generation for emadl component

RosWorkspace/build.sh

 %!/bin/bash
 
-source devel/setup.bash
+#source devel/setup.bash
 catkin_make
 

TorcsEMAMGenerator/.idea/libraries/Maven__de_monticore_lang_monticar_embedded_montiarc_behaviour_0_0_10_SNAPSHOT.xml

-<component name="libraryTable">
-  <library name="Maven: de.monticore.lang.monticar:embedded-montiarc-behaviour:0.0.10-SNAPSHOT">
-    <CLASSES>
-      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/embedded-montiarc-behaviour/0.0.10-SNAPSHOT/embedded-montiarc-behaviour-0.0.10-20180122.004624-1.jar!/" />
-    </CLASSES>
-    <JAVADOC>
-      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/embedded-montiarc-behaviour/0.0.10-SNAPSHOT/embedded-montiarc-behaviour-0.0.10-20180122.004624-1-javadoc.jar!/" />
-    </JAVADOC>
-    <SOURCES>
-      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/embedded-montiarc-behaviour/0.0.10-SNAPSHOT/embedded-montiarc-behaviour-0.0.10-20180122.004624-1-sources.jar!/" />
-    </SOURCES>
-  </library>
-</component>
\ No newline at end of file

TorcsEMAMGenerator/experiments.iml

@@ -56,7 +56,6 @@
     <orderEntry type="library" name="Maven: org.jscience:jscience:4.3.1" level="project" />
     <orderEntry type="library" name="Maven: org.javolution:javolution:5.2.3" level="project" />
     <orderEntry type="library" name="Maven: de.monticore.lang.monticar:embedded-montiarc-math-generator:0.0.6-SNAPSHOT" level="project" />
-    <orderEntry type="library" name="Maven: de.monticore.lang.monticar:embedded-montiarc-behaviour:0.0.10-SNAPSHOT" level="project" />
     <orderEntry type="library" name="Maven: de.monticore.lang.monticar:embedded-montiarc-math:0.0.10-SNAPSHOT" level="project" />
     <orderEntry type="library" name="Maven: de.monticore.lang:math:0.0.10-SNAPSHOT" level="project" />
     <orderEntry type="library" name="Maven: org.apache.commons:commons-math3:3.6.1" level="project" />
@@ -85,5 +84,6 @@
     <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" />
+    <orderEntry type="library" name="Maven: de.monticore.lang.monticar:embedded-montiarc-behaviour:0.0.11-SNAPSHOT" level="project" />
   </component>
 </module>
\ No newline at end of file

TorcsEMAMGenerator/pom.xml

@@ -46,6 +46,11 @@
             <artifactId>embedded-montiarc-deeplearning</artifactId>
             <version>0.2.0-SNAPSHOT</version>
         </dependency>
+        <dependency>
+            <groupId>de.monticore.lang.monticar</groupId>
+            <artifactId>embedded-montiarc-behaviour</artifactId>
+            <version>0.0.11-SNAPSHOT</version>
+        </dependency>
     </dependencies>
     
 </project>
\ No newline at end of file

TorcsEMAMGenerator/src/main/java/de/monticore/lang/monticar/torcs_dl/EMADLGeneratorImpl.java

+package de.monticore.lang.monticar.torcs_dl;
+
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
+import de.monticore.lang.monticar.generator.FileContent;
+import de.monticore.lang.monticar.emadl.generator.EMADLGenerator;
+import de.monticore.lang.monticar.generator.middleware.helpers.NameHelper;
+import de.monticore.lang.monticar.generator.middleware.helpers.TemplateHelper;
+import de.monticore.lang.monticar.generator.middleware.impls.GeneratorImpl;
+import de.monticore.lang.tagging._symboltable.TaggingResolver;
+
+import java.io.File;
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.List;
+
+public class EMADLGeneratorImpl implements GeneratorImpl {
+    private String generationTargetPath;
+    private EMADLGenerator emadlGenerator;
+
+    public EMADLGeneratorImpl(String modelPath){
+        emadlGenerator = new EMADLGenerator();
+        emadlGenerator.setModelsPath(modelPath);
+    }
+
+
+    @Override
+    public List<File> generate(ExpandedComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
+        List<File> files = new ArrayList<>();
+
+        emadlGenerator.setGenerationTargetPath(generationTargetPath);
+        List<FileContent> fileContents = emadlGenerator.generateStrings(taggingResolver, componentInstanceSymbol, taggingResolver);
+
+        for (FileContent fileContent : fileContents) {
+            files.add(emadlGenerator.getEmamGen().generateFile(fileContent));
+        }
+
+        files.add(emadlGenerator.getEmamGen().generateFile((generateCMake(componentInstanceSymbol))));
+        return files;
+    }
+
+    @Override
+    public void setGenerationTargetPath(String path) {
+        this.generationTargetPath = path;
+    }
+
+    private FileContent generateCMake(ExpandedComponentInstanceSymbol componentInstanceSymbol) {
+        FileContent cmake = new FileContent();
+        cmake.setFileName("CMakeLists.txt");
+        String name = NameHelper.getNameTargetLanguage(componentInstanceSymbol.getFullName());
+        cmake.setFileContent(TemplateHelper.getCmakeCppTemplate().replace("${compName}", name));
+        return cmake;
+    }
+}

TorcsEMAMGenerator/src/main/java/de/monticore/lang/monticar/torcs_dl/Experiments.java

 package de.monticore.lang.monticar.torcs_dl;
 
+import de.monticore.ModelingLanguageFamily;
+import de.monticore.io.paths.ModelPath;
+import de.monticore.lang.embeddedmontiarc.LogConfig;
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ComponentSymbol;
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ConstantPortSymbol;
 import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarcmath._symboltable.EmbeddedMontiArcMathLanguage;
 import de.monticore.lang.embeddedmontiarc.tagging.RosToEmamTagSchema;
-import de.monticore.lang.monticar.emadl.generator.Generator;
+import de.monticore.lang.monticar.Utils;
+import de.monticore.lang.monticar.emadl._symboltable.EMADLLanguage;
+import de.monticore.lang.monticar.enumlang._symboltable.EnumLangLanguage;
+import de.monticore.lang.monticar.generator.cpp.converter.MathConverter;
 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;
+import de.monticore.lang.monticar.generator.optimization.ThreadingOptimizer;
 import de.monticore.lang.monticar.generator.order.nfp.TagBreakpointsTagSchema.TagBreakpointsTagSchema;
 import de.monticore.lang.monticar.generator.order.nfp.TagDelayTagSchema.TagDelayTagSchema;
 import de.monticore.lang.monticar.generator.order.nfp.TagExecutionOrderTagSchema.TagExecutionOrderTagSchema;
@@ -14,58 +24,95 @@ import de.monticore.lang.monticar.generator.order.nfp.TagMinMaxTagSchema.TagMinM
 import de.monticore.lang.monticar.generator.order.nfp.TagTableTagSchema.TagTableTagSchema;
 import de.monticore.lang.monticar.generator.order.nfp.TagThresholdTagSchema.TagThresholdTagSchema;
 import de.monticore.lang.monticar.generator.roscpp.helper.TagHelper;
+import de.monticore.lang.monticar.streamunits._symboltable.StreamUnitsLanguage;
+import de.monticore.lang.monticar.struct._symboltable.StructLanguage;
 import de.monticore.lang.tagging._symboltable.TaggingResolver;
+import de.monticore.symboltable.GlobalScope;
 import de.monticore.symboltable.Scope;
+import de.se_rwth.commons.Splitters;
+import de.se_rwth.commons.logging.Log;
 import freemarker.template.TemplateException;
 
+import java.io.File;
 import java.io.IOException;
+import java.nio.file.Files;
 import java.nio.file.Path;
 import java.nio.file.Paths;
+import java.nio.file.StandardCopyOption;
 import java.util.Arrays;
 import java.util.LinkedList;
+import java.util.List;
 
-import static de.monticore.lang.monticar.generator.order.simulator.AbstractSymtab.createSymTab;
+import de.monticore.lang.monticar.generator.order.simulator.AbstractSymtab;
 
 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 final String RESOURCES_PATH = "src/main/resources/";
 
     public static void main(String[] args) {
         System.out.println("Starting code generation...");
 
-        TaggingResolver taggingResolver = createSymTabAndTaggingResolver(MODELS_PATH);
-        RosToEmamTagSchema.registerTagTypes(taggingResolver);
-
-        LinkedList<String> inputs = new LinkedList<String>();
-        inputs.add("Imagepreprocessing");
-        inputs.add("Featureextraction");
-        inputs.add("Safetycontroller");
-        inputs.add("Drivercontroller");
+        generateForEmamComponent("Imagepreprocessing");
+        generateForEmamComponent("Safetycontroller");
+        generateForEmamComponent("Drivercontroller");
+        generateForEmadlComponent("Featureextraction");
 
         try {
-            for (String inpu : inputs) {
-                System.out.println("Generating for " + inpu);
+            Files.copy(Paths.get(RESOURCES_PATH+"scripts/build_all.sh"), Paths.get(TARGET_PATH_GENERATED+"build_all.sh"), StandardCopyOption.REPLACE_EXISTING);
+            Files.copy(Paths.get(RESOURCES_PATH+"scripts/run_all.sh"), Paths.get(TARGET_PATH_GENERATED+"run_all.sh"), StandardCopyOption.REPLACE_EXISTING);
+        } catch (IOException e) {
+            System.err.println("Failed to copy build and start scripts.");
+            e.printStackTrace();
+        }
+    }
+
+    private static void generateForEmamComponent(String componentName) {
+        TaggingResolver taggingResolver = createSymTabAndTaggingResolver( MODELS_PATH);
+        RosToEmamTagSchema.registerTagTypes(taggingResolver);
 
-                ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("dp."+inpu.toLowerCase(), ExpandedComponentInstanceSymbol.KIND).orElse(null);
+        try {
+            System.out.println("Generating for " + componentName);
+            ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("dp."+componentName.toLowerCase(), ExpandedComponentInstanceSymbol.KIND).orElse(null);
 
             TagHelper.resolveTags(taggingResolver, componentInstanceSymbol);
 
             MiddlewareGenerator middlewareGenerator = new MiddlewareGenerator();
-
             middlewareGenerator.add(new CPPGenImpl(), "cpp");
             middlewareGenerator.add(new RosCppGenImpl(), "roscpp");
-                middlewareGenerator.setGenerationTargetPath(TARGET_PATH_GENERATED +inpu);
+            middlewareGenerator.setGenerationTargetPath(TARGET_PATH_GENERATED +componentName);
             middlewareGenerator.generate(componentInstanceSymbol, taggingResolver);
-
+        } catch (IOException e) {
+            System.err.println("Failed to generate sources. Sorry.");
+            e.printStackTrace();
+        }
     }
+
+    private static void generateForEmadlComponent(String componentName) {
+        TaggingResolver taggingResolver = de.monticore.lang.monticar.emadl.generator.AbstractSymtab.createSymTabAndTaggingResolver(MODELS_PATH);
+        RosToEmamTagSchema.registerTagTypes(taggingResolver);
+
+        try {
+            System.out.println("Generating for " + componentName);
+            ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("dp."+componentName.toLowerCase(), ExpandedComponentInstanceSymbol.KIND).orElse(null);
+
+            TagHelper.resolveTags(taggingResolver, componentInstanceSymbol);
+
+            MiddlewareGenerator middlewareGenerator = new MiddlewareGenerator();
+            middlewareGenerator.add(new EMADLGeneratorImpl(MODELS_PATH), "cpp");
+            middlewareGenerator.add(new RosCppGenImpl(), "roscpp");
+            middlewareGenerator.setGenerationTargetPath(TARGET_PATH_GENERATED +componentName);
+            middlewareGenerator.generate(componentInstanceSymbol, taggingResolver);
         } catch (IOException e) {
+            System.err.println("Failed to generate sources. Sorry.");
             e.printStackTrace();
         }
     }
 
-    public static TaggingResolver createSymTabAndTaggingResolver(String... modelPath) {
-        Scope scope = createSymTab(modelPath);
+
+    public static TaggingResolver createSymTabAndTaggingResolver( String... modelPath) {
+        Scope scope = AbstractSymtab.createSymTab(modelPath);
         TaggingResolver tagging = new TaggingResolver(scope, Arrays.asList(modelPath));
         TagMinMaxTagSchema.registerTagTypes(tagging);
         TagTableTagSchema.registerTagTypes(tagging);
@@ -77,10 +124,4 @@ public class Experiments {
         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

-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/src/main/models/dp/Featureextraction.cnnt

+configuration Featureextraction{
+     num_epoch : 100
+     batch_size : 64
+     optimizer : sgd{
+         learning_rate : 0.01
+     }
+}

TorcsEMAMGenerator/src/main/models/dp/Featureextraction.emadl

+package dp;
+
+component Featureextraction {
+    ports
+        in Z(0:255)^{3, 210, 280} imageIn,
+        out Q(0:1)^{13,1,1} affordanceOut;
+
+    implementation CNN {
+
+        def conv(kernel, channels, hasPool=true, convStride=(1,1)){
+            Convolution(kernel=kernel, channels=channels, stride=convStride) ->
+            Relu() ->
+            Pooling(pool_type="max", kernel=(3,3), stride=(2,2), ?=hasPool)
+        }
+        def fc(){
+            FullyConnected(units=4096) ->
+            Relu() ->
+            Dropout()
+        }
+
+        imageIn ->
+        conv(kernel=(11,11), channels=96, convStride=(4,4)) ->
+        conv(kernel=(5,5), channels=256, convStride=(4,4)) ->
+        conv(kernel=(3,3), channels=384, hasPool=false) ->
+        conv(kernel=(3,3), channels=384, hasPool=false) ->
+        conv(kernel=(3,3), channels=256) ->
+        fc() ->
+        fc() ->
+        FullyConnected(units=13) ->
+        Sigmoid() ->
+        affordanceOut
+
+    }
+}

TorcsEMAMGenerator/src/main/models/dp/Featureextraction.emam

-package dp;
-
-component Featureextraction {
-ports
-	in Z(0:255)^{640,480} imageIn,
-	out Q(0:1)^{13,1} affordanceOut;
-}
-

build_all.sh → TorcsEMAMGenerator/src/main/resources/scripts/build_all.sh

 %!/bin/bash
 
 echo "Building DriverController"
-cd TorcsEMAMGenerator/target/generated-sources-torcs-dl/Drivercontroller
+cd Drivercontroller
 mkdir -p build
 cd build
 cmake ..
 make -j
-cd ../../../../..
+cd ../..
 
 echo "Building SafetyController"
-cd TorcsEMAMGenerator/target/generated-sources-torcs-dl/Safetycontroller
+cd Safetycontroller
 mkdir -p build
 cd build
 cmake ..
 make -j
-cd ../../../../..
+cd ../..
 
 echo "Building FeatureExtraction"
-cd TorcsEMAMGenerator/target/generated-sources-torcs-dl/Featureextraction
+cd Featureextraction
 mkdir -p build
 cd build
 cmake ..
 make -j
-cd ../../../../..
+cd ../..
 
 echo "Building ImagePreprocessing"
-cd TorcsEMAMGenerator/target/generated-sources-torcs-dl/Imagepreprocessing
+cd Imagepreprocessing
 mkdir -p build
 cd build
 cmake ..
 make -j
-cd ../../../../..
+cd ../..
 
 echo
 echo "Well done!"

TorcsEMAMGenerator/src/main/resources/scripts/run_all.sh

+%!/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/src/main/resources/torcs/build.sh

+%!/bin/bash
+
+#source devel/setup.bash#
+#catkin_make
+
+cd src
+
+cd camera
+mkdir -p build
+cd build
+cmake ..
+make -j
+cd ../..
+
+cd driver
+mkdir -p build
+cd build
+cmake ..
+make -j
+cd ../..
+

TorcsEMAMGenerator/src/main/resources/torcs/run_all.sh

+%!/bin/bash
+
+source devel/setup.bash
+
+xterm -T driver -e src/driver/build/driver &
+xterm -T camera -e src/camera/build/camera &
+

TorcsEMAMGenerator/src/main/resources/torcs/src/camera/CMakeLists.txt

+cmake_minimum_required(VERSION 3.5)
+project (ROSCamera)
+set (CXX_STANDARD_REQUIRED 14)
+
+find_package(roscpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+add_executable(camera src/main.cpp src/torcsclient.cpp)
+
+set_property(TARGET camera PROPERTY CXX_STANDARD 14)
+target_link_libraries(camera ${roscpp_LIBRARIES} ${std_msgs_LIBRARIES})
+target_include_directories(camera PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${roscpp_INCLUDE_DIRS} ${std_msgs_INCLUDE_DIRS})

TorcsEMAMGenerator/src/main/resources/torcs/src/camera/src/main.cpp

+#include "ros/ros.h"
+#include "std_msgs/Float64MultiArray.h"
+#include "torcsclient.h"
+
+#include <sstream>
+
+int main(int argc, char **argv)
+{
+    ros::init(argc, argv, "camera");
+    ros::NodeHandle n;
+    ros::Publisher chatter_pub = n.advertise<std_msgs::Float64MultiArray>("/camera", 1000);
+    ros::Rate loop_rate(10);
+    int count = 0;
+
+    torcs::TorcsClient client;
+
+    while (ros::ok())
+    {
+        std_msgs::Float64MultiArray::Ptr msg(new std_msgs::Float64MultiArray);
+	msg->data.resize(torcs::IMAGE_SIZE_BYTES);
+        
+        const auto imageData = client.getScreenshot();
+        memcpy(msg->data.data(), imageData->data(), imageData->size());
+        
+        ROS_INFO("%f", msg->data[0]);
+        chatter_pub.publish(msg);
+        ros::spinOnce();
+        loop_rate.sleep();
+        ++count;
+    }
+    return 0;
+}

TorcsEMAMGenerator/src/main/resources/torcs/src/camera/src/torcsclient.cpp

+#include "torcsclient.h"
+
+#include <iostream>
+#include <chrono>
+#include <thread>
+#include <cstring>
+#include <sys/shm.h>
+#include <assert.h>
+
+using namespace torcs;
+
+TorcsClient::TorcsClient()
+{
+    std::cout << "TORCS Client!" << std::endl;
+
+    void *shm = NULL;
+    int shmid;
+
+    shmid = shmget((key_t)4567, sizeof(struct shared_use_st), 0666);
+    if(shmid < 0)
+    {
+        std::cerr << "Failed to get shared memory!" << std::endl;
+	return;
+    }
+
+    shm = shmat(shmid, 0, 0);
+    if(shm == (void*)-1)
+    {
+        std::cerr << "Failed to shmat()!" << std::endl;
+        return;
+    }
+    
+    connected = true;
+
+    std::cout << "Started shared memory at " << std::hex << shm << std::endl;
+
+    shared = (struct shared_use_st*)shm;
+    shared->written = 0;
+    shared->control = 0;
+    shared->pause = 0;
+    shared->fast = 0.0;
+
+    shared->dist_L = 0.0;
+    shared->dist_R = 0.0;
+
+    shared->toMarking_L = 0.0;
+    shared->toMarking_M = 0.0;
+    shared->toMarking_R = 0.0;
+
+    shared->dist_LL = 0.0;
+    shared->dist_MM = 0.0;
+    shared->dist_RR = 0.0;
+
+    shared->toMarking_LL = 0.0;
+    shared->toMarking_ML = 0.0;
+    shared->toMarking_MR = 0.0;
+    shared->toMarking_RR = 0.0;
+
+    shared->toMiddle = 0.0;
+    shared->angle = 0.0;
+    shared->speed = 0.0;
+
+    shared->steerCmd = 0.0;
+    shared->accelCmd = 0.0;
+    shared->brakeCmd = 0.0;
+}
+
+std::unique_ptr<DataContainer> TorcsClient::getScreenshot()
+{
+    assert(connected);
+
+    while(shared->written == 0)
+    {
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    }
+
+    auto result = std::make_unique<DataContainer>();
+    memcpy(result->data(), shared->data, result->size());
+    shared->written = 0;
+
+    return result;
+}
+
+void TorcsClient::sendCommand(Command cmd)
+{
+    assert(connected);