Commit 3637b786 authored by Svetlana's avatar Svetlana

Merge branch 'develop' of git.rwth-aachen.de:autonomousdriving/torcs_dl into develop

# Conflicts:
#	TorcsEMAMGenerator/.idea/workspace.xml
parents 3d9fbed8 1b75471b
target/
output/
.idea/
.git
*.iml
\ No newline at end of file
<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://maven.apache.org/POM/4.0.0"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
<modelVersion>4.0.0</modelVersion>
<groupId>de.monticore.lang.monticar</groupId>
<artifactId>cnn-model-training</artifactId>
<version>1.0-SNAPSHOT</version>
<build>
<plugins>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-compiler-plugin</artifactId>
<configuration>
<source>1.8</source>
<target>1.8</target>
</configuration>
</plugin>
</plugins>
</build>
<dependencies>
<dependency>
<groupId>de.monticore.lang.monticar</groupId>
<artifactId>embedded-montiarc</artifactId>
<version>0.0.11c-SNAPSHOT</version>
</dependency>
<dependency>
<groupId>de.monticore.lang.monticar</groupId>
<artifactId>embedded-montiarc-deeplearning</artifactId>
<version>0.2.0-SNAPSHOT</version>
</dependency>
</dependencies>
</project>
package de.monticore.lang.monticar.torcs_dl;
import de.monticore.lang.monticar.emadl.generator.Generator;
import freemarker.template.TemplateException;
import java.io.IOException;
import java.nio.file.Path;
import java.nio.file.Paths;
public class CNNCodeGenerator {
public static final String TARGET_PATH_GENERATED = "./target/generated-sources-cnn-model-training/";
public static final String MODELS_PATH = "src/main/models/";
public static void main(String[] args) {
System.out.println("Starting code generation...");
Generator gen = new Generator();
gen.setGenerationTargetPath(TARGET_PATH_GENERATED);
try {
gen.generate(MODELS_PATH, "Alexnet");
} catch (IOException | TemplateException e) {
e.printStackTrace();
}
}
}
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
configuration AlexnetConfig{
num_epoch : 100
batch_size : 500
optimizer : adam{
learning_rate : 0.001
}
}
#pragma once
#include "${compName}.h"
class IAdapter_${compName}{
public:
virtual ~IAdapter_${compName}(){}
virtual void init(${compName}* comp) = 0;
virtual void tick() = 0;
};
cmake_minimum_required(VERSION 3.5)
project(${compName} LANGUAGES CXX)
add_library(${compName} ${compName}.h)
target_include_directories(${compName} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
set_target_properties(${compName} PROPERTIES LINKER_LANGUAGE CXX)
export(TARGETS ${compName} FILE ${compName}.cmake)
cmake_minimum_required(VERSION 3.5)
project (Coordinator_${compName} CXX)
set (CMAKE_CXX_STANDARD 11)
set (THREADS_PREFER_PTHREAD_FLAG ON)
find_package(Threads REQUIRED)
add_executable(Coordinator_${compName} Coordinator_${compName}.cpp)
set_target_properties(Coordinator_${compName} PROPERTIES LINKER_LANGUAGE CXX)
target_link_libraries(Coordinator_${compName} ${targets} Threads::Threads)
target_include_directories(Coordinator_${compName} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
export(TARGETS Coordinator_${compName} FILE Coordinator_${compName}.cmake)
\ No newline at end of file
#include <iostream>
#include <thread>
#include <chrono>
#include <atomic>
#include <list>
#include "IAdapter_${compName}.h"
${includes}
using namespace std;
using namespace chrono;
static int exeMs = 100;
bool parseCommandLineParameters(int argc, char* argv[]){
if(argc == 1){
return true;
}
if(argc == 3 && string(argv[1]) == "-t"){
try{
int tmp = stoi(argv[2]);
if(tmp >= 0){
exeMs = tmp;
return true;
}
}catch(...){
//Ignore
}
}
cout << "Usage: " << argv[0] << " [-h | -t sleepTimeMs]\n";
return false;
}
void startMiddleware(IAdapter_${compName}& adapter,${compName}& comp,atomic<bool>& done){
adapter.init(&comp);
done = true;
}
int main(int argc, char* argv[])
{
if(!parseCommandLineParameters(argc,argv)){
return 1;
}
atomic<bool> done(false);
${compName} comp;
comp.init();
list<IAdapter_${compName}*> adapters;
${addAdapters}
list<thread*> threads;
for(auto a : adapters){
threads.push_back(new thread(startMiddleware,ref(*a),ref(comp),ref(done)));
}
cout << "waiting for all middleware to start\n";
this_thread::sleep_for(seconds(3));
cout << "started! Executing every " << exeMs << "ms\n";
time_point<system_clock> start, end;
while(!done){
start = system_clock::now();
comp.execute();
for(auto a : adapters){
(*a).tick();
}
end = system_clock::now();
int elapsedMs = duration_cast<milliseconds>(end-start).count();
int newSleep = exeMs - elapsedMs;
if(newSleep <= 0){
cout << "Cant keep up! "<< (-newSleep) <<"ms late!\n";
}else{
this_thread::sleep_for(milliseconds(newSleep));
}
}
return 0;
}
\ No newline at end of file
cmake_minimum_required(VERSION 3.5)
project (struct_msgs)
find_package(genmsg REQUIRED)
FILE(GLOB MSG_FILES_RAW RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ../*/roscpp/struct_msgs/*.msg)
#generate struct_msgs iff .msg files where found
if(MSG_FILES_RAW)
#filter: add each struct msg only once (distinct by filename without path)
foreach(CUR_MSG_FILE ${MSG_FILES_RAW})
get_filename_component(TMP_MSG_NAME ${CUR_MSG_FILE} NAME)
IF(NOT MSG_DEFINED_${TMP_MSG})
LIST(APPEND MSG_FILES ${CUR_MSG_FILE})
SET(MSG_DEFINED_${TMP_MSG} TRUE)
ENDIF()
endforeach(CUR_MSG_FILE)
#generate messages
add_message_files(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} FILES ${MSG_FILES})
generate_messages()
#export the include_dirs, so that other subprojects can use it
set(struct_msgs_INCLUDE_DIRS ${struct_msgs_INCLUDE_DIRS} PARENT_SCOPE)
endif()
#pragma once
#include "${compName}.h"
#include <thread>
#include <chrono>
#include "IAdapter_${compName}.h"
class DummyAdapter_${compName}: public IAdapter_${compName}{
${compName}* component;
public:
DummyAdapter_${compName}(){
}
void tick(){
cout << "Dummy publish data: component.out1 = "<< component->out1 << endl;
}
void init(${compName}* comp){
this->component = comp;
while(1){
std::this_thread::sleep_for(std::chrono::seconds(1));
component->in2 += 1000;
}
}
};
cmake_minimum_required(VERSION 3.5)
project (DummyAdapter_${compName})
add_library(DummyAdapter_${compName} DummyAdapter_${compName}.h)
set_target_properties(DummyAdapter_${compName} PROPERTIES LINKER_LANGUAGE CXX)
target_link_libraries(DummyAdapter_${compName} ${compName})
target_include_directories(DummyAdapter_${compName} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
export(TARGETS DummyAdapter_${compName} FILE DummyAdapter_${compName}.cmake)
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