Mastercomponent.emadl 1.27 KB
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package dp;
import dp.subcomponents.*;

component Mastercomponent {
   ports
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	in   Q^{16} groundTruthAffordance,
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        in   Q(0 m/s:0.1 m/s:100 m/s) speedIn,
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        out  Q(-1:1)^{3} commandsOut;
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   instance VectorToAffordance vectorToAff;
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   instance DriverController driverController;
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   instance SteeringBuffer steeringBuffer;
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   instance Localization locController;
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   connect groundTruthAffordance -> vectorToAff.affordanceIndicators;
   connect vectorToAff.affordance -> locController.affordanceIn, driverController.affordanceIn;
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   connect locController.numLanes -> driverController.lanesCountIn;
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   connect steeringBuffer.outputBuffer -> driverController.steeringRecordIn;
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   connect speedIn -> driverController.speedIn;
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   connect steeringBuffer.timerLeftOut -> driverController.timerLeftIn;
   connect steeringBuffer.timerRightOut -> driverController.timerRightIn;
   connect steeringBuffer.laneChangeOut -> driverController.laneChangeIn;
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   connect driverController.commandsOut -> commandsOut;
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   connect driverController.steerCmd -> steeringBuffer.inSteerCmd;
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   connect driverController.timerLeftOut -> steeringBuffer.timerLeftIn;
   connect driverController.timerRightOut -> steeringBuffer.timerRightIn;
   connect driverController.laneChangeOut -> steeringBuffer.laneChangeIn;
}