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autonomousdriving
torcs_dl
Commits
13a3d4ad
Commit
13a3d4ad
authored
Apr 10, 2018
by
Svetlana Pavlitskaya
Browse files
Changes in folder structure
parent
5a8867af
Changes
21
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TorcsEMAMGenerator/.gitignore
View file @
13a3d4ad
output/
generated/
target/
output/
.idea/
.git
*.iml
\ No newline at end of file
TorcsEMAMGenerator/.idea/libraries/Maven__de_monticore_lang_NumberUnit_0_0_10_SNAPSHOT.xml
View file @
13a3d4ad
<component
name=
"libraryTable"
>
<library
name=
"Maven: de.monticore.lang:NumberUnit:0.0.10-SNAPSHOT"
>
<CLASSES>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/NumberUnit/0.0.10-SNAPSHOT/NumberUnit-0.0.10-20180
313.012035
-1.jar!/"
/>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/NumberUnit/0.0.10-SNAPSHOT/NumberUnit-0.0.10-20180
410.013402
-1.jar!/"
/>
</CLASSES>
<JAVADOC>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/NumberUnit/0.0.10-SNAPSHOT/NumberUnit-0.0.10-20180
313.012035
-1-javadoc.jar!/"
/>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/NumberUnit/0.0.10-SNAPSHOT/NumberUnit-0.0.10-20180
410.013402
-1-javadoc.jar!/"
/>
</JAVADOC>
<SOURCES>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/NumberUnit/0.0.10-SNAPSHOT/NumberUnit-0.0.10-20180
313.012035
-1-sources.jar!/"
/>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/NumberUnit/0.0.10-SNAPSHOT/NumberUnit-0.0.10-20180
410.013402
-1-sources.jar!/"
/>
</SOURCES>
</library>
</component>
\ No newline at end of file
TorcsEMAMGenerator/.idea/libraries/Maven__de_monticore_lang_monticar_common_monticar_0_0_10_SNAPSHOT.xml
deleted
100644 → 0
View file @
5a8867af
<component
name=
"libraryTable"
>
<library
name=
"Maven: de.monticore.lang.monticar:common-monticar:0.0.10-SNAPSHOT"
>
<CLASSES>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/common-monticar/0.0.10-SNAPSHOT/common-monticar-0.0.10-20180214.010746-1.jar!/"
/>
</CLASSES>
<JAVADOC>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/common-monticar/0.0.10-SNAPSHOT/common-monticar-0.0.10-20180214.010746-1-javadoc.jar!/"
/>
</JAVADOC>
<SOURCES>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/common-monticar/0.0.10-SNAPSHOT/common-monticar-0.0.10-20180214.010746-1-sources.jar!/"
/>
</SOURCES>
</library>
</component>
\ No newline at end of file
TorcsEMAMGenerator/.idea/libraries/Maven__de_monticore_lang_monticar_embedded_montiarc_0_0_10_SNAPSHOT.xml
deleted
100644 → 0
View file @
5a8867af
<component
name=
"libraryTable"
>
<library
name=
"Maven: de.monticore.lang.monticar:embedded-montiarc:0.0.10-SNAPSHOT"
>
<CLASSES>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/embedded-montiarc/0.0.10-SNAPSHOT/embedded-montiarc-0.0.10-20180122.004719-1.jar!/"
/>
</CLASSES>
<JAVADOC>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/embedded-montiarc/0.0.10-SNAPSHOT/embedded-montiarc-0.0.10-20180122.004719-1-javadoc.jar!/"
/>
</JAVADOC>
<SOURCES>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/embedded-montiarc/0.0.10-SNAPSHOT/embedded-montiarc-0.0.10-20180122.004719-1-sources.jar!/"
/>
</SOURCES>
</library>
</component>
\ No newline at end of file
TorcsEMAMGenerator/.idea/libraries/Maven__de_monticore_lang_monticar_embedded_montiarc_math_0_0_10_SNAPSHOT.xml
View file @
13a3d4ad
<component
name=
"libraryTable"
>
<library
name=
"Maven: de.monticore.lang.monticar:embedded-montiarc-math:0.0.10-SNAPSHOT"
>
<CLASSES>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/embedded-montiarc-math/0.0.10-SNAPSHOT/embedded-montiarc-math-0.0.10-
20180122.005240-1
.jar!/"
/>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/embedded-montiarc-math/0.0.10-SNAPSHOT/embedded-montiarc-math-0.0.10-
SNAPSHOT
.jar!/"
/>
</CLASSES>
<JAVADOC>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/embedded-montiarc-math/0.0.10-SNAPSHOT/embedded-montiarc-math-0.0.10-
20180122.005240-1
-javadoc.jar!/"
/>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/embedded-montiarc-math/0.0.10-SNAPSHOT/embedded-montiarc-math-0.0.10-
SNAPSHOT
-javadoc.jar!/"
/>
</JAVADOC>
<SOURCES>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/embedded-montiarc-math/0.0.10-SNAPSHOT/embedded-montiarc-math-0.0.10-
20180122.005240-1
-sources.jar!/"
/>
<root
url=
"jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/embedded-montiarc-math/0.0.10-SNAPSHOT/embedded-montiarc-math-0.0.10-
SNAPSHOT
-sources.jar!/"
/>
</SOURCES>
</library>
</component>
\ No newline at end of file
TorcsEMAMGenerator/.idea/misc.xml
View file @
13a3d4ad
<?xml version="1.0" encoding="UTF-8"?>
<project
version=
"4"
>
<component
name=
"EntryPointsManager"
>
<entry_points
version=
"2.0"
/>
</component>
<component
name=
"MavenProjectsManager"
>
<option
name=
"originalFiles"
>
<list>
...
...
@@ -7,7 +10,7 @@
</list>
</option>
</component>
<component
name=
"ProjectRootManager"
version=
"2"
languageLevel=
"JDK_1_8"
project-jdk-name=
"1.8"
project-jdk-type=
"JavaSDK"
>
<component
name=
"ProjectRootManager"
version=
"2"
languageLevel=
"JDK_1_8"
assert-keyword=
"true"
jdk-15=
"true"
project-jdk-name=
"1.8"
project-jdk-type=
"JavaSDK"
>
<output
url=
"file://$PROJECT_DIR$/classes"
/>
</component>
</project>
\ No newline at end of file
TorcsEMAMGenerator/.idea/workspace.xml
View file @
13a3d4ad
This diff is collapsed.
Click to expand it.
TorcsEMAMGenerator/experiments.iml
View file @
13a3d4ad
<?xml version="1.0" encoding="UTF-8"?>
<module
org.jetbrains.idea.maven.project.MavenProjectsManager.isMavenModule=
"true"
type=
"JAVA_MODULE"
version=
"4"
>
<component
name=
"NewModuleRootManager"
LANGUAGE_LEVEL=
"JDK_1_8"
>
<component
name=
"NewModuleRootManager"
LANGUAGE_LEVEL=
"JDK_1_8"
inherit-compiler-output=
"false"
>
<output
url=
"file://$MODULE_DIR$/target/classes"
/>
<output-test
url=
"file://$MODULE_DIR$/target/test-classes"
/>
<content
url=
"file://$MODULE_DIR$"
>
...
...
@@ -49,7 +49,7 @@
<orderEntry
type=
"library"
name=
"Maven: org.codehaus.groovy:groovy:2.3.7"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: jline:jline:2.12"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore.lang:NumberUnit:0.0.10-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore.lang.monticar:common-monticar:0.0.1
0
-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore.lang.monticar:common-monticar:0.0.1
1
-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: ch.qos.logback:logback-classic:1.1.2"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: ch.qos.logback:logback-core:1.1.2"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: org.jscience:jscience:4.3.1"
level=
"project"
/>
...
...
@@ -81,5 +81,8 @@
<orderEntry
type=
"library"
name=
"Maven: com.esotericsoftware.yamlbeans:yamlbeans:1.12"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.moticore.lang.monticar:embedded-montiarc-math-middleware-generator:0.0.1-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: org.jgrapht:jgrapht-core:1.1.0"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore.lang.monticar:embedded-montiarc-deeplearning:0.2.0-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore.lang.monticar:cnn-arch:0.2.0-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore.lang.monticar:cnn-train:0.2.0-SNAPSHOT"
level=
"project"
/>
</component>
</module>
\ No newline at end of file
TorcsEMAMGenerator/generated/build.sh
deleted
100755 → 0
View file @
5a8867af
%!/bin/bash
echo
"Building DriverController"
cd
Drivercontroller
mkdir
-p
build
cd
build
cmake ..
make
-j
cd
../../
echo
"Building SafetyController"
cd
Safetycontroller
mkdir
-p
build
cd
build
cmake ..
make
-j
cd
../../
echo
"Building FeatureExtraction"
cd
Featureextraction
mkdir
-p
build
cd
build
cmake ..
make
-j
cd
../../
echo
"Building ImagePreprocessing"
cd
Imagepreprocessing
mkdir
-p
build
cd
build
cmake ..
make
-j
cd
../../
echo
echo
"Well done!"
echo
"Run ./run_all.sh to run all."
TorcsEMAMGenerator/generated/run_all.sh
deleted
100755 → 0
View file @
5a8867af
%!/bin/bash
xterm
-T
DriverController
-e
Drivercontroller/build/coordinator/Coordinator_dp_drivercontroller &
xterm
-T
SafetyController
-e
Safetycontroller/build/coordinator/Coordinator_dp_safetycontroller &
xterm
-T
FeatureExtraction
-e
Featureextraction/build/coordinator/Coordinator_dp_featureextraction &
xterm
-T
ImagePreprocessing
-e
Imagepreprocessing/build/coordinator/Coordinator_dp_imagepreprocessing &
TorcsEMAMGenerator/pom.xml
View file @
13a3d4ad
...
...
@@ -41,6 +41,11 @@
<artifactId>
embedded-montiarc-math-middleware-generator
</artifactId>
<version>
0.0.1-SNAPSHOT
</version>
</dependency>
<dependency>
<groupId>
de.monticore.lang.monticar
</groupId>
<artifactId>
embedded-montiarc-deeplearning
</artifactId>
<version>
0.2.0-SNAPSHOT
</version>
</dependency>
</dependencies>
</project>
\ No newline at end of file
TorcsEMAMGenerator/src/main/java/de/monticore/lang/monticar/torcs_dl/Experiments.java
View file @
13a3d4ad
...
...
@@ -2,6 +2,7 @@ package de.monticore.lang.monticar.torcs_dl;
import
de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol
;
import
de.monticore.lang.embeddedmontiarc.tagging.RosToEmamTagSchema
;
import
de.monticore.lang.monticar.emadl.generator.Generator
;
import
de.monticore.lang.monticar.generator.middleware.MiddlewareGenerator
;
import
de.monticore.lang.monticar.generator.middleware.impls.CPPGenImpl
;
import
de.monticore.lang.monticar.generator.middleware.impls.RosCppGenImpl
;
...
...
@@ -15,27 +16,25 @@ import de.monticore.lang.monticar.generator.order.nfp.TagThresholdTagSchema.TagT
import
de.monticore.lang.monticar.generator.roscpp.helper.TagHelper
;
import
de.monticore.lang.tagging._symboltable.TaggingResolver
;
import
de.monticore.symboltable.Scope
;
import
freemarker.template.TemplateException
;
import
java.io.IOException
;
import
java.nio.file.Path
;
import
java.nio.file.Paths
;
import
java.util.Arrays
;
import
java.util.LinkedList
;
import
static
de
.
monticore
.
lang
.
monticar
.
generator
.
order
.
simulator
.
AbstractSymtab
.
createSymTab
;
public
class
Experiments
{
public
static
final
String
TARGET_PATH_GENERATED
=
"./target/generated-sources-torcs-dl/"
;
public
static
final
String
MODELS_PATH
=
"src/main/models/"
;
public
static
void
main
(
String
[]
args
)
{
System
.
out
.
println
(
"Experiments!"
);
Scope
scope
=
createSymTab
(
"resources"
);
TaggingResolver
taggingResolver
=
new
TaggingResolver
(
scope
,
Arrays
.
asList
(
"resources"
));
TagMinMaxTagSchema
.
registerTagTypes
(
taggingResolver
);
TagTableTagSchema
.
registerTagTypes
(
taggingResolver
);
TagBreakpointsTagSchema
.
registerTagTypes
(
taggingResolver
);
TagExecutionOrderTagSchema
.
registerTagTypes
(
taggingResolver
);
TagInitTagSchema
.
registerTagTypes
(
taggingResolver
);
TagThresholdTagSchema
.
registerTagTypes
(
taggingResolver
);
TagDelayTagSchema
.
registerTagTypes
(
taggingResolver
);
System
.
out
.
println
(
"Starting code generation..."
);
TaggingResolver
taggingResolver
=
createSymTabAndTaggingResolver
(
MODELS_PATH
);
RosToEmamTagSchema
.
registerTagTypes
(
taggingResolver
);
MiddlewareGenerator
middlewareGenerator
=
new
MiddlewareGenerator
();
...
...
@@ -57,7 +56,7 @@ public class Experiments {
TagHelper
.
resolveTags
(
taggingResolver
,
componentInstanceSymbol
);
middlewareGenerator
.
setGenerationTargetPath
(
"generated/"
+
inpu
);
middlewareGenerator
.
setGenerationTargetPath
(
TARGET_PATH_GENERATED
+
inpu
);
middlewareGenerator
.
generate
(
componentInstanceSymbol
,
taggingResolver
);
}
...
...
@@ -65,4 +64,24 @@ public class Experiments {
e
.
printStackTrace
();
}
}
public
static
TaggingResolver
createSymTabAndTaggingResolver
(
String
...
modelPath
)
{
Scope
scope
=
createSymTab
(
modelPath
);
TaggingResolver
tagging
=
new
TaggingResolver
(
scope
,
Arrays
.
asList
(
modelPath
));
TagMinMaxTagSchema
.
registerTagTypes
(
tagging
);
TagTableTagSchema
.
registerTagTypes
(
tagging
);
TagBreakpointsTagSchema
.
registerTagTypes
(
tagging
);
TagExecutionOrderTagSchema
.
registerTagTypes
(
tagging
);
TagInitTagSchema
.
registerTagTypes
(
tagging
);
TagThresholdTagSchema
.
registerTagTypes
(
tagging
);
TagDelayTagSchema
.
registerTagTypes
(
tagging
);
return
tagging
;
}
private
void
generateEMADL
(
String
qualifiedName
)
throws
IOException
,
TemplateException
{
Path
modelPath
=
Paths
.
get
(
MODELS_PATH
);
Generator
gen
=
new
Generator
();
gen
.
generate
(
modelPath
,
qualifiedName
);
}
}
TorcsEMAMGenerator/src/main/models/dp/Alexnet.emadl
0 → 100644
View file @
13a3d4ad
component Alexnet{
ports in Z(0:255)^{3, 224, 224} image,
out Q(0:1)^{10,1,1} predictions;
implementation CNN {
def split1(i){
[i] ->
Convolution(kernel=(5,5), channels=128) ->
Lrn(nsize=5, alpha=0.0001, beta=0.75) ->
Pooling(pool_type="max", kernel=(3,3), stride=(2,2), padding="no_loss") ->
Relu()
}
def split2(i){
[i] ->
Convolution(kernel=(3,3), channels=192) ->
Relu() ->
Convolution(kernel=(3,3), channels=128) ->
Pooling(pool_type="max", kernel=(3,3), stride=(2,2), padding="no_loss") ->
Relu()
}
def fc(){
FullyConnected(units=4096) ->
Relu() ->
Dropout()
}
image ->
Convolution(kernel=(11,11), channels=96, stride=(4,4), padding="no_loss") ->
Lrn(nsize=5, alpha=0.0001, beta=0.75) ->
Pooling(pool_type="max", kernel=(3,3), stride=(2,2), padding="no_loss") ->
Relu() ->
Split(n=2) ->
split1(i=[0|1]) ->
Concatenate() ->
Convolution(kernel=(3,3), channels=384) ->
Relu() ->
Split(n=2) ->
split2(i=[0|1]) ->
Concatenate() ->
fc(->=2) ->
FullyConnected(units=10) ->
Softmax() ->
predictions
}
}
\ No newline at end of file
TorcsEMAMGenerator/
resource
s/dp/Drivercontroller.emam
→
TorcsEMAMGenerator/
src/main/model
s/dp/Drivercontroller.emam
View file @
13a3d4ad
File moved
TorcsEMAMGenerator/
resource
s/dp/Drivercontroller.tag
→
TorcsEMAMGenerator/
src/main/model
s/dp/Drivercontroller.tag
View file @
13a3d4ad
File moved
TorcsEMAMGenerator/
resource
s/dp/Featureextraction.emam
→
TorcsEMAMGenerator/
src/main/model
s/dp/Featureextraction.emam
View file @
13a3d4ad
File moved
TorcsEMAMGenerator/
resource
s/dp/Featureextraction.tag
→
TorcsEMAMGenerator/
src/main/model
s/dp/Featureextraction.tag
View file @
13a3d4ad
File moved
TorcsEMAMGenerator/
resource
s/dp/Imagepreprocessing.emam
→
TorcsEMAMGenerator/
src/main/model
s/dp/Imagepreprocessing.emam
View file @
13a3d4ad
File moved
TorcsEMAMGenerator/
resource
s/dp/Imagepreprocessing.tag
→
TorcsEMAMGenerator/
src/main/model
s/dp/Imagepreprocessing.tag
View file @
13a3d4ad
File moved
TorcsEMAMGenerator/
resource
s/dp/Safetycontroller.emam
→
TorcsEMAMGenerator/
src/main/model
s/dp/Safetycontroller.emam
View file @
13a3d4ad
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