diff --git a/TorcsEMAMGenerator/experiments.iml b/TorcsEMAMGenerator/experiments.iml
index 507396e492311fad7dc0e4ac707c4bf926fc36f1..725b009c06a5b069ae5ad33e4c150c6d26ffad1d 100644
--- a/TorcsEMAMGenerator/experiments.iml
+++ b/TorcsEMAMGenerator/experiments.iml
@@ -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
diff --git a/TorcsEMAMGenerator/pom.xml b/TorcsEMAMGenerator/pom.xml
index 4a45d59b19db3ec7b676d1a07c134e658cf9fbe4..d3664db0e7c3e34ce7c44ef43db44bb0f93ff80a 100644
--- a/TorcsEMAMGenerator/pom.xml
+++ b/TorcsEMAMGenerator/pom.xml
@@ -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.monticore.lang.monticar</groupId>
<artifactId>embedded-montiarc-math-roscpp-generator</artifactId>
- <version>0.0.1-SNAPSHOT</version>
+ <version>0.0.1c-SNAPSHOT</version>
</dependency>
<dependency>
<groupId>de.moticore.lang.monticar</groupId>
diff --git a/TorcsEMAMGenerator/resources/dp/Imagepreprocessing.emam b/TorcsEMAMGenerator/resources/dp/Imagepreprocessing.emam
index 6604b45552133e3cb1d71a7baa7697d80350b187..9e00ff3ea0bfbf6dcb172181e36030b72f82e46e 100644
--- a/TorcsEMAMGenerator/resources/dp/Imagepreprocessing.emam
+++ b/TorcsEMAMGenerator/resources/dp/Imagepreprocessing.emam
@@ -1,7 +1,10 @@
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;
}
diff --git a/TorcsEMAMGenerator/resources/dp/Imagepreprocessing.tag b/TorcsEMAMGenerator/resources/dp/Imagepreprocessing.tag
new file mode 100644
index 0000000000000000000000000000000000000000..dbf86bc4a3468a0c2bae9b1ad95bca83e535d46e
--- /dev/null
+++ b/TorcsEMAMGenerator/resources/dp/Imagepreprocessing.tag
@@ -0,0 +1,11 @@
+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)};
+}
diff --git a/TorcsEMAMGenerator/src/main/java/de/monticore/lang/monticar/torcs_dl/Experiments.java b/TorcsEMAMGenerator/src/main/java/de/monticore/lang/monticar/torcs_dl/Experiments.java
index d171624cdb4bcb301ea7818564328330848c4b9a..05064b318d08721a63ec22a341d86e8a54ac0562 100644
--- a/TorcsEMAMGenerator/src/main/java/de/monticore/lang/monticar/torcs_dl/Experiments.java
+++ b/TorcsEMAMGenerator/src/main/java/de/monticore/lang/monticar/torcs_dl/Experiments.java
@@ -1,7 +1,10 @@
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.Collections;
+import java.util.Arrays;
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) {
diff --git a/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/IAdapterTemplate.ftl b/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/IAdapterTemplate.ftl
new file mode 100644
index 0000000000000000000000000000000000000000..249275bbd1bec15c4cf4280b1298efa0e900966f
--- /dev/null
+++ b/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/IAdapterTemplate.ftl
@@ -0,0 +1,9 @@
+#pragma once
+#include "${compName}.h"
+
+class IAdapter_${compName}{
+ public:
+ virtual ~IAdapter_${compName}(){}
+ virtual void init(${compName}* comp) = 0;
+ virtual void tick() = 0;
+};
diff --git a/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/cmakeCppTemplate.ftl b/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/cmakeCppTemplate.ftl
new file mode 100644
index 0000000000000000000000000000000000000000..a602a4e1aa7feeaa9e91f7fdd6cd8a49d5b04116
--- /dev/null
+++ b/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/cmakeCppTemplate.ftl
@@ -0,0 +1,6 @@
+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 ${compName}.cmake)
diff --git a/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/coordinatorCmakeListsTemplate.ftl b/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/coordinatorCmakeListsTemplate.ftl
new file mode 100644
index 0000000000000000000000000000000000000000..b54f386045454c5fc142eaa774e7ae22fde76806
--- /dev/null
+++ b/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/coordinatorCmakeListsTemplate.ftl
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.5)
+project (Coordinator_${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_${compName}.cmake)
\ No newline at end of file
diff --git a/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/coordinatorTemplate.ftl b/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/coordinatorTemplate.ftl
new file mode 100644
index 0000000000000000000000000000000000000000..e76d9f9b4aafc21e58a339a088caae4b548464e3
--- /dev/null
+++ b/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/coordinatorTemplate.ftl
@@ -0,0 +1,81 @@
+#include <iostream>
+#include <thread>
+#include <chrono>
+#include <atomic>
+#include <list>
+#include "IAdapter_${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;
+ ${addAdapters}
+
+ list<thread*> threads;
+ for(auto a : adapters){
+ threads.push_back(new thread(startMiddleware,ref(*a),ref(comp),ref(done)));
+ }
+
+ cout << "waiting for all middleware to start\n";
+ this_thread::sleep_for(seconds(3));
+ cout << "started! Executing every " << exeMs << "ms\n";
+
+ time_point<system_clock> start, end;
+ while(!done){
+ start = system_clock::now();
+
+ comp.execute();
+ for(auto a : adapters){
+ (*a).tick();
+ }
+
+ end = system_clock::now();
+ int elapsedMs = duration_cast<milliseconds>(end-start).count();
+ int newSleep = exeMs - elapsedMs;
+ if(newSleep <= 0){
+ cout << "Cant keep up! "<< (-newSleep) <<"ms late!\n";
+ }else{
+ this_thread::sleep_for(milliseconds(newSleep));
+ }
+ }
+
+ return 0;
+}
\ No newline at end of file
diff --git a/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/dummyAdapterTemplate.ftl b/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/dummyAdapterTemplate.ftl
new file mode 100644
index 0000000000000000000000000000000000000000..0c13f49b13632762bf82a9afcf0029850dd5f9b0
--- /dev/null
+++ b/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/dummyAdapterTemplate.ftl
@@ -0,0 +1,28 @@
+#pragma once
+#include "${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(${compName}* comp){
+ this->component = comp;
+ while(1){
+ std::this_thread::sleep_for(std::chrono::seconds(1));
+ component->in2 += 1000;
+ }
+ }
+
+
+};
diff --git a/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/dummyCmakeTemplate.ftl b/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/dummyCmakeTemplate.ftl
new file mode 100644
index 0000000000000000000000000000000000000000..59e6bb0c0a8ca7c2f31c4e4ac2fe44dea74d0c1a
--- /dev/null
+++ b/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/dummyCmakeTemplate.ftl
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.5)
+project (DummyAdapter_${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)
diff --git a/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/struct_msgsCmakeTemplate.ftl b/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/struct_msgsCmakeTemplate.ftl
new file mode 100644
index 0000000000000000000000000000000000000000..ab0cc09a2674cac800331f5dc7d781c24134a4b5
--- /dev/null
+++ b/TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/struct_msgsCmakeTemplate.ftl
@@ -0,0 +1,25 @@
+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()