setCheckState(Qt::Checked);
+        else
+            ui_->checkBoxFMUTx->setCheckState(Qt::Unchecked);
+        ui_->checkBoxFMUTx->setEnabled(config_.ch1EnableSendOut_);
+        ui_->loadFMUTx->setEnabled(config_.ch1EnableSendOut_ && config_.ch1FMUTxCheck_);
+        ui_->loadFMUTx->setText(config_.ch1LoadFMUTx_);
+
+        if(config_.ch1ShowFOV_)
+            ui_->showFOV->setCheckState(Qt::Checked);
+        else
+            ui_->showFOV->setCheckState(Qt::Unchecked);
+        ui_->minRadius->setText(QString::number(config_.ch1MinRadius_));
+        ui_->maxRadius->setText(QString::number(config_.ch1MaxRadius_));
+        ui_->azimuthPos->setText(QString::number(config_.ch1AzimuthPos_));
+        ui_->azimuthNeg->setText(QString::number(config_.ch1AzimuthNeg_));
+
+
+
         ui_->ipAddress_2->setText(config_.ch2IPAddress_);
         ui_->portNumber_2->setText(config_.ch2PortNum_);
         ui_->dataType_2->setCurrentIndex( static_cast<int>(config_.ch2DataType_) );
+
+        if(config_.ch2FMURxCheck_)
+            ui_->checkBoxFMURx_2->setCheckState(Qt::Checked);
+        else
+            ui_->checkBoxFMURx_2->setCheckState(Qt::Unchecked);
+        ui_->loadFMURx_2->setText(config_.ch2LoadFMURx_);
+
         ui_->loadFile_2->setText(config_.ch2LoadFile_);
         ui_->playbackDataType_2->setCurrentIndex( static_cast<int>(config_.ch2PlaybackDataType_) );
         ui_->deltaDelay_2->setText(QString::number(config_.ch2DeltaDelay_));
+
         if(config_.ch2EnableSendOut_)
             ui_->enableSendToNetwork_2->setCheckState(Qt::Checked);
         else
@@ -925,6 +1366,25 @@ MainWindow::InitLoadConfigure()
         ui_->sendOutPortNum_2->setText(config_.ch2SendOutPortNum_);
         reader2_->SetSendOutPortNum(config_.ch2SendOutPortNum_.toStdString());
 
+        if(config_.ch2FMUTxCheck_)
+            ui_->checkBoxFMUTx_2->setCheckState(Qt::Checked);
+        else
+            ui_->checkBoxFMUTx_2->setCheckState(Qt::Unchecked);
+        ui_->checkBoxFMUTx_2->setEnabled(config_.ch2EnableSendOut_);
+        ui_->loadFMUTx_2->setEnabled(config_.ch2EnableSendOut_ && config_.ch2FMUTxCheck_);
+        ui_->loadFMUTx_2->setText(config_.ch2LoadFMUTx_);
+
+        if(config_.ch2ShowFOV_)
+            ui_->showFOV_2->setCheckState(Qt::Checked);
+        else
+            ui_->showFOV_2->setCheckState(Qt::Unchecked);
+        ui_->minRadius_2->setText(QString::number(config_.ch2MinRadius_));
+        ui_->maxRadius_2->setText(QString::number(config_.ch2MaxRadius_));
+        ui_->azimuthPos_2->setText(QString::number(config_.ch2AzimuthPos_));
+        ui_->azimuthNeg_2->setText(QString::number(config_.ch2AzimuthNeg_));
+
+
+
         ui_->actionCombiCh->setChecked(config_.combineChannel_);
         ui_->actionShowGrid->setChecked(config_.showGrid_);
         ui_->actionShowObject->setChecked(config_.showObjectDetails_);
@@ -949,7 +1409,7 @@ MainWindow::InitLoadConfigure()
         config_.typeColors_.insert(ObjectType::TrafficSign,   Qt::white);
         config_.typeColors_.insert(ObjectType::TrafficLight,  Qt::darkGreen);
         ui_->actionShowGrid->setChecked(true);
-        ui_->actionShowObject->setChecked(true);
+        ui_->actionShowObject->setChecked(false);
     }
 }
 
@@ -1053,6 +1513,132 @@ MainWindow::CombineChannels()
     config_.Save();
 }
 
+void
+MainWindow::ShowFOV()
+{
+    // fetch data
+    if(ui_->showFOV->isChecked())
+    {
+        QString err;
+        bool success = false;
+        float minR = ui_->minRadius->text().toFloat(&success);
+        if(!success)
+            err += "input valid minimum radius parameter in Channel 1\n";
+
+        float maxR = ui_->maxRadius->text().toFloat(&success);
+        if(!success)
+            err += "input valid maximum radius parameter in Channel 1\n";
+
+        float aPos = ui_->azimuthPos->text().toFloat(&success);
+        if(!success)
+            err += "input valid azimuth positive angle in Channel 1\n";
+
+        float aNeg = ui_->azimuthNeg->text().toFloat(&success);
+        if(!success)
+            err += "input valid azimuth negtive angle in Channel 1\n";
+
+        if(err.isEmpty())
+        {
+            config_.ch1ShowFOV_ = true;
+            config_.ch1MinRadius_ = minR;
+            config_.ch1MaxRadius_ = maxR;
+            config_.ch1AzimuthPos_ = aPos;
+            config_.ch1AzimuthNeg_ = aNeg;
+            EnableShowFOV(false);
+            aPos = (aPos/180)*M_PI;
+            aNeg = (aNeg/180)*M_PI;
+            glWidget_->UpdateFOVParam(minR, maxR, aPos, aNeg);
+        }
+        else
+        {
+            config_.ch1ShowFOV_ = false;
+            EnableShowFOV(true);
+            glWidget_->UpdateFOVPaint(false);
+            ui_->showFOV->setChecked(false);
+            ShowErrorMessage(err);
+        }
+    }
+    else
+    {
+        EnableShowFOV(true);
+        glWidget_->UpdateFOVPaint(false);
+    }
+
+    config_.Save();
+}
+
+void
+MainWindow::ShowFOV2()
+{
+    // fetch data
+    if(ui_->showFOV_2->isChecked())
+    {
+        QString err;
+        bool success = false;
+        float minR = ui_->minRadius_2->text().toFloat(&success);
+        if(!success)
+            err += "input valid minimum radius parameter in Channel 2\n";
+
+        float maxR = ui_->maxRadius_2->text().toFloat(&success);
+        if(!success)
+            err += "input valid maximum radius parameter in Channel 2\n";
+
+        float aPos = ui_->azimuthPos_2->text().toFloat(&success);
+        if(!success)
+            err += "input valid azimuth positive angle in Channel 2\n";
+
+        float aNeg = ui_->azimuthNeg_2->text().toFloat(&success);
+        if(!success)
+            err += "input valid azimuth negtive angle in Channel 2\n";
+
+        if(err.isEmpty())
+        {
+            config_.ch2ShowFOV_ = true;
+            config_.ch2MinRadius_ = minR;
+            config_.ch2MaxRadius_ = maxR;
+            config_.ch2AzimuthPos_ = aPos;
+            config_.ch2AzimuthNeg_ = aNeg;
+            EnableShowFOV2(false);
+            aPos = (aPos/180)*M_PI;
+            aNeg = (aNeg/180)*M_PI;
+            glWidget2_->UpdateFOVParam(minR, maxR, aPos, aNeg);
+        }
+        else
+        {
+            config_.ch2ShowFOV_ = false;
+            EnableShowFOV2(true);
+            glWidget2_->UpdateFOVPaint(false);
+            ui_->showFOV_2->setChecked(false);
+            ShowErrorMessage(err);
+        }
+    }
+    else
+    {
+        EnableShowFOV2(true);
+        glWidget2_->UpdateFOVPaint(false);
+    }
+
+    config_.Save();
+}
+
+void
+MainWindow::EnableShowFOV(const bool enable)
+{
+    ui_->minRadius->setEnabled(enable);
+    ui_->maxRadius->setEnabled(enable);
+    ui_->azimuthNeg->setEnabled(enable);
+    ui_->azimuthPos->setEnabled(enable);
+}
+
+void
+MainWindow::EnableShowFOV2(const bool enable)
+{
+    ui_->minRadius_2->setEnabled(enable);
+    ui_->maxRadius_2->setEnabled(enable);
+    ui_->azimuthNeg_2->setEnabled(enable);
+    ui_->azimuthPos_2->setEnabled(enable);
+}
+
 void
 MainWindow::ChooseBoundaryLanes()
 {
@@ -1170,14 +1756,25 @@ MainWindow::Play()
 
     if(isSrcConnection_)
     {
-        emit ConnectRequested(config_.ch1IPAddress_,
-                              config_.ch1PortNum_,
-                              config_.ch1DataType_);
+        if(ui_->checkBoxFMURx->isChecked())
+        {
+            emit FMUConnectRequested(config_.ch1IPAddress_,
+                                     config_.ch1PortNum_,
+                                     config_.ch1LoadFMURx_,
+                                     config_.ch1DataType_);
+        }
+        else
+        {
+            emit ConnectRequested(config_.ch1IPAddress_,
+                                  config_.ch1PortNum_,
+                                  config_.ch1DataType_);
+        }
     }
     else
     {
         emit StartPlaybackRequested(config_.ch1LoadFile_,
-                                    config_.ch1PlaybackDataType_);
+                                    config_.ch1PlaybackDataType_,
+                                    config_.ch1LoadFMUTx_);
     }
 }
 
@@ -1188,10 +1785,12 @@ MainWindow::TogglePause()
 
     if(isConnected_)
     {
-        receiver_->isPaused_ = isPlaying_;
+        if(ui_->checkBoxFMURx->isChecked())
+            fmuReceiver_->isPaused_ = isPlaying_;
+        else
+            tcpReceiver_->isPaused_ = isPlaying_;
     }
-
-    if(isPlayed_)
+    else if(isPlayed_)
     {
         if(isPlaying_)
         {
@@ -1216,9 +1815,16 @@ void
 MainWindow::Stop()
 {
     if(isConnected_)
-        receiver_->DisconnectRequested();
+    {
+        if(ui_->checkBoxFMURx->isChecked())
+            fmuReceiver_->DisconnectRequested();
+        else
+            tcpReceiver_->DisconnectRequested();
+    }
     else if(isPlayed_)
+    {
         reader_->StopReadFile();
+    }
 
     ResetSliderTime();
 }
@@ -1230,14 +1836,25 @@ MainWindow::Play2()
 
     if(isSrcConnection2_)
     {
-        emit ConnectRequested2(config_.ch2IPAddress_,
-                               config_.ch2PortNum_,
-                               config_.ch2DataType_);
+        if(ui_->checkBoxFMURx_2->isChecked())
+        {
+            emit FMUConnectRequested2(config_.ch2IPAddress_,
+                                      config_.ch2PortNum_,
+                                      config_.ch2LoadFMURx_,
+                                      config_.ch2DataType_);
+        }
+        else
+        {
+            emit ConnectRequested2(config_.ch2IPAddress_,
+                                   config_.ch2PortNum_,
+                                   config_.ch2DataType_);
+        }
     }
     else
     {
         emit StartPlaybackRequested2(config_.ch2LoadFile_,
-                                     config_.ch1PlaybackDataType_);
+                                     config_.ch2PlaybackDataType_,
+                                     config_.ch2LoadFMUTx_);
     }
 }
 
@@ -1248,7 +1865,10 @@ MainWindow::TogglePause2()
 
     if(isConnected2_)
     {
-        receiver2_->isPaused_ = isPlaying2_;
+        if(ui_->checkBoxFMURx_2->isChecked())
+            fmuReceiver2_->isPaused_ = isPlaying_;
+        else
+            tcpReceiver2_->isPaused_ = isPlaying2_;
     }
     else if(isPlayed2_)
     {
@@ -1275,9 +1895,16 @@ void
 MainWindow::Stop2()
 {
     if(isConnected2_)
-        receiver2_->DisconnectRequested();
+    {
+        if(ui_->checkBoxFMURx_2->isChecked())
+            fmuReceiver2_->DisconnectRequested();
+        else
+            tcpReceiver2_->DisconnectRequested();
+    }
     else if(isPlayed2_)
+    {
         reader2_->StopReadFile();
+    }
 
     ResetSliderTime2();
 }
@@ -1406,6 +2033,12 @@ MainWindow::UpdateSliderValue(int sliderValue)
     ui_->hSlider->blockSignals(true);
     ui_->hSlider->setValue(sliderValue);
     ui_->hSlider->blockSignals(false);
+    UpdateSliderTime(sliderValue);
+}
+
+void
+MainWindow::UpdateSliderTime(int sliderValue)
+{
     ui_->hSliderTime->setText(GetStringFromMilliSecond(sliderValue));
 }
 
@@ -1415,6 +2048,12 @@ MainWindow::UpdateSliderValue2(int sliderValue)
     ui_->hSlider_2->blockSignals(true);
     ui_->hSlider_2->setValue(sliderValue);
     ui_->hSlider_2->blockSignals(false);
+    UpdateSliderTime2(sliderValue);
+}
+
+void
+MainWindow::UpdateSliderTime2(int sliderValue)
+{
     ui_->hSliderTime_2->setText(GetStringFromMilliSecond(sliderValue));
 }
 
diff --git a/src/mainwindow.ui b/src/mainwindow.ui
index f437162..a65d6cf 100644
--- a/src/mainwindow.ui
+++ b/src/mainwindow.ui
@@ -9,8 +9,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1076</width>
-    <height>926</height>
+    <width>1280</width>
+    <height>768</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -21,12 +21,18 @@
   </property>
   <property name="minimumSize">
    <size>
-    <width>0</width>
-    <height>0</height>
+    <width>1280</width>
+    <height>768</height>
+   </size>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>100000</width>
+    <height>100000</height>
    </size>
   </property>
   <property name="windowTitle">
-   <string>SensorSimulator Visualization</string>
+   <string>osi-visualizer</string>
   </property>
   <widget class="QWidget" name="centralWidget">
    <property name="sizePolicy">
@@ -41,8 +47,8 @@
      <height>0</height>
     </size>
    </property>
-   <layout class="QVBoxLayout" name="verticalLayout_2">
-    <item>
+   <layout class="QGridLayout" name="gridLayout_8">
+    <item row="0" column="0">
      <layout class="QVBoxLayout" name="verticalLayout" stretch="1,0,1,0">
       <item>
        <layout class="QVBoxLayout" name="verticalLayout_11">
@@ -67,21 +73,14 @@
          </widget>
         </item>
         <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_9" stretch="0,0,1,0,0">
-          <item>
-           <spacer name="horizontalSpacer_7">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>10</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item>
+         <layout class="QGridLayout" name="gridLayout_12" columnstretch="0,0,1,0">
+          <property name="rightMargin">
+           <number>0</number>
+          </property>
+          <property name="bottomMargin">
+           <number>0</number>
+          </property>
+          <item row="0" column="1">
            <layout class="QVBoxLayout" name="verticalLayout_5">
             <item>
              <widget class="QLabel" name="label">
@@ -189,7 +188,7 @@
             </item>
            </layout>
           </item>
-          <item>
+          <item row="0" column="2">
            <layout class="QVBoxLayout" name="verticalLayout_9" stretch="1,0">
             <item>
              <layout class="QVBoxLayout" name="glLayout"/>
@@ -253,161 +252,808 @@
             </item>
            </layout>
           </item>
-          <item>
-           <layout class="QVBoxLayout" name="verticalLayout_10" stretch="0,0,0,0,0,0,0,0,0,0,1">
-            <item>
-             <widget class="QRadioButton" name="rbConnection">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
+          <item row="0" column="0">
+           <spacer name="horizontalSpacer_7">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>10</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+          <item row="0" column="3">
+           <widget class="QScrollArea" name="scrollArea">
+            <property name="minimumSize">
+             <size>
+              <width>260</width>
+              <height>300</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>260</width>
+              <height>800</height>
+             </size>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAsNeeded</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="sizeAdjustPolicy">
+             <enum>QAbstractScrollArea::AdjustToContents</enum>
+            </property>
+            <property name="widgetResizable">
+             <bool>true</bool>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+            </property>
+            <widget class="QWidget" name="scrollAreaWidgetContents">
+             <property name="geometry">
+              <rect>
+               <x>0</x>
+               <y>0</y>
+               <width>244</width>
+               <height>599</height>
+              </rect>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_9" rowminimumheight="0,0,0,0,0,0,0,0,0,0,0,0,0,1">
+              <property name="leftMargin">
+               <number>2</number>
               </property>
-              <property name="text">
-               <string>Connection</string>
+              <property name="topMargin">
+               <number>2</number>
               </property>
-              <property name="autoExclusive">
-               <bool>false</bool>
+              <property name="rightMargin">
+               <number>2</number>
               </property>
-             </widget>
-            </item>
-            <item>
-             <layout class="QGridLayout" name="gridLayout_4" columnstretch="0,0,1">
-              <item row="1" column="2">
-               <widget class="QLineEdit" name="portNumber">
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>25</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string/>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="2">
-               <widget class="QComboBox" name="dataType">
+              <property name="bottomMargin">
+               <number>40</number>
+              </property>
+              <property name="horizontalSpacing">
+               <number>2</number>
+              </property>
+              <property name="verticalSpacing">
+               <number>4</number>
+              </property>
+              <item row="4" column="0">
+               <layout class="QGridLayout" name="gridLayout_4" rowstretch="0,0,0,0" columnstretch="0,0,1,0">
+                <item row="2" column="3">
+                 <layout class="QHBoxLayout" name="horizontalLayout_26" stretch="1,0">
+                  <item>
+                   <widget class="QLineEdit" name="loadFMURx"/>
+                  </item>
+                  <item>
+                   <widget class="QPushButton" name="loadFMURxBrowse">
+                    <property name="maximumSize">
+                     <size>
+                      <width>25</width>
+                      <height>25</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string>...</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item row="0" column="3">
+                 <widget class="QLineEdit" name="ipAddress">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>80</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string/>
+                  </property>
+                 </widget>
+                </item>
+                <item row="3" column="2">
+                 <widget class="QLabel" name="label_32">
+                  <property name="text">
+                   <string>Data:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="2">
+                 <widget class="QLabel" name="label_4">
+                  <property name="text">
+                   <string>IP:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="3" column="3">
+                 <widget class="QComboBox" name="dataType">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>80</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="3">
+                 <widget class="QLineEdit" name="portNumber">
+                  <property name="minimumSize">
+                   <size>
+                    <width>80</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string/>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="2">
+                 <widget class="QLabel" name="label_31">
+                  <property name="text">
+                   <string>Port:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="2">
+                 <widget class="QLabel" name="label_35">
+                  <property name="text">
+                   <string>FMU:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="1">
+                 <spacer name="horizontalSpacer_3">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>20</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="0" column="0">
+                 <spacer name="horizontalSpacer">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="2" column="1">
+                 <widget class="QCheckBox" name="checkBoxFMURx">
+                  <property name="text">
+                   <string/>
+                  </property>
+                 </widget>
+                </item>
+               </layout>
+              </item>
+              <item row="5" column="0">
+               <widget class="QRadioButton" name="rbPlayback">
                 <property name="sizePolicy">
-                 <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
                   <horstretch>0</horstretch>
                   <verstretch>0</verstretch>
                  </sizepolicy>
                 </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>25</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QLabel" name="label_31">
                 <property name="text">
-                 <string>Port:</string>
+                 <string>Playback</string>
                 </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
-               <widget class="QLabel" name="label_4">
-                <property name="text">
-                 <string>IP:</string>
+                <property name="autoExclusive">
+                 <bool>false</bool>
                 </property>
                </widget>
               </item>
-              <item row="2" column="1">
-               <widget class="QLabel" name="label_32">
+              <item row="7" column="0">
+               <widget class="QCheckBox" name="showFOV">
                 <property name="text">
-                 <string>Data:</string>
+                 <string>Show Field of View</string>
                 </property>
                </widget>
               </item>
-              <item row="0" column="2">
-               <widget class="QLineEdit" name="ipAddress">
+              <item row="6" column="0">
+               <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,0,0" columnminimumwidth="0,0,0,1">
+                <property name="bottomMargin">
+                 <number>0</number>
+                </property>
+                <item row="4" column="3">
+                 <layout class="QHBoxLayout" name="horizontalLayout_4">
+                  <item>
+                   <widget class="QLineEdit" name="loadFMUTx"/>
+                  </item>
+                  <item>
+                   <widget class="QPushButton" name="loadFMUTxBrowse">
+                    <property name="maximumSize">
+                     <size>
+                      <width>25</width>
+                      <height>25</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string>...</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item row="1" column="3">
+                 <widget class="QComboBox" name="playbackDataType"/>
+                </item>
+                <item row="1" column="2">
+                 <widget class="QLabel" name="label_13">
+                  <property name="text">
+                   <string>Data:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="0">
+                 <spacer name="horizontalSpacer_4">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="0" column="2">
+                 <widget class="QLabel" name="label_37">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>25</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string>Load:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="4" column="2">
+                 <widget class="QLabel" name="label_41">
+                  <property name="text">
+                   <string>FMU:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="3">
+                 <layout class="QHBoxLayout" name="horizontalLayout_29">
+                  <property name="rightMargin">
+                   <number>0</number>
+                  </property>
+                  <item>
+                   <widget class="QLineEdit" name="loadFile">
+                    <property name="minimumSize">
+                     <size>
+                      <width>50</width>
+                      <height>25</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string/>
+                    </property>
+                    <property name="alignment">
+                     <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QPushButton" name="loadFileBrowse">
+                    <property name="minimumSize">
+                     <size>
+                      <width>25</width>
+                      <height>25</height>
+                     </size>
+                    </property>
+                    <property name="maximumSize">
+                     <size>
+                      <width>25</width>
+                      <height>25</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string>...</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item row="3" column="2">
+                 <widget class="QLabel" name="label_39">
+                  <property name="text">
+                   <string>  Send</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="3">
+                 <layout class="QHBoxLayout" name="horizontalLayout">
+                  <item>
+                   <widget class="QLineEdit" name="deltaDelay">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>50</width>
+                      <height>0</height>
+                     </size>
+                    </property>
+                    <property name="maximumSize">
+                     <size>
+                      <width>80</width>
+                      <height>16777215</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string>0</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLabel" name="label_10">
+                    <property name="text">
+                     <string>ms</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item row="3" column="3">
+                 <layout class="QHBoxLayout" name="horizontalLayout_7">
+                  <item>
+                   <widget class="QLabel" name="label_40">
+                    <property name="text">
+                     <string>to Port:</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLineEdit" name="sendOutPortNum">
+                    <property name="maximumSize">
+                     <size>
+                      <width>60</width>
+                      <height>16777215</height>
+                     </size>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <spacer name="horizontalSpacer_18">
+                    <property name="orientation">
+                     <enum>Qt::Horizontal</enum>
+                    </property>
+                    <property name="sizeHint" stdset="0">
+                     <size>
+                      <width>40</width>
+                      <height>20</height>
+                     </size>
+                    </property>
+                   </spacer>
+                  </item>
+                 </layout>
+                </item>
+                <item row="2" column="2">
+                 <widget class="QLabel" name="label_9">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="text">
+                   <string>Delay:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="1">
+                 <spacer name="horizontalSpacer_2">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="4" column="1">
+                 <widget class="QCheckBox" name="checkBoxFMUTx">
+                  <property name="text">
+                   <string/>
+                  </property>
+                 </widget>
+                </item>
+                <item row="3" column="1">
+                 <widget class="QCheckBox" name="enableSendToNetwork">
+                  <property name="toolTip">
+                   <string/>
+                  </property>
+                  <property name="text">
+                   <string/>
+                  </property>
+                 </widget>
+                </item>
+               </layout>
+              </item>
+              <item row="2" column="0">
+               <widget class="QRadioButton" name="rbConnection">
                 <property name="sizePolicy">
-                 <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
                   <horstretch>0</horstretch>
                   <verstretch>0</verstretch>
                  </sizepolicy>
                 </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>25</height>
-                 </size>
+                <property name="text">
+                 <string>Connection</string>
                 </property>
-                <property name="maximumSize">
+                <property name="autoExclusive">
+                 <bool>false</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="8" column="0">
+               <layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0,0,0,0">
+                <property name="bottomMargin">
+                 <number>0</number>
+                </property>
+                <item row="2" column="2">
+                 <widget class="QLabel" name="label_17">
+                  <property name="text">
+                   <string>      AP</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="3">
+                 <widget class="QLineEdit" name="minRadius"/>
+                </item>
+                <item row="1" column="3">
+                 <widget class="QLineEdit" name="maxRadius"/>
+                </item>
+                <item row="3" column="4">
+                 <widget class="QLabel" name="label_22">
+                  <property name="text">
+                   <string> deg </string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="3">
+                 <widget class="QLineEdit" name="azimuthPos"/>
+                </item>
+                <item row="0" column="2">
+                 <widget class="QLabel" name="label_15">
+                  <property name="text">
+                   <string> MinR</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="4">
+                 <widget class="QLabel" name="label_19">
+                  <property name="text">
+                   <string>  m </string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="4">
+                 <widget class="QLabel" name="label_21">
+                  <property name="text">
+                   <string> deg </string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="3" column="2">
+                 <widget class="QLabel" name="label_18">
+                  <property name="text">
+                   <string>     AN</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="3" column="3">
+                 <widget class="QLineEdit" name="azimuthNeg"/>
+                </item>
+                <item row="1" column="2">
+                 <widget class="QLabel" name="label_16">
+                  <property name="text">
+                   <string>MaxR</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="0">
+                 <spacer name="horizontalSpacer_27">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="1" column="4">
+                 <widget class="QLabel" name="label_20">
+                  <property name="text">
+                   <string>  m</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="1">
+                 <spacer name="horizontalSpacer_8">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+              <item row="9" column="0">
+               <spacer name="verticalSpacer">
+                <property name="orientation">
+                 <enum>Qt::Vertical</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
                  <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
+                  <width>20</width>
+                  <height>40</height>
                  </size>
                 </property>
-                <property name="text">
-                 <string/>
-                </property>
-               </widget>
+               </spacer>
               </item>
-              <item row="1" column="0">
-               <spacer name="horizontalSpacer_3">
+              <item row="12" column="0">
+               <spacer name="verticalSpacer_2">
                 <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
+                 <enum>Qt::Vertical</enum>
                 </property>
                 <property name="sizeHint" stdset="0">
                  <size>
                   <width>20</width>
-                  <height>20</height>
+                  <height>40</height>
                  </size>
                 </property>
                </spacer>
               </item>
+              <item row="10" column="0">
+               <layout class="QHBoxLayout" name="horizontalLayout_5">
+                <property name="topMargin">
+                 <number>30</number>
+                </property>
+                <property name="bottomMargin">
+                 <number>0</number>
+                </property>
+                <item>
+                 <spacer name="horizontalSpacer_16">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item>
+                 <widget class="QToolButton" name="saveOSIMessage">
+                  <property name="enabled">
+                   <bool>false</bool>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>160</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="layoutDirection">
+                   <enum>Qt::LeftToRight</enum>
+                  </property>
+                  <property name="text">
+                   <string>Save OSI Message</string>
+                  </property>
+                  <property name="checkable">
+                   <bool>true</bool>
+                  </property>
+                  <property name="checked">
+                   <bool>false</bool>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_17">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
              </layout>
-            </item>
-            <item>
-             <spacer name="verticalSpacer_3">
-              <property name="orientation">
-               <enum>Qt::Vertical</enum>
-              </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>20</width>
-                <height>10</height>
-               </size>
-              </property>
-             </spacer>
-            </item>
+            </widget>
+           </widget>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <spacer name="verticalSpacer_7">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>20</width>
+          <height>5</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_12">
+        <item>
+         <widget class="QLabel" name="label_3">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="font">
+           <font>
+            <pointsize>13</pointsize>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
+          </property>
+          <property name="text">
+           <string>Channel 2</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QGridLayout" name="gridLayout_10" columnstretch="0,0,1,0">
+          <item row="0" column="0">
+           <spacer name="horizontalSpacer_9">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>10</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+          <item row="0" column="1">
+           <layout class="QVBoxLayout" name="verticalLayout_6">
             <item>
-             <widget class="QRadioButton" name="rbPlayback">
+             <widget class="QLabel" name="label_5">
               <property name="sizePolicy">
-               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+               <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
               <property name="text">
-               <string>Playback</string>
+               <string>Objects Overview</string>
               </property>
-              <property name="autoExclusive">
-               <bool>false</bool>
+             </widget>
+            </item>
+            <item>
+             <widget class="QTreeWidget" name="objectTree_2">
+              <property name="minimumSize">
+               <size>
+                <width>220</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>220</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="contextMenuPolicy">
+               <enum>Qt::CustomContextMenu</enum>
+              </property>
+              <property name="indentation">
+               <number>10</number>
+              </property>
+              <property name="sortingEnabled">
+               <bool>true</bool>
               </property>
+              <property name="headerHidden">
+               <bool>true</bool>
+              </property>
+              <property name="columnCount">
+               <number>1</number>
+              </property>
+              <attribute name="headerVisible">
+               <bool>false</bool>
+              </attribute>
+              <column>
+               <property name="text">
+                <string notr="true">1</string>
+               </property>
+              </column>
              </widget>
             </item>
             <item>
-             <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0,1,0">
+             <layout class="QHBoxLayout" name="horizontalLayout_12">
               <item>
-               <spacer name="horizontalSpacer_4">
+               <spacer name="horizontalSpacer_10">
                 <property name="orientation">
                  <enum>Qt::Horizontal</enum>
                 </property>
@@ -420,500 +1066,46 @@
                </spacer>
               </item>
               <item>
-               <widget class="QLabel" name="label_37">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
+               <widget class="QPushButton" name="startStopTrackingButton_2">
+                <property name="enabled">
+                 <bool>false</bool>
                 </property>
                 <property name="minimumSize">
                  <size>
-                  <width>25</width>
-                  <height>25</height>
+                  <width>160</width>
+                  <height>0</height>
                  </size>
                 </property>
-                <property name="text">
-                 <string>Load: </string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QLineEdit" name="loadFile">
-                <property name="minimumSize">
+                <property name="maximumSize">
                  <size>
-                  <width>50</width>
-                  <height>25</height>
+                  <width>160</width>
+                  <height>16777215</height>
                  </size>
                 </property>
                 <property name="text">
-                 <string/>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+                 <string>Start tracking</string>
                 </property>
                </widget>
               </item>
               <item>
-               <widget class="QPushButton" name="loadFileBrowse">
-                <property name="minimumSize">
-                 <size>
-                  <width>25</width>
-                  <height>25</height>
-                 </size>
+               <spacer name="horizontalSpacer_11">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
                 </property>
-                <property name="maximumSize">
+                <property name="sizeHint" stdset="0">
                  <size>
-                  <width>25</width>
-                  <height>25</height>
+                  <width>20</width>
+                  <height>20</height>
                  </size>
                 </property>
-                <property name="text">
-                 <string>...</string>
-                </property>
-               </widget>
+               </spacer>
               </item>
              </layout>
             </item>
-            <item>
-             <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,1">
-              <property name="leftMargin">
-               <number>0</number>
-              </property>
-              <property name="topMargin">
-               <number>0</number>
-              </property>
-              <property name="bottomMargin">
-               <number>0</number>
-              </property>
-              <item>
-               <spacer name="horizontalSpacer_21">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>20</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item>
-               <widget class="QLabel" name="label_13">
-                <property name="text">
-                 <string>Data: </string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QComboBox" name="playbackDataType"/>
-              </item>
-             </layout>
-            </item>
-            <item>
-             <layout class="QHBoxLayout" name="horizontalLayout_4" stretch="0,0,0,0,1">
-              <property name="leftMargin">
-               <number>0</number>
-              </property>
-              <property name="topMargin">
-               <number>0</number>
-              </property>
-              <property name="rightMargin">
-               <number>0</number>
-              </property>
-              <property name="bottomMargin">
-               <number>0</number>
-              </property>
-              <item>
-               <spacer name="horizontalSpacer_17">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>20</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item>
-               <widget class="QLabel" name="label_9">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="text">
-                 <string>Delay:</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QLineEdit" name="deltaDelay">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>50</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>0</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QLabel" name="label_10">
-                <property name="text">
-                 <string>ms</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <spacer name="horizontalSpacer_18">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>40</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-             </layout>
-            </item>
-            <item>
-             <layout class="QHBoxLayout" name="horizontalLayout_16" stretch="0,0,0,1">
-              <property name="bottomMargin">
-               <number>0</number>
-              </property>
-              <item>
-               <spacer name="horizontalSpacer_23">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>20</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item>
-               <widget class="QCheckBox" name="enableSendToNetwork">
-                <property name="toolTip">
-                 <string/>
-                </property>
-                <property name="text">
-                 <string>Send to Port:</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QLineEdit" name="sendOutPortNum">
-                <property name="maximumSize">
-                 <size>
-                  <width>60</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <spacer name="horizontalSpacer_25">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>20</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-             </layout>
-            </item>
-            <item>
-             <spacer name="verticalSpacer">
-              <property name="orientation">
-               <enum>Qt::Vertical</enum>
-              </property>
-              <property name="sizeType">
-               <enum>QSizePolicy::Fixed</enum>
-              </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>20</width>
-                <height>20</height>
-               </size>
-              </property>
-             </spacer>
-            </item>
-            <item>
-             <layout class="QHBoxLayout" name="horizontalLayout_8">
-              <item>
-               <spacer name="horizontalSpacer">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>40</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item>
-               <widget class="QToolButton" name="saveOSIMessage">
-                <property name="enabled">
-                 <bool>false</bool>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>160</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="layoutDirection">
-                 <enum>Qt::LeftToRight</enum>
-                </property>
-                <property name="text">
-                 <string>Save OSI Message</string>
-                </property>
-                <property name="checkable">
-                 <bool>true</bool>
-                </property>
-                <property name="checked">
-                 <bool>false</bool>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <spacer name="horizontalSpacer_2">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>40</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-             </layout>
-            </item>
-            <item>
-             <spacer name="verticalSpacer_2">
-              <property name="orientation">
-               <enum>Qt::Vertical</enum>
-              </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>20</width>
-                <height>40</height>
-               </size>
-              </property>
-             </spacer>
-            </item>
-           </layout>
-          </item>
-          <item>
-           <spacer name="horizontalSpacer_8">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>3</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-         </layout>
-        </item>
-       </layout>
-      </item>
-      <item>
-       <spacer name="verticalSpacer_7">
-        <property name="orientation">
-         <enum>Qt::Vertical</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>20</width>
-          <height>5</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
-      <item>
-       <layout class="QVBoxLayout" name="verticalLayout_12">
-        <item>
-         <widget class="QLabel" name="label_3">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="font">
-           <font>
-            <pointsize>13</pointsize>
-            <weight>75</weight>
-            <bold>true</bold>
-           </font>
-          </property>
-          <property name="text">
-           <string>Channel 2</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_11" stretch="0,0,1,0,0">
-          <item>
-           <spacer name="horizontalSpacer_9">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>10</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item>
-           <layout class="QVBoxLayout" name="verticalLayout_6">
-            <item>
-             <widget class="QLabel" name="label_5">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="text">
-               <string>Objects Overview</string>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QTreeWidget" name="objectTree_2">
-              <property name="minimumSize">
-               <size>
-                <width>220</width>
-                <height>0</height>
-               </size>
-              </property>
-              <property name="maximumSize">
-               <size>
-                <width>220</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="contextMenuPolicy">
-               <enum>Qt::CustomContextMenu</enum>
-              </property>
-              <property name="indentation">
-               <number>10</number>
-              </property>
-              <property name="sortingEnabled">
-               <bool>true</bool>
-              </property>
-              <property name="headerHidden">
-               <bool>true</bool>
-              </property>
-              <property name="columnCount">
-               <number>1</number>
-              </property>
-              <attribute name="headerVisible">
-               <bool>false</bool>
-              </attribute>
-              <column>
-               <property name="text">
-                <string notr="true">1</string>
-               </property>
-              </column>
-             </widget>
-            </item>
-            <item>
-             <layout class="QHBoxLayout" name="horizontalLayout_12">
-              <item>
-               <spacer name="horizontalSpacer_10">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>20</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item>
-               <widget class="QPushButton" name="startStopTrackingButton_2">
-                <property name="enabled">
-                 <bool>false</bool>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>160</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>160</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>Start tracking</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <spacer name="horizontalSpacer_11">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>20</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-             </layout>
-            </item>
-           </layout>
-          </item>
-          <item>
-           <layout class="QVBoxLayout" name="verticalLayout_13" stretch="1,0">
+           </layout>
+          </item>
+          <item row="0" column="2">
+           <layout class="QVBoxLayout" name="verticalLayout_13" stretch="1,0">
             <item>
              <layout class="QVBoxLayout" name="glLayout_2"/>
             </item>
@@ -921,161 +1113,10 @@
              <layout class="QHBoxLayout" name="horizontalLayout_13">
               <item>
                <widget class="QToolButton" name="playPauseButton_2">
-                <property name="minimumSize">
-                 <size>
-                  <width>30</width>
-                  <height>30</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string/>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QSlider" name="hSlider_2">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>200</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QLabel" name="hSliderTime_2">
-                <property name="text">
-                 <string>--:--</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QLabel" name="label_8">
-                <property name="text">
-                 <string>/</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QLabel" name="hSliderTimeRange_2">
-                <property name="text">
-                 <string>--:--</string>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </item>
-           </layout>
-          </item>
-          <item>
-           <layout class="QVBoxLayout" name="verticalLayout_14" stretch="0,0,0,0,0,0,0,0,0,0,1">
-            <item>
-             <widget class="QRadioButton" name="rbConnection_2">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="text">
-               <string>Connection</string>
-              </property>
-              <property name="autoExclusive">
-               <bool>false</bool>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <layout class="QGridLayout" name="gridLayout_5" columnstretch="0,0,1">
-              <item row="1" column="2">
-               <widget class="QLineEdit" name="portNumber_2">
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>25</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string/>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="2">
-               <widget class="QComboBox" name="dataType_2">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>25</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QLabel" name="label_33">
-                <property name="text">
-                 <string>Port:</string>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
-               <widget class="QLabel" name="label_6">
-                <property name="text">
-                 <string>IP:</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QLabel" name="label_34">
-                <property name="text">
-                 <string>Data:</string>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="2">
-               <widget class="QLineEdit" name="ipAddress_2">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>25</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
+                <property name="minimumSize">
                  <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
+                  <width>30</width>
+                  <height>30</height>
                  </size>
                 </property>
                 <property name="text">
@@ -1083,226 +1124,130 @@
                 </property>
                </widget>
               </item>
-              <item row="1" column="0">
-               <spacer name="horizontalSpacer_12">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>20</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-             </layout>
-            </item>
-            <item>
-             <spacer name="verticalSpacer_4">
-              <property name="orientation">
-               <enum>Qt::Vertical</enum>
-              </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>20</width>
-                <height>10</height>
-               </size>
-              </property>
-             </spacer>
-            </item>
-            <item>
-             <widget class="QRadioButton" name="rbPlayback_2">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="text">
-               <string>Playback</string>
-              </property>
-              <property name="autoExclusive">
-               <bool>false</bool>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <layout class="QHBoxLayout" name="horizontalLayout_14" stretch="0,0,1,0">
-              <item>
-               <spacer name="horizontalSpacer_13">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>20</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
               <item>
-               <widget class="QLabel" name="label_38">
+               <widget class="QSlider" name="hSlider_2">
                 <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                 <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
                   <horstretch>0</horstretch>
                   <verstretch>0</verstretch>
                  </sizepolicy>
                 </property>
                 <property name="minimumSize">
                  <size>
-                  <width>25</width>
-                  <height>25</height>
+                  <width>200</width>
+                  <height>0</height>
                  </size>
                 </property>
-                <property name="text">
-                 <string>Load: </string>
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
                 </property>
                </widget>
               </item>
               <item>
-               <widget class="QLineEdit" name="loadFile_2">
-                <property name="minimumSize">
-                 <size>
-                  <width>50</width>
-                  <height>25</height>
-                 </size>
-                </property>
+               <widget class="QLabel" name="hSliderTime_2">
                 <property name="text">
-                 <string/>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+                 <string>--:--</string>
                 </property>
                </widget>
               </item>
               <item>
-               <widget class="QPushButton" name="loadFileBrowse_2">
-                <property name="minimumSize">
-                 <size>
-                  <width>25</width>
-                  <height>25</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>25</width>
-                  <height>25</height>
-                 </size>
-                </property>
+               <widget class="QLabel" name="label_8">
                 <property name="text">
-                 <string>...</string>
+                 <string>/</string>
                 </property>
                </widget>
               </item>
-             </layout>
-            </item>
-            <item>
-             <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,0,1">
-              <property name="bottomMargin">
-               <number>0</number>
-              </property>
-              <item>
-               <spacer name="horizontalSpacer_22">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>20</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
               <item>
-               <widget class="QLabel" name="label_14">
+               <widget class="QLabel" name="hSliderTimeRange_2">
                 <property name="text">
-                 <string>Data: </string>
+                 <string>--:--</string>
                 </property>
                </widget>
               </item>
-              <item>
-               <widget class="QComboBox" name="playbackDataType_2"/>
-              </item>
              </layout>
             </item>
-            <item>
-             <layout class="QHBoxLayout" name="horizontalLayout_5" stretch="0,0,0,0,1">
+           </layout>
+          </item>
+          <item row="0" column="3">
+           <widget class="QScrollArea" name="scrollArea_2">
+            <property name="minimumSize">
+             <size>
+              <width>260</width>
+              <height>300</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>260</width>
+              <height>800</height>
+             </size>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAsNeeded</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="sizeAdjustPolicy">
+             <enum>QAbstractScrollArea::AdjustToContents</enum>
+            </property>
+            <property name="widgetResizable">
+             <bool>true</bool>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+            </property>
+            <widget class="QWidget" name="scrollAreaWidgetContents_2">
+             <property name="geometry">
+              <rect>
+               <x>0</x>
+               <y>0</y>
+               <width>244</width>
+               <height>619</height>
+              </rect>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_11">
+              <property name="leftMargin">
+               <number>2</number>
+              </property>
+              <property name="topMargin">
+               <number>2</number>
+              </property>
+              <property name="rightMargin">
+               <number>2</number>
+              </property>
               <property name="bottomMargin">
-               <number>0</number>
+               <number>40</number>
               </property>
-              <item>
-               <spacer name="horizontalSpacer_20">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>20</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item>
-               <widget class="QLabel" name="label_11">
-                <property name="text">
-                 <string>Delay:</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QLineEdit" name="deltaDelay_2">
-                <property name="minimumSize">
-                 <size>
-                  <width>50</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>16777215</height>
-                 </size>
+              <property name="horizontalSpacing">
+               <number>2</number>
+              </property>
+              <property name="verticalSpacing">
+               <number>4</number>
+              </property>
+              <item row="0" column="0">
+               <widget class="QRadioButton" name="rbConnection_2">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
                 </property>
                 <property name="text">
-                 <string>0</string>
+                 <string>Connection</string>
                 </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QLabel" name="label_12">
-                <property name="text">
-                 <string>ms</string>
+                <property name="autoExclusive">
+                 <bool>false</bool>
                 </property>
                </widget>
               </item>
-              <item>
-               <spacer name="horizontalSpacer_19">
+              <item row="6" column="0">
+               <spacer name="verticalSpacer_5">
                 <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>40</width>
-                  <height>20</height>
-                 </size>
+                 <enum>Qt::Vertical</enum>
                 </property>
-               </spacer>
-              </item>
-             </layout>
-            </item>
-            <item>
-             <layout class="QHBoxLayout" name="horizontalLayout_17" stretch="0,0,0,1">
-              <property name="bottomMargin">
-               <number>0</number>
-              </property>
-              <item>
-               <spacer name="horizontalSpacer_24">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Fixed</enum>
                 </property>
                 <property name="sizeHint" stdset="0">
                  <size>
@@ -1312,139 +1257,584 @@
                 </property>
                </spacer>
               </item>
-              <item>
-               <widget class="QCheckBox" name="enableSendToNetwork_2">
-                <property name="toolTip">
-                 <string/>
+              <item row="3" column="0">
+               <layout class="QGridLayout" name="gridLayout" columnstretch="0,0,1,0">
+                <property name="bottomMargin">
+                 <number>0</number>
+                </property>
+                <item row="1" column="3">
+                 <widget class="QComboBox" name="playbackDataType_2"/>
+                </item>
+                <item row="3" column="2">
+                 <widget class="QLabel" name="label_43">
+                  <property name="text">
+                   <string>  Send</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="3">
+                 <layout class="QHBoxLayout" name="horizontalLayout_30">
+                  <property name="rightMargin">
+                   <number>0</number>
+                  </property>
+                  <item>
+                   <widget class="QLineEdit" name="deltaDelay_2">
+                    <property name="minimumSize">
+                     <size>
+                      <width>50</width>
+                      <height>0</height>
+                     </size>
+                    </property>
+                    <property name="maximumSize">
+                     <size>
+                      <width>80</width>
+                      <height>16777215</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string>0</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLabel" name="label_12">
+                    <property name="text">
+                     <string>ms</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item row="3" column="3">
+                 <layout class="QHBoxLayout" name="horizontalLayout_31">
+                  <item>
+                   <widget class="QLabel" name="label_42">
+                    <property name="text">
+                     <string>to Port:</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLineEdit" name="sendOutPortNum_2">
+                    <property name="maximumSize">
+                     <size>
+                      <width>60</width>
+                      <height>16777215</height>
+                     </size>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <spacer name="horizontalSpacer_22">
+                    <property name="orientation">
+                     <enum>Qt::Horizontal</enum>
+                    </property>
+                    <property name="sizeHint" stdset="0">
+                     <size>
+                      <width>20</width>
+                      <height>20</height>
+                     </size>
+                    </property>
+                   </spacer>
+                  </item>
+                 </layout>
+                </item>
+                <item row="0" column="2">
+                 <widget class="QLabel" name="label_38">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>25</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string>Load:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="4" column="3">
+                 <layout class="QHBoxLayout" name="horizontalLayout_3">
+                  <item>
+                   <widget class="QLineEdit" name="loadFMUTx_2"/>
+                  </item>
+                  <item>
+                   <widget class="QPushButton" name="loadFMUTxBrowse_2">
+                    <property name="maximumSize">
+                     <size>
+                      <width>25</width>
+                      <height>25</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string>...</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item row="0" column="0">
+                 <spacer name="horizontalSpacer_13">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="4" column="2">
+                 <widget class="QLabel" name="label_44">
+                  <property name="text">
+                   <string>FMU:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="2">
+                 <widget class="QLabel" name="label_11">
+                  <property name="text">
+                   <string>Delay:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="3">
+                 <layout class="QHBoxLayout" name="horizontalLayout_28">
+                  <property name="rightMargin">
+                   <number>0</number>
+                  </property>
+                  <item>
+                   <widget class="QLineEdit" name="loadFile_2">
+                    <property name="minimumSize">
+                     <size>
+                      <width>50</width>
+                      <height>25</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string/>
+                    </property>
+                    <property name="alignment">
+                     <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QPushButton" name="loadFileBrowse_2">
+                    <property name="minimumSize">
+                     <size>
+                      <width>25</width>
+                      <height>25</height>
+                     </size>
+                    </property>
+                    <property name="maximumSize">
+                     <size>
+                      <width>25</width>
+                      <height>25</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string>...</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item row="1" column="2">
+                 <widget class="QLabel" name="label_14">
+                  <property name="text">
+                   <string>Data: </string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="1">
+                 <spacer name="horizontalSpacer_20">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="3" column="1">
+                 <widget class="QCheckBox" name="enableSendToNetwork_2">
+                  <property name="toolTip">
+                   <string/>
+                  </property>
+                  <property name="text">
+                   <string/>
+                  </property>
+                 </widget>
+                </item>
+                <item row="4" column="1">
+                 <widget class="QCheckBox" name="checkBoxFMUTx_2">
+                  <property name="text">
+                   <string/>
+                  </property>
+                 </widget>
+                </item>
+               </layout>
+              </item>
+              <item row="1" column="0">
+               <layout class="QGridLayout" name="gridLayout_5" columnstretch="0,0,1,0">
+                <item row="3" column="3">
+                 <widget class="QComboBox" name="dataType_2">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>80</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="2">
+                 <widget class="QLabel" name="label_36">
+                  <property name="text">
+                   <string>FMU:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="3">
+                 <layout class="QHBoxLayout" name="horizontalLayout_27">
+                  <item>
+                   <widget class="QLineEdit" name="loadFMURx_2"/>
+                  </item>
+                  <item>
+                   <widget class="QPushButton" name="loadFMURxBrowse_2">
+                    <property name="maximumSize">
+                     <size>
+                      <width>25</width>
+                      <height>25</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string>...</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item row="0" column="2">
+                 <widget class="QLabel" name="label_6">
+                  <property name="text">
+                   <string>IP:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="3">
+                 <widget class="QLineEdit" name="ipAddress_2">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>80</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string/>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="3">
+                 <widget class="QLineEdit" name="portNumber_2">
+                  <property name="minimumSize">
+                   <size>
+                    <width>80</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string/>
+                  </property>
+                 </widget>
+                </item>
+                <item row="3" column="2">
+                 <widget class="QLabel" name="label_34">
+                  <property name="text">
+                   <string>Data:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="0">
+                 <spacer name="horizontalSpacer_12">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="1" column="2">
+                 <widget class="QLabel" name="label_33">
+                  <property name="text">
+                   <string>Port:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="1">
+                 <spacer name="horizontalSpacer_19">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="2" column="1">
+                 <widget class="QCheckBox" name="checkBoxFMURx_2">
+                  <property name="text">
+                   <string/>
+                  </property>
+                 </widget>
+                </item>
+               </layout>
+              </item>
+              <item row="7" column="0">
+               <layout class="QHBoxLayout" name="horizontalLayout_15">
+                <property name="topMargin">
+                 <number>30</number>
+                </property>
+                <item>
+                 <spacer name="horizontalSpacer_14">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item>
+                 <widget class="QToolButton" name="saveOSIMessage_2">
+                  <property name="enabled">
+                   <bool>false</bool>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>160</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="layoutDirection">
+                   <enum>Qt::LeftToRight</enum>
+                  </property>
+                  <property name="text">
+                   <string>Save OSI Message</string>
+                  </property>
+                  <property name="checkable">
+                   <bool>true</bool>
+                  </property>
+                  <property name="checked">
+                   <bool>false</bool>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_15">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+              <item row="5" column="0">
+               <layout class="QGridLayout" name="gridLayout_6">
+                <property name="bottomMargin">
+                 <number>0</number>
+                </property>
+                <item row="3" column="4">
+                 <widget class="QLabel" name="label_30">
+                  <property name="text">
+                   <string> deg </string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="3" column="3">
+                 <widget class="QLineEdit" name="azimuthNeg_2"/>
+                </item>
+                <item row="1" column="2">
+                 <widget class="QLabel" name="label_24">
+                  <property name="text">
+                   <string>MaxR</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="3">
+                 <widget class="QLineEdit" name="azimuthPos_2"/>
+                </item>
+                <item row="1" column="3">
+                 <widget class="QLineEdit" name="maxRadius_2"/>
+                </item>
+                <item row="0" column="3">
+                 <widget class="QLineEdit" name="minRadius_2"/>
+                </item>
+                <item row="2" column="4">
+                 <widget class="QLabel" name="label_28">
+                  <property name="text">
+                   <string> deg </string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="0">
+                 <spacer name="horizontalSpacer_31">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="1" column="4">
+                 <widget class="QLabel" name="label_27">
+                  <property name="text">
+                   <string>   m  </string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="4">
+                 <widget class="QLabel" name="label_26">
+                  <property name="text">
+                   <string>   m  </string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="2">
+                 <widget class="QLabel" name="label_25">
+                  <property name="text">
+                   <string>      AP</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="3" column="2">
+                 <widget class="QLabel" name="label_29">
+                  <property name="text">
+                   <string>     AN</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="2">
+                 <widget class="QLabel" name="label_23">
+                  <property name="text">
+                   <string> MinR</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="1">
+                 <spacer name="horizontalSpacer_21">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+              <item row="2" column="0">
+               <widget class="QRadioButton" name="rbPlayback_2">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
                 </property>
                 <property name="text">
-                 <string>Send to Port:</string>
+                 <string>Playback</string>
                 </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QLineEdit" name="sendOutPortNum_2">
-                <property name="maximumSize">
-                 <size>
-                  <width>60</width>
-                  <height>16777215</height>
-                 </size>
+                <property name="autoExclusive">
+                 <bool>false</bool>
                 </property>
                </widget>
               </item>
-              <item>
-               <spacer name="horizontalSpacer_26">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>40</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-             </layout>
-            </item>
-            <item>
-             <spacer name="verticalSpacer_5">
-              <property name="orientation">
-               <enum>Qt::Vertical</enum>
-              </property>
-              <property name="sizeType">
-               <enum>QSizePolicy::Fixed</enum>
-              </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>20</width>
-                <height>20</height>
-               </size>
-              </property>
-             </spacer>
-            </item>
-            <item>
-             <layout class="QHBoxLayout" name="horizontalLayout_15">
-              <item>
-               <spacer name="horizontalSpacer_14">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>40</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item>
-               <widget class="QToolButton" name="saveOSIMessage_2">
-                <property name="enabled">
-                 <bool>false</bool>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>160</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="layoutDirection">
-                 <enum>Qt::LeftToRight</enum>
-                </property>
+              <item row="4" column="0">
+               <widget class="QCheckBox" name="showFOV_2">
                 <property name="text">
-                 <string>Save OSI Message</string>
-                </property>
-                <property name="checkable">
-                 <bool>true</bool>
-                </property>
-                <property name="checked">
-                 <bool>false</bool>
+                 <string>Show Field of View</string>
                 </property>
                </widget>
               </item>
-              <item>
-               <spacer name="horizontalSpacer_15">
+              <item row="8" column="0">
+               <spacer name="verticalSpacer_6">
                 <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
+                 <enum>Qt::Vertical</enum>
                 </property>
                 <property name="sizeHint" stdset="0">
                  <size>
-                  <width>40</width>
-                  <height>20</height>
+                  <width>20</width>
+                  <height>40</height>
                  </size>
                 </property>
                </spacer>
               </item>
              </layout>
-            </item>
-            <item>
-             <spacer name="verticalSpacer_6">
-              <property name="orientation">
-               <enum>Qt::Vertical</enum>
-              </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>20</width>
-                <height>40</height>
-               </size>
-              </property>
-             </spacer>
-            </item>
-           </layout>
-          </item>
-          <item>
-           <spacer name="horizontalSpacer_16">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>3</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
+            </widget>
+           </widget>
           </item>
          </layout>
         </item>
@@ -1517,7 +1907,7 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>1076</width>
+     <width>1280</width>
      <height>22</height>
     </rect>
    </property>
@@ -1659,8 +2049,6 @@
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <tabstops>
-  <tabstop>rbConnection</tabstop>
-  <tabstop>rbPlayback</tabstop>
   <tabstop>ipAddress</tabstop>
   <tabstop>portNumber</tabstop>
   <tabstop>dataType</tabstop>
@@ -1668,18 +2056,11 @@
   <tabstop>portNumber_2</tabstop>
   <tabstop>dataType_2</tabstop>
   <tabstop>playPauseButton</tabstop>
-  <tabstop>loadFile</tabstop>
-  <tabstop>loadFileBrowse</tabstop>
-  <tabstop>loadFile_2</tabstop>
-  <tabstop>loadFileBrowse_2</tabstop>
   <tabstop>playPauseButton_2</tabstop>
-  <tabstop>saveOSIMessage</tabstop>
   <tabstop>saveOSIMessage_2</tabstop>
   <tabstop>startStopTrackingButton</tabstop>
   <tabstop>startStopTrackingButton_2</tabstop>
-  <tabstop>rbConnection_2</tabstop>
   <tabstop>hSlider</tabstop>
-  <tabstop>rbPlayback_2</tabstop>
   <tabstop>objectTree</tabstop>
   <tabstop>objectTree_2</tabstop>
   <tabstop>hSlider_2</tabstop>
diff --git a/src/osiparser.cpp b/src/osiparser.cpp
index 93bbc08..6882b97 100644
--- a/src/osiparser.cpp
+++ b/src/osiparser.cpp
@@ -148,44 +148,33 @@ OsiParser::ParseGroundtruth(Message& objectMessage,
 
     for (int i = 0; i < currentGroundTruth_.lane_size(); ++i)
     {
-        osi::Lane lane = currentGroundTruth_.lane(i);
+        const osi::Lane& lane = currentGroundTruth_.lane(i);
         LaneStruct tmpLane;
         tmpLane.id = lane.id().value();
 
         // DRAW_CENTER_LINES
+        QVector<QVector3D> centerLines;
+        for (int a = 0; a < lane.center_line_size(); ++a)
         {
-            // lane <dummyVector <centerLines <position> > >
-            QVector<QVector3D> centerLines;
-            for (int a = 0; a < lane.center_line_size(); ++a)
-            {
-                osi::Vector3d centerLine = lane.center_line(a);
-                centerLines.append(QVector3D(-centerLine.x(), 0, centerLine.y()));
-            }
-
-            tmpLane.centerLanes.append(centerLines);
+            const osi::Vector3d& centerLine = lane.center_line(a);
+            centerLines.append(QVector3D(centerLine.y(), 0, centerLine.x()));
         }
+        tmpLane.centerLanes.append(centerLines);
 
         // DRAW_LANE_BOUNDARIES
+        for (int b = 0; b < lane.lane_boundary_size(); ++b)
         {
-            // lanes <laneBoundaries <boundaryLines <position> > >
-            QVector<QVector<QVector3D>> laneBoundaries;
+            const osi::LaneBoundary& laneBoundary = lane.lane_boundary(b);
+            QVector<QVector3D> boundaryLines;
 
-            for (int b = 0; b < lane.lane_boundary_size(); ++b)
+            for (int c = 0; c < laneBoundary.boundary_line_size(); ++c)
             {
-                osi::LaneBoundary laneBoundary = lane.lane_boundary(b);
-                QVector<QVector3D> boundaryLines;
-
-                for (int c = 0; c < laneBoundary.boundary_line_size(); ++c)
-                {
-                    osi::BoundaryPoint boundaryLine = laneBoundary.boundary_line(c);
-                    osi::Vector3d position = boundaryLine.position();
-                    boundaryLines.append(QVector3D(-position.x(), 0, position.y()));
-                }
-
-                laneBoundaries.append(boundaryLines);
+                const osi::BoundaryPoint& boundaryLine = laneBoundary.boundary_line(c);
+                const osi::Vector3d& position = boundaryLine.position();
+                boundaryLines.append(QVector3D(position.y(), 0, position.x()));
             }
 
-            tmpLane.boundaryLanes= laneBoundaries;
+            tmpLane.boundaryLanes.append(boundaryLines);
         }
 
         laneMessage.append(tmpLane);
@@ -223,8 +212,8 @@ OsiParser::ParseGroundtruthMovingObject(Message& objectMessage,
     tmpMsg.name = "ID: " + idStr;
     tmpMsg.type = objectType;
     tmpMsg.isEgoVehicle = isEgoVehicle;
-    tmpMsg.orientation = orientation;
-    tmpMsg.position = QVector3D(-position.x(), 0, position.y());
+    tmpMsg.orientation = orientation+M_PI_2;
+    tmpMsg.position = QVector3D(position.y(), 0, position.x());
     tmpMsg.realPosition = QVector3D(position.x(), position.y(), position.z());
     tmpMsg.velocitie = QVector3D(velocity.x(), velocity.y(), velocity.z());
     tmpMsg.acceleration = QVector3D(acceleration.x(), acceleration.y(), acceleration.z());
@@ -269,8 +258,8 @@ OsiParser::ParseGroundtruthStationaryObject(Message& objectMessage,
     tmpMsg.name = "ID: " + idStr;
     tmpMsg.type = objectType;
     tmpMsg.isEgoVehicle = isEgoVehicle;
-    tmpMsg.orientation = orientation;
-    tmpMsg.position = QVector3D(-position.x(), 0, position.y());
+    tmpMsg.orientation = orientation+M_PI_2;
+    tmpMsg.position = QVector3D(position.y(), 0, position.x());
     tmpMsg.realPosition = QVector3D(position.x(), position.y(), position.z());
     tmpMsg.velocitie = QVector3D(velocity.x(), velocity.y(), velocity.z());
     tmpMsg.acceleration = QVector3D(acceleration.x(), acceleration.y(), acceleration.z());
@@ -330,63 +319,54 @@ OsiParser::ParseSensorData(Message& objectMessage,
 
     for (int i = 0; i < currentSensorData_.lane_size(); ++i)
     {
-        osi::DetectedLane lane = currentSensorData_.lane(i);
+        const osi::DetectedLane& lane = currentSensorData_.lane(i);
         if(lane.existence_probability() == 1)
         {
             LaneStruct tmpLane;
             tmpLane.id = lane.lane().id().value();
 
             // DRAW_CENTER_LINES
+            QVector<QVector3D> centerLines;
+            for (int a = 0; a < lane.lane().center_line_size(); ++a)
             {
-                // lane <dummyVector <centerLines <position> > >
-                QVector<QVector3D> centerLines;
-                for (int a = 0; a < lane.lane().center_line_size(); ++a)
+                const osi::Vector3d& centerLine = lane.lane().center_line(a);
+                if(centerLine.x() != 0 || centerLine.y() != 0 || centerLine.z() != 0)
                 {
-                    osi::Vector3d centerLine = lane.lane().center_line(a);
-                    if(centerLine.x() != 0 || centerLine.y() != 0 || centerLine.z() != 0)
-                    {
-                        centerLines.append(QVector3D(centerLine.x(), 0, -centerLine.y()));
-                    }
-                    else
-                    {
-                        tmpLane.centerLanes.append(centerLines);
-                        centerLine.Clear();
-                    }
+                    centerLines.append(QVector3D(centerLine.x(), 0, -centerLine.y()));
+                }
+                else if(!centerLines.empty())
+                {
+                    tmpLane.centerLanes.append(centerLines);
+                    centerLines.clear();
                 }
-
-                tmpLane.centerLanes.append(centerLines);
             }
+            if(!centerLines.empty())
+                tmpLane.centerLanes.append(centerLines);
 
             // DRAW_LANE_BOUNDARIES
+            for (int b = 0; b < lane.lane().lane_boundary_size(); ++b)
             {
-                // lanes <laneBoundaries <boundaryLines <position> > >
-                QVector<QVector<QVector3D>> laneBoundaries;
+                const osi::LaneBoundary& laneBoundary = lane.lane().lane_boundary(b);
+                QVector<QVector3D> boundaryLines;
 
-                for (int b = 0; b < lane.lane().lane_boundary_size(); ++b)
+                for (int c = 0; c < laneBoundary.boundary_line_size(); ++c)
                 {
-                    osi::LaneBoundary laneBoundary = lane.lane().lane_boundary(b);
-                    QVector<QVector3D> boundaryLines;
+                    const osi::BoundaryPoint& boundaryLine = laneBoundary.boundary_line(c);
+                    const osi::Vector3d& position = boundaryLine.position();
 
-                    for (int c = 0; c < laneBoundary.boundary_line_size(); ++c)
+                    if(position.x() != 0 || position.y() != 0 || position.z() != 0)
                     {
-                        osi::BoundaryPoint boundaryLine = laneBoundary.boundary_line(c);
-                        osi::Vector3d position = boundaryLine.position();
-
-                        if(position.x() != 0 || position.y() != 0 || position.z() != 0)
-                        {
-                            boundaryLines.append(QVector3D(position.x(), 0, -position.y()));
-                        }
-                        else
-                        {
-                            laneBoundaries.append(boundaryLines);
-                            boundaryLines.clear();
-                        }
+                        boundaryLines.append(QVector3D(position.x(), 0, -position.y()));
+                    }
+                    else if(!boundaryLines.empty())
+                    {
+                        tmpLane.boundaryLanes.append(boundaryLines);
+                        boundaryLines.clear();
                     }
-
-                    laneBoundaries.append(boundaryLines);
                 }
 
-                tmpLane.boundaryLanes= laneBoundaries;
+                if(!boundaryLines.empty())
+                    tmpLane.boundaryLanes.append(boundaryLines);
             }
 
             laneMessage.append(tmpLane);
@@ -394,13 +374,11 @@ OsiParser::ParseSensorData(Message& objectMessage,
     }
 }
 
-
 /*
  *
  * Parse a moving SensorData Object
  *
  */
-
 void
 OsiParser::ParseSensorDataMovingObject(Message& objectMessage,
                                        const osi::BaseMoving& baseObject,
@@ -416,13 +394,6 @@ OsiParser::ParseSensorDataMovingObject(Message& objectMessage,
     osi::Vector3d velocity = baseObject.velocity();
     osi::Vector3d acceleration = baseObject.acceleration();
     float orientation = baseObject.orientation().yaw();
-    osi::Dimension3d dimension = baseObject.dimension();
-
-    if (dimension.width() == 0 && dimension.length() == 0)
-    {
-        dimension.set_width(1.0f);
-        dimension.set_length(1.0f);
-    }
 
     MessageStruct tmpMsg;
     tmpMsg.id = Global::GetObjectTypeName(objectType) + idStr;
@@ -434,7 +405,25 @@ OsiParser::ParseSensorDataMovingObject(Message& objectMessage,
     tmpMsg.realPosition = QVector3D(position.x(), position.y(), position.z());
     tmpMsg.velocitie = QVector3D(velocity.x(), velocity.y(), velocity.z());
     tmpMsg.acceleration = QVector3D(acceleration.x(), acceleration.y(), acceleration.z());
-    tmpMsg.dimension = dimension;
+    
+    if(baseObject.base_polygon_size() == 4)
+    {
+        for(int i = 0; i < 4; ++i)
+        {
+            const osi::Vector2d& vertice = baseObject.base_polygon(i);
+            tmpMsg.basePoly.push_back(QVector3D(vertice.x() - position.x(), 0, -vertice.y()+position.y()));
+        }
+    }
+    else
+    {
+        osi::Dimension3d dimension = baseObject.dimension();
+        if (dimension.width() == 0 && dimension.length() == 0)
+        {
+            dimension.set_width(1.0f);
+            dimension.set_length(1.0f);
+        }
+        tmpMsg.dimension = dimension;
+    }
 
     objectMessage.append(tmpMsg);
 }
@@ -459,13 +448,6 @@ OsiParser::ParseSensorDataStationaryObject(Message& objectMessage,
     osi::Vector3d velocity = tmp;
     osi::Vector3d acceleration = tmp;
     float orientation = baseObject.orientation().yaw();
-    osi::Dimension3d dimension = baseObject.dimension();
-
-    if (dimension.width() == 0 && dimension.length() == 0)
-    {
-        dimension.set_width(1.0f);
-        dimension.set_length(1.0f);
-    }
 
     MessageStruct tmpMsg;
     tmpMsg.id = Global::GetObjectTypeName(objectType) + idStr;
@@ -477,8 +459,26 @@ OsiParser::ParseSensorDataStationaryObject(Message& objectMessage,
     tmpMsg.realPosition = QVector3D(position.x(), position.y(), position.z());
     tmpMsg.velocitie = QVector3D(velocity.x(), velocity.y(), velocity.z());
     tmpMsg.acceleration = QVector3D(acceleration.x(), acceleration.y(), acceleration.z());
-    tmpMsg.dimension = dimension;
-
+    
+    if(baseObject.base_polygon_size() == 4)
+    {
+        for(int i = 0; i < 4; ++i)
+        {
+            const osi::Vector2d& vertice = baseObject.base_polygon(i);
+            tmpMsg.basePoly.push_back(QVector3D(vertice.x(), 0, -vertice.y()));
+        }
+    }
+    else
+    {
+        osi::Dimension3d dimension = baseObject.dimension();
+        if (dimension.width() == 0 && dimension.length() == 0)
+        {
+            dimension.set_width(1.0f);
+            dimension.set_length(1.0f);
+        }
+        tmpMsg.dimension = dimension;
+    }
+    
     objectMessage.append(tmpMsg);
 }
 
diff --git a/src/osireader.cpp b/src/osireader.cpp
index 67e2fb5..2b4ed77 100644
--- a/src/osireader.cpp
+++ b/src/osireader.cpp
@@ -7,16 +7,67 @@
 #include <iostream>
 
 #include "osireader.h"
+/**
+*  local functions
+*/
+
+static void fmuWrapperLogger(jm_callbacks* c, jm_string module, jm_log_level_enu_t log_level, jm_string message)
+{
+    switch (log_level)
+    {
+        case jm_log_level_fatal:
+            qDebug() << (message);
+            break;
+        case jm_log_level_error:
+        case jm_log_level_warning:
+            qDebug() << message;
+            break;
+        case jm_log_level_nothing:
+        case jm_log_level_info:
+        case jm_log_level_verbose:
+        case jm_log_level_debug:
+        case jm_log_level_all:
+            qDebug() << message;
+            break;
+    }
+}
+
+static void encode_pointer_to_integer(const void* ptr, fmi2_integer_t& hi, fmi2_integer_t& lo)
+{
+#if PTRDIFF_MAX == INT64_MAX
+    union addrconv
+    {
+        struct
+        {
+            int lo;
+            int hi;
+        } base;
+        unsigned long long address;
+    } myaddr;
+    myaddr.address = reinterpret_cast<unsigned long long>(ptr);
+    hi = myaddr.base.hi;
+    lo = myaddr.base.lo;
+#elif PTRDIFF_MAX == INT32_MAX
+    hi = 0;
+    lo = reinterpret_cast<int>(ptr);
+#else
+#error "Cannot determine 32bit or 64bit environment!"
+#endif
+}
+
 
 OsiReader::OsiReader(int* deltaDelay,
                      const bool& enableSendOut,
-                     const std::string& zmqPubPortNum)
+                     const std::string& pubPortNum,
+                     const bool& enalbeFMU,
+                     const std::string& fmuPath)
     : IMessageSource()
     , isRunning_(false)
     , isReadTerminated_(false)
 
     , osiFileName_()
     , osiHeaderName_()
+    , firstTimeStamp_(0)
     , stamp2Offset_()
     , iterStamp_()
     , iterMutex_()
@@ -26,16 +77,35 @@ OsiReader::OsiReader(int* deltaDelay,
     , deltaDelay_(deltaDelay)
 
     , enableSendOut_(enableSendOut)
-    , zmqPubPortNumber_(zmqPubPortNum)
+    , pubPortNumber_(pubPortNum)
+
     , zmqContext_(1)
     , zmqPublisher_(zmqContext_, ZMQ_PUB)
+
+    , enableFMU_(enalbeFMU)
+    , fmu_(nullptr)
+    , callBackFunctions_()
+    , callbacks_()
+    , fmuContext_(nullptr)
+    , jmStatus_()
+    , fmiStatus_()
+    , tStart_(0)
+    , tEnd_(0)
+    , tCurrent_(0)
+    , hStep_(0)
+    , FMUPath_(fmuPath)
+    , tmpPath_()
+    , logLevel_(LogLevel::Warn)
+    , currentBuffer_()
+    , vr_()
 {
 }
 
 void
-OsiReader::StartReadFile(const QString& osiFileName, const DataType dataType)
+OsiReader::StartReadFile(const QString& osiFileName, const DataType dataType, const QString& fmuPath)
 {
     zmqPublisher_.close();
+    FMUPath_ = fmuPath.toStdString();
     QString errMsg = SetupConnection(true);
     bool success = errMsg.isEmpty();
 
@@ -103,6 +173,8 @@ OsiReader::StopReadFile()
         isRunning_ = false;
         isPaused_ = false;
 
+        FreeFMUConnection();
+
         while(!isReadTerminated_)
         {
             QThread::msleep(50);
@@ -167,11 +239,11 @@ OsiReader::SliderValueChanged(int newValue)
             if(osiSD.ParseFromString(str_line))
             {
                 uint64_t curStamp = GetTimeStampInNanoSecond(osiSD);
-                MessageSendout(osiSD, defaultDatatype_);
-                ZMQSendOutMessage(str_line);
+                emit MessageSendout(osiSD, defaultDatatype_);
+                SendOutMessage(str_line);
                 // update slider value in millisecond level
-                int sliderValue = curStamp / 1000000;
-                UpdateSliderValue(sliderValue);
+                int sliderValue = (curStamp - firstTimeStamp_) / 1000000;
+                emit UpdateSliderValue(sliderValue);
                 break;
             }
         }
@@ -316,7 +388,6 @@ OsiReader::SendMessageLoop()
             std::string str_backup = "";
             size_t size_found;
 
-            uint64_t firstTimeStamp (0);
             uint64_t preTimeStamp (0);
             bool isRefreshMessage (true);
 
@@ -348,7 +419,7 @@ OsiReader::SendMessageLoop()
 
                     if(isFirstMessage)
                     {
-                        firstTimeStamp = curStamp;
+                        firstTimeStamp_ = curStamp;
                         isFirstMessage = false;
                     }
 
@@ -368,11 +439,11 @@ OsiReader::SendMessageLoop()
                     usleep(sleep);
                     preTimeStamp = curStamp;
 
-                    MessageSendout(osiSD, defaultDatatype_);
-                    ZMQSendOutMessage(str_line);
+                    emit MessageSendout(osiSD, defaultDatatype_);
+                    SendOutMessage(str_line);
                     // update slider value in millisecond level
-                    int sliderValue = (curStamp - firstTimeStamp) / 1000000;
-                    UpdateSliderValue(sliderValue);
+                    int sliderValue = (curStamp - firstTimeStamp_) / 1000000;
+                    emit UpdateSliderValue(sliderValue);
 
                     ++iterStamp_;
                     if(iterStamp_ == stamp2Offset_.end())
@@ -413,12 +484,20 @@ OsiReader::SendMessageLoop()
 }
 
 void
-OsiReader::ZMQSendOutMessage(const std::string& message)
+OsiReader::SendOutMessage(const std::string& message)
 {
+    currentBuffer_ = message;
+    if(enableSendOut_ && enableFMU_ && fmu_ != nullptr)
+    {
+        set_fmi_sensor_data_out();
+        fmi2_boolean_t newStep = fmi2_true;
+        time_t timeC = time(NULL);
+        fmiStatus_ = fmi2_import_do_step(fmu_, (fmi2_real_t)timeC, hStep_, newStep);
+    }
     if(enableSendOut_ && zmqPublisher_.connected())
     {
-        zmq::message_t zmqMessage(message.size());
-        memcpy(zmqMessage.data(), message.data(), message.size());
+        zmq::message_t zmqMessage(currentBuffer_.size());
+        memcpy(zmqMessage.data(), currentBuffer_.data(), currentBuffer_.size());
         zmqPublisher_.send(zmqMessage);
     }
 }
@@ -427,38 +506,213 @@ QString
 OsiReader::SetupConnection(bool enable)
 {
     QString errMsg;
-    if(enable && enableSendOut_)
+    if(enable && enableSendOut_ && enableFMU_)
     {
-        if(!zmqPublisher_.connected())
-        {
-            zmqPublisher_ = zmq::socket_t(zmqContext_, ZMQ_PUB);
-            zmqPublisher_.setsockopt(ZMQ_LINGER, 100);
-            try
-            {
-                zmqPublisher_.bind("tcp://*:" + zmqPubPortNumber_);
-            }
-            catch (zmq::error_t& error)
-            {
-                zmqPublisher_.close();
-                errMsg = "Error connecting to endpoint: " + QString::fromUtf8(error.what());
-            }
-        }
+        errMsg = SetFMUConnection();
+    }
+    else if(enable && enableSendOut_)
+    {
+        errMsg = SetZMQConnection();
     }
     else
     {
         if(zmqPublisher_.connected())
         {
-            try
-            {
-                zmqPublisher_.close();
-            }
-            catch (zmq::error_t& error)
-            {
-                errMsg = "Error close connecting to endpoint: " + QString::fromUtf8(error.what());
-            }
+            errMsg = FreeZMQConnection();
+        }
+    }
+
+    return errMsg;
+}
+
+QString
+OsiReader::SetZMQConnection()
+{
+    QString errMsg;
+    if(!zmqPublisher_.connected())
+    {
+        zmqPublisher_ = zmq::socket_t(zmqContext_, ZMQ_PUB);
+        zmqPublisher_.setsockopt(ZMQ_LINGER, 100);
+        try
+        {
+            zmqPublisher_.bind("tcp://*:" + pubPortNumber_);
+        }
+        catch (zmq::error_t& error)
+        {
+            zmqPublisher_.close();
+            errMsg = "Error connecting to endpoint: " + QString::fromUtf8(error.what());
+        }
+    }
+
+    return errMsg;
+}
+
+QString
+OsiReader::FreeZMQConnection()
+{
+    QString errMsg;
+    try
+    {
+        zmqPublisher_.close();
+    }
+    catch (zmq::error_t& error)
+    {
+        errMsg = "Error close connecting to endpoint: " + QString::fromUtf8(error.what());
+    }
+
+    return errMsg;
+}
+
+QString
+OsiReader::SetFMUConnection()
+{
+    QString errMsg;
+    if(fmu_ == nullptr)
+    {
+        if (!FMUPath_.empty())
+        {
+            tmpPath_ = FMUPath_.substr(0, FMUPath_.find_last_of("/\\"));
+
+            if (!initializeFMUWrapper())
+                errMsg = "FMU Wrapper initialization failed!";
+
+            fmu_ = fmi2_import_parse_xml(fmuContext_, tmpPath_.c_str(), 0);
+
+            if (!fmu_ && errMsg.isEmpty())
+                errMsg = "Error parsing modeldescription.xml of fmu ";
+
+            if (fmi2_import_get_fmu_kind(fmu_) != fmi2_fmu_kind_cs  && errMsg.isEmpty())
+                errMsg = "Only Co-Simulation 2.0 is supported by this code";
+
+            if (!importFMU() && errMsg.isEmpty())
+                errMsg = "Could not create the DLL loading mechanism (error: " + QString(fmi2_import_get_last_error(fmu_)) + ").";
+
+            if (!initializeFMU() && errMsg.isEmpty())
+                errMsg = "FMU initialization failed:" + QString(fmi2_import_get_last_error(fmu_));
+        }
+        else
+        {
+            errMsg = "fmu_path is empty";
         }
     }
 
     return errMsg;
 }
 
+void
+OsiReader::FreeFMUConnection()
+{
+    if(fmu_ != nullptr)
+    {
+        fmi2_import_terminate(fmu_);
+        fmi2_import_free(fmu_);
+        fmi_import_free_context(fmuContext_);
+        fmu_ = nullptr;
+    }
+}
+
+bool
+OsiReader::initializeFMUWrapper()
+{
+    // TODO: config or use default values?
+    callbacks_.malloc = malloc;
+    callbacks_.calloc = calloc;
+    callbacks_.realloc = realloc;
+    callbacks_.free = free;
+    callbacks_.logger = fmuWrapperLogger;
+    if (logLevel_ == LogLevel::Warn)
+    {
+        callbacks_.log_level = jm_log_level_warning;
+    }
+    else
+    {
+        callbacks_.log_level = jm_log_level_debug;
+    }
+    callbacks_.context = 0;
+
+    fmuContext_ = fmi_import_allocate_context(&callbacks_);
+    fmi_version_enu_t version = fmi_import_get_fmi_version(fmuContext_, FMUPath_.c_str(), tmpPath_.c_str());
+    if (version != fmi_version_2_0_enu)
+    {
+        qDebug() << "The code only supports version 2.0";
+        return false;
+    }
+    return true;
+}
+
+bool
+OsiReader::importFMU()
+{
+    // TODO: config or use default values?
+    callBackFunctions_.logger = fmi2_log_forwarding;
+    callBackFunctions_.allocateMemory = calloc;
+    callBackFunctions_.freeMemory = free;
+    callBackFunctions_.componentEnvironment = fmu_;
+
+    jmStatus_ = fmi2_import_create_dllfmu(fmu_, fmi2_fmu_kind_cs, &callBackFunctions_);
+    if (jmStatus_ == jm_status_error)
+    {
+        return false;
+    }
+    return true;
+}
+
+bool
+OsiReader::initializeFMU()
+{
+    // TODO: config or use default values?
+    // TODO: alternative solution for start values & verify parameters for setup and initiliazation functions
+    // start values
+    fmi2_string_t instanceName = "Test CS model instance";
+    fmi2_boolean_t visible = fmi2_false;
+    fmi2_real_t relativeTol = 1e-4;
+
+    tStart_ = 0;
+    tCurrent_ = tStart_;
+    fmi2_boolean_t StopTimeDefined = fmi2_false;
+    // Do we need it?
+    fmi2_string_t fmuGUID;
+    fmuGUID = fmi2_import_get_GUID(fmu_);
+
+    jmStatus_ = fmi2_import_instantiate(fmu_, instanceName, fmi2_cosimulation, FMUPath_.c_str(), visible);
+
+    fmi2_value_reference_t vr[2];
+    vr[0] = fmi2_import_get_variable_vr(fmi2_import_get_variable_by_name(fmu_, FMI_SENDER_NAME));
+    vr[1] = fmi2_import_get_variable_vr(fmi2_import_get_variable_by_name(fmu_, FMI_RECEIVER_NAME));
+    fmi2_boolean_t booleanVars_[2];
+    booleanVars_[0] = true;  // Sender
+    booleanVars_[1] = false; // Receiver
+    fmi2_import_set_boolean(fmu_, vr, 2, booleanVars_);
+
+    vr[0] = fmi2_import_get_variable_vr(fmi2_import_get_variable_by_name(fmu_, FMI_ADDRESS_NAME));
+    vr[1] = fmi2_import_get_variable_vr(fmi2_import_get_variable_by_name(fmu_, FMI_PORT_NAME));
+    fmi2_string_t stringVars_[2];
+    stringVars_[0] = "127.0.0.1";
+    stringVars_[1] = pubPortNumber_.c_str();
+    fmi2_import_set_string(fmu_, vr, 2, stringVars_);
+
+    fmiStatus_ = fmi2_import_setup_experiment(fmu_, fmi2_true, relativeTol, tStart_, StopTimeDefined, tEnd_);
+    fmiStatus_ = fmi2_import_enter_initialization_mode(fmu_);
+    fmiStatus_ = fmi2_import_exit_initialization_mode(fmu_);
+
+    vr_[FMI_INTEGER_SENSORDATA_IN_BASELO_IDX] = fmi2_import_get_variable_vr(fmi2_import_get_variable_by_name(fmu_, FMI_DATA_IN_BASELO_NAME));
+    vr_[FMI_INTEGER_SENSORDATA_IN_BASEHI_IDX] = fmi2_import_get_variable_vr(fmi2_import_get_variable_by_name(fmu_, FMI_DATA_IN_BASEHI_NAME));
+    vr_[FMI_INTEGER_SENSORDATA_IN_SIZE_IDX] = fmi2_import_get_variable_vr(fmi2_import_get_variable_by_name(fmu_, FMI_DATA_IN_SIZE_NAME));
+
+    return true;
+}
+
+void
+OsiReader::set_fmi_sensor_data_out()
+{
+    fmi2_integer_t integerVars[FMI_INTEGER_IN_VARS];
+    encode_pointer_to_integer(currentBuffer_.data(),
+                              integerVars[FMI_INTEGER_SENSORDATA_IN_BASEHI_IDX],
+                              integerVars[FMI_INTEGER_SENSORDATA_IN_BASELO_IDX]);
+    integerVars[FMI_INTEGER_SENSORDATA_IN_SIZE_IDX] = (fmi2_integer_t)currentBuffer_.length();
+
+    fmiStatus_ = fmi2_import_set_integer(fmu_, vr_, FMI_INTEGER_IN_VARS, integerVars);
+}
+
+
+
diff --git a/src/tcpreceiver.cpp b/src/tcpreceiver.cpp
index d865da6..a35055c 100644
--- a/src/tcpreceiver.cpp
+++ b/src/tcpreceiver.cpp
@@ -130,7 +130,10 @@ TCPReceiver::ReceiveLoop()
 
                 if(sensorData.ParseFromArray(message.data(),message.size()))
                 {
+                    uint64_t curStamp = GetTimeStampInNanoSecond(sensorData);
                     emit MessageReceived(sensorData, currentDataType_);
+                    int sliderValue = curStamp / 1000000;
+                    emit UpdateSliderTime(sliderValue);
                 }
                 else
                 {
@@ -149,5 +152,14 @@ TCPReceiver::ReceiveLoop()
     isThreadTerminated_ = true;
 }
 
+uint64_t
+TCPReceiver::GetTimeStampInNanoSecond(osi::SensorData& osiSD)
+{
+    uint64_t second = osiSD.mutable_ground_truth()->mutable_global_ground_truth()->timestamp().seconds();
+    int32_t nano = osiSD.mutable_ground_truth()->mutable_global_ground_truth()->timestamp().nanos();
+    uint64_t timeStamp = second * 1000000000 + nano;
+
+    return timeStamp;
+}