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

# Conflicts:
#	TorcsEMAMGenerator/.idea/workspace.xml

CNNModelTraining/.gitignore

+target/
+output/
+.idea/
+.git
+*.iml
\ No newline at end of file

CNNModelTraining/pom.xml

+<?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>

CNNModelTraining/src/main/java/de/monticore/lang/monticar/torcs_dl/CNNCodeGenerator.java

+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();
+        }
+    }
+
+}

CNNModelTraining/src/main/models/Alexnet.emadl

+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

CNNModelTraining/src/main/models/AlexnetConfig.cnnt

+configuration AlexnetConfig{
+     num_epoch : 100
+     batch_size : 500
+     optimizer : adam{
+         learning_rate : 0.001
+     }
+}

CNNModelTraining/src/main/resources/de/monticore/lang/monticar/generator/middleware/IAdapterTemplate.ftl

+#pragma once
+#include "${compName}.h"
+
+class IAdapter_${compName}{
+	public:
+		virtual ~IAdapter_${compName}(){}
+		virtual void init(${compName}* comp) = 0;
+		virtual void tick() = 0;
+};

CNNModelTraining/src/main/resources/de/monticore/lang/monticar/generator/middleware/cmakeCppTemplate.ftl

+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)

CNNModelTraining/src/main/resources/de/monticore/lang/monticar/generator/middleware/coordinatorCmakeListsTemplate.ftl

+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

CNNModelTraining/src/main/resources/de/monticore/lang/monticar/generator/middleware/coordinatorTemplate.ftl

+#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

CNNModelTraining/src/main/resources/de/monticore/lang/monticar/generator/middleware/struct_msgsCmakeTemplate.ftl

+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()

TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/dummyAdapterTemplate.ftl

-#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;
-		}
-	}
-
-	
-};

TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/dummyCmakeTemplate.ftl

-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)