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autonomousdriving
torcs_dl
Commits
8e24f5f6
Commit
8e24f5f6
authored
Mar 22, 2018
by
Svetlana
Browse files
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Plain Diff
Using middleware for ROS cpp generation
parent
d4cbd950
Changes
12
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Showing
12 changed files
with
257 additions
and
47 deletions
+257
-47
TorcsEMAMGenerator/experiments.iml
TorcsEMAMGenerator/experiments.iml
+11
-12
TorcsEMAMGenerator/pom.xml
TorcsEMAMGenerator/pom.xml
+7
-2
TorcsEMAMGenerator/resources/dp/Imagepreprocessing.emam
TorcsEMAMGenerator/resources/dp/Imagepreprocessing.emam
+6
-3
TorcsEMAMGenerator/resources/dp/Imagepreprocessing.tag
TorcsEMAMGenerator/resources/dp/Imagepreprocessing.tag
+11
-0
TorcsEMAMGenerator/src/main/java/de/monticore/lang/monticar/torcs_dl/Experiments.java
...java/de/monticore/lang/monticar/torcs_dl/Experiments.java
+52
-30
TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/IAdapterTemplate.ftl
...e/lang/monticar/generator/middleware/IAdapterTemplate.ftl
+9
-0
TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/cmakeCppTemplate.ftl
...e/lang/monticar/generator/middleware/cmakeCppTemplate.ftl
+6
-0
TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/coordinatorCmakeListsTemplate.ftl
...ar/generator/middleware/coordinatorCmakeListsTemplate.ftl
+13
-0
TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/coordinatorTemplate.ftl
...ang/monticar/generator/middleware/coordinatorTemplate.ftl
+81
-0
TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/dummyAdapterTemplate.ftl
...ng/monticar/generator/middleware/dummyAdapterTemplate.ftl
+28
-0
TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/dummyCmakeTemplate.ftl
...lang/monticar/generator/middleware/dummyCmakeTemplate.ftl
+8
-0
TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/struct_msgsCmakeTemplate.ftl
...onticar/generator/middleware/struct_msgsCmakeTemplate.ftl
+25
-0
No files found.
TorcsEMAMGenerator/experiments.iml
View file @
8e24f5f6
...
...
@@ -12,9 +12,11 @@
</content>
<orderEntry
type=
"inheritedJdk"
/>
<orderEntry
type=
"sourceFolder"
forTests=
"false"
/>
<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
:0.0.11c
-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: org.antlr:antlr4-runtime:4.7.1"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore.lang:Tagging:0.0.1"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore.lang.monticar:struct:0.0.10-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore.lang.monticar:enum:0.0.10-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.se_rwth.commons:se-commons-logging:1.7.7"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.se_rwth.commons:se-commons-utilities:1.7.7"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: javax.inject:javax.inject:1"
level=
"project"
/>
...
...
@@ -25,7 +27,6 @@
<orderEntry
type=
"library"
name=
"Maven: org.javassist:javassist:3.18.2-GA"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: com.google.code.findbugs:annotations:2.0.1"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: commons-io:commons-io:2.4"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: com.google.code.findbugs:jsr305:3.0.0"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: org.antlr:antlr4:4.5.1"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore:monticore-grammar:4.5.4-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore:monticore-emf-runtime:4.5.4-SNAPSHOT"
level=
"project"
/>
...
...
@@ -43,14 +44,17 @@
<orderEntry
type=
"library"
name=
"Maven: org.mod4j.org.eclipse.equinox:app:1.2.0"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: org.mod4j.org.eclipse.emf.ecore:xmi:2.5.0"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: org.mod4j.org.eclipse.emf:common:2.5.0"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: com.google.code.findbugs:jsr305:3.0.0"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.se_rwth.commons:se-commons-groovy:1.7.7"
level=
"project"
/>
<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:0.0.10-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore.lang.monticar:embedded-montiarc:0.0.10-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore.lang.monticar:struct:0.0.10-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore.lang.monticar:enum:0.0.10-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"
/>
<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"
/>
...
...
@@ -72,15 +76,10 @@
<orderEntry
type=
"library"
name=
"Maven: de.monticore:monticore-grammar:grammars:4.5.2"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: org.freemarker:freemarker:2.3.23"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: commons-cli:commons-cli:1.4"
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"
/>
<orderEntry
type=
"library"
name=
"Maven: org.javolution:javolution:5.2.3"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.moticore.lang.monticar:embedded-montiarc-math-roscpp-generator:0.0.1-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore.lang.monticar:embedded-montiarc-math-roscpp-generator:0.0.1c-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore.lang.monticar:embedded-montiarc-math-rosmsg-generator:0.0.1-SNAPSHOT"
level=
"project"
/>
<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-math-roscpp-generator:0.0.1c-SNAPSHOT"
level=
"project"
/>
<orderEntry
type=
"library"
name=
"Maven: de.monticore.lang.monticar:embedded-montiarc-math-rosmsg-generator:0.0.1-SNAPSHOT"
level=
"project"
/>
</component>
</module>
\ No newline at end of file
TorcsEMAMGenerator/pom.xml
View file @
8e24f5f6
...
...
@@ -21,15 +21,20 @@
</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-math-generator
</artifactId>
<version>
0.0.6-SNAPSHOT
</version>
</dependency>
<dependency>
<groupId>
de.moticore.lang.monticar
</groupId>
<groupId>
de.mo
n
ticore.lang.monticar
</groupId>
<artifactId>
embedded-montiarc-math-roscpp-generator
</artifactId>
<version>
0.0.1-SNAPSHOT
</version>
<version>
0.0.1
c
-SNAPSHOT
</version>
</dependency>
<dependency>
<groupId>
de.moticore.lang.monticar
</groupId>
...
...
TorcsEMAMGenerator/resources/dp/Imagepreprocessing.emam
View file @
8e24f5f6
package
dp
;
component
Imagepreprocessing
{
ports
in
Z
(
0
:
255
)^{
3
,
224
,
224
}
imageIn
,
out
Z
(
0
:
255
)^{
3
,
224
,
224
}
imageOut
;
ports
in
Q
^{
3
,
224
}
in1
,
in
Z
^{
3
,
224
}
in2
,
//
in
B
^{
3
,
224
}
in3
,
out
Q
^{
3
,
224
}
out1
,
out
Z
^{
3
,
224
}
out2
;
//
out
B
^{
3
,
224
}
out3
;
}
TorcsEMAMGenerator/resources/dp/Imagepreprocessing.tag
0 → 100644
View file @
8e24f5f6
package
dp
;
conforms
to
de
.
monticore
.
lang
.
monticar
.
generator
.
roscpp
.
RosToEmamTagSchema
;
tags
Imagepreprocessing
{
tag
imagepreprocessing
.
in1
with
RosConnection
=
{
topic
=(/
topicName1
,
std_msgs
/
Float64MultiArray
)};
tag
imagepreprocessing
.
in2
with
RosConnection
=
{
topic
=(/
topicName2
,
std_msgs
/
Int32MultiArray
)};
//
tag
imagepreprocessing
.
in3
with
RosConnection
=
{
topic
=(/
topicName3
,
std_msgs
/
ByteMultiArray
)};
tag
imagepreprocessing
.
out1
with
RosConnection
=
{
topic
=(/
topicName4
,
std_msgs
/
Float64MultiArray
)};
tag
imagepreprocessing
.
out2
with
RosConnection
=
{
topic
=(/
topicName5
,
std_msgs
/
Int32MultiArray
)};
//
tag
imagepreprocessing
.
out3
with
RosConnection
=
{
topic
=(/
topicName6
,
std_msgs
/
ByteMultiArray
)};
}
TorcsEMAMGenerator/src/main/java/de/monticore/lang/monticar/torcs_dl/Experiments.java
View file @
8e24f5f6
package
de.monticore.lang.monticar.torcs_dl
;
import
de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol
;
import
de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.PortSymbol
;
import
de.monticore.lang.embeddedmontiarc.tagging.RosToEmamTagSchema
;
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.order.nfp.TagBreakpointsTagSchema.TagBreakpointsTagSchema
;
import
de.monticore.lang.monticar.generator.order.nfp.TagDelayTagSchema.TagDelayTagSchema
;
import
de.monticore.lang.monticar.generator.order.nfp.TagExecutionOrderTagSchema.TagExecutionOrderTagSchema
;
...
...
@@ -9,18 +12,13 @@ import de.monticore.lang.monticar.generator.order.nfp.TagInitTagSchema.TagInitTa
import
de.monticore.lang.monticar.generator.order.nfp.TagMinMaxTagSchema.TagMinMaxTagSchema
;
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.GeneratorRosCpp
;
import
de.monticore.lang.monticar.generator.roscpp.helper.YamlHelper
;
import
de.monticore.lang.monticar.generator.roscpp.tagging.RosToEmamTagSchema
;
import
de.monticore.lang.monticar.generator.rosmsg.GeneratorRosMsg
;
import
de.monticore.lang.monticar.generator.roscpp.helper.TagHelper
;
import
de.monticore.lang.tagging._symboltable.TaggingResolver
;
import
de.monticore.symboltable.Scope
;
import
java.io.File
;
import
java.io.IOException
;
import
java.util.
Collection
s
;
import
java.util.
Array
s
;
import
java.util.LinkedList
;
import
java.util.List
;
import
static
de
.
monticore
.
lang
.
monticar
.
generator
.
order
.
simulator
.
AbstractSymtab
.
createSymTab
;
...
...
@@ -28,20 +26,34 @@ public class Experiments {
public
static
void
main
(
String
[]
args
)
{
System
.
out
.
println
(
"Experiments!"
);
//---
Scope
scope
=
createSymTab
(
"resources"
);
TaggingResolver
symtab
=
new
TaggingResolver
(
scope
,
Collections
.
singletonList
(
"resources"
));
TagMinMaxTagSchema
.
registerTagTypes
(
symtab
);
TagTableTagSchema
.
registerTagTypes
(
symtab
);
TagBreakpointsTagSchema
.
registerTagTypes
(
symtab
);
TagExecutionOrderTagSchema
.
registerTagTypes
(
symtab
);
TagInitTagSchema
.
registerTagTypes
(
symtab
);
TagThresholdTagSchema
.
registerTagTypes
(
symtab
);
TagDelayTagSchema
.
registerTagTypes
(
symtab
);
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
);
RosToEmamTagSchema
.
registerTagTypes
(
taggingResolver
);
MiddlewareGenerator
middlewareGenerator
=
new
MiddlewareGenerator
();
middlewareGenerator
.
add
(
new
CPPGenImpl
(),
"cpp"
);
middlewareGenerator
.
add
(
new
RosCppGenImpl
(),
"roscpp"
);
RosToEmamTagSchema
.
registerTagTypes
(
symtab
);
GeneratorRosCpp
generatorRosCpp
=
new
GeneratorRosCpp
();
GeneratorRosMsg
generatorRosMsg
=
new
GeneratorRosMsg
();
// DistributedTargetGenerator distributedTargetGenerator = new DistributedTargetGenerator();
//
// distributedTargetGenerator.add(new CPPGenImpl(), "cpp");
// distributedTargetGenerator.add(new RosCppGenImpl(), "roscpp");
// GeneratorRosCpp generatorRosCpp = new GeneratorRosCpp();
// GeneratorRosMsg generatorRosMsg = new GeneratorRosMsg();
LinkedList
<
String
>
inputs
=
new
LinkedList
<
String
>();
inputs
.
add
(
"Imagepreprocessing"
);
...
...
@@ -53,19 +65,29 @@ public class Experiments {
for
(
String
inpu
:
inputs
)
{
System
.
out
.
println
(
"Generating for "
+
inpu
);
ExpandedComponentInstanceSymbol
component
=
symtab
.<
ExpandedComponentInstanceSymbol
>
resolve
(
"dp."
+
inpu
.
toLowerCase
(),
ExpandedComponentInstanceSymbol
.
KIND
).
orElse
(
null
);
generatorRosMsg
.
setTarget
(
"generated/"
,
inpu
);
ExpandedComponentInstanceSymbol
componentInstanceSymbol
=
taggingResolver
.<
ExpandedComponentInstanceSymbol
>
resolve
(
"dp."
+
inpu
.
toLowerCase
(),
ExpandedComponentInstanceSymbol
.
KIND
).
orElse
(
null
);
TagHelper
.
resolveTags
(
taggingResolver
,
componentInstanceSymbol
);
middlewareGenerator
.
setGenerationTargetPath
(
"generated/"
+
inpu
);
middlewareGenerator
.
generate
(
componentInstanceSymbol
,
taggingResolver
);
for
(
PortSymbol
port
:
component
.
getPorts
())
{
List
<
File
>
msgFiles
=
generatorRosMsg
.
generate
(
port
.
getTypeReference
());
System
.
out
.
println
(
" Msg files: "
+
msgFiles
.
toString
());
}
// distributedTargetGenerator.setGenerationTargetPath("generated/"+inpu);
// distributedTargetGenerator.generate(componentInstanceSymbol, symtab);
generatorRosCpp
.
setGenerationTargetPath
(
"generated/"
+
inpu
);
List
<
File
>
files
=
YamlHelper
.
generateFromFile
(
"resources/config/"
+
inpu
+
".yaml"
,
symtab
,
generatorRosCpp
);
for
(
File
f
:
files
)
{
System
.
out
.
println
(
" "
+
f
.
toString
());
}
// ExpandedComponentInstanceSymbol component = symtab.<ExpandedComponentInstanceSymbol>resolve("dp."+inpu.toLowerCase(), ExpandedComponentInstanceSymbol.KIND).orElse(null);
// generatorRosMsg.setTarget("generated/", inpu);
//
// for(PortSymbol port : component.getPorts()) {
// List<File> msgFiles = generatorRosMsg.generate(port.getTypeReference());
// System.out.println(" Msg files: " + msgFiles.toString());
// }
//
// generatorRosCpp.setGenerationTargetPath("generated/"+inpu);
// List<File> files = YamlHelper.generateFromFile("resources/config/"+inpu+".yaml", symtab, generatorRosCpp);
// for (File f : files) {
// System.out.println(" " + f.toString());
// }
}
}
catch
(
IOException
e
)
{
...
...
TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/IAdapterTemplate.ftl
0 → 100644
View file @
8e24f5f6
#pragma once
#include "${compName}.h"
class IAdapter_${compName}{
public:
virtual ~IAdapter_${compName}(){}
virtual void init(${compName}* comp) = 0;
virtual void tick() = 0;
};
TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/cmakeCppTemplate.ftl
0 → 100644
View file @
8e24f5f6
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 ${compName}.cmake)
TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/coordinatorCmakeListsTemplate.ftl
0 → 100644
View file @
8e24f5f6
cmake_minimum_required(VERSION 3.5)
project (Coordinator_${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_${compName}.cmake)
\ No newline at end of file
TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/coordinatorTemplate.ftl
0 → 100644
View file @
8e24f5f6
#include <iostream>
#include <thread>
#include <chrono>
#include <atomic>
#include <list>
#include "IAdapter_${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;
${addAdapters}
list<thread*> threads;
for(auto a : adapters){
threads.push_back(new thread(startMiddleware,ref(*a),ref(comp),ref(done)));
}
cout << "waiting for all middleware to start\n";
this_thread::sleep_for(seconds(3));
cout << "started! Executing every " << exeMs << "ms\n";
time_point<system_clock> start, end;
while(!done){
start = system_clock::now();
comp.execute();
for(auto a : adapters){
(*a).tick();
}
end = system_clock::now();
int elapsedMs = duration_cast<milliseconds>(end-start).count();
int newSleep = exeMs - elapsedMs;
if(newSleep <= 0){
cout << "Cant keep up! "<< (-newSleep) <<"ms late!\n";
}else{
this_thread::sleep_for(milliseconds(newSleep));
}
}
return 0;
}
\ No newline at end of file
TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/dummyAdapterTemplate.ftl
0 → 100644
View file @
8e24f5f6
#pragma once
#include "${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(${compName}* comp){
this->component = comp;
while(1){
std::this_thread::sleep_for(std::chrono::seconds(1));
component->in2 += 1000;
}
}
};
TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/dummyCmakeTemplate.ftl
0 → 100644
View file @
8e24f5f6
cmake_minimum_required(VERSION 3.5)
project (DummyAdapter_${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)
TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/struct_msgsCmakeTemplate.ftl
0 → 100644
View file @
8e24f5f6
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()
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