added torcs client, build and run scripts.

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

@@ -44,6 +44,7 @@ import java.util.LinkedList;
 import java.util.List;
 
 import de.monticore.lang.monticar.generator.order.simulator.AbstractSymtab;
+import org.apache.commons.io.FileUtils;
 
 public class Experiments {
 
@@ -57,11 +58,21 @@ public class Experiments {
         generateForEmamComponent("Imagepreprocessing");
         generateForEmamComponent("Safetycontroller");
         generateForEmamComponent("Drivercontroller");
-        generateForEmadlComponent("Featureextraction");
+        generateForEmamComponent("Featureextraction");
+        //generateForEmadlComponent("Featureextraction");
 
         try {
             Files.copy(Paths.get(RESOURCES_PATH+"scripts/build_all.sh"), Paths.get(TARGET_PATH_GENERATED+"build_all.sh"), StandardCopyOption.REPLACE_EXISTING);
+            Runtime.getRuntime().exec("chmod u+x "+TARGET_PATH_GENERATED+"build_all.sh");
+
             Files.copy(Paths.get(RESOURCES_PATH+"scripts/run_all.sh"), Paths.get(TARGET_PATH_GENERATED+"run_all.sh"), StandardCopyOption.REPLACE_EXISTING);
+            Runtime.getRuntime().exec("chmod u+x "+TARGET_PATH_GENERATED+"run_all.sh");
+
+            FileUtils.copyDirectory(new File(RESOURCES_PATH+"torcs"), new File(TARGET_PATH_GENERATED+"torcs"));
+            Runtime.getRuntime().exec("chmod u+x "+TARGET_PATH_GENERATED+"torcs/build.sh");
+            Runtime.getRuntime().exec("chmod u+x "+TARGET_PATH_GENERATED+"torcs/run_all.sh");
+
+            FileUtils.copyDirectory(new File(RESOURCES_PATH+"dpnet"), new File(TARGET_PATH_GENERATED+"model/dpnet"));
         } catch (IOException e) {
             System.err.println("Failed to copy build and start scripts.");
             e.printStackTrace();

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

@@ -6,7 +6,9 @@ ports
 	out Q(0:1)^{3,1} commandsOut;
 
 	implementation Math {
-        commandsOut=affordanceIn;
+        commandsOut(1,1)=0.5;  // steering
+        commandsOut(2,1)=0.8;  // acceleration
+        commandsOut(3,1)=0.0;  // brake
     }
 }
 

TorcsEMAMGenerator/src/main/models/dp/Drivercontroller.tag

@@ -3,5 +3,5 @@ conforms to de.monticore.lang.monticar.generator.roscpp.RosToEmamTagSchema;
 
 tags Drivercontroller {
     tag drivercontroller.affordanceIn with RosConnection = {topic=(/affordance,std_msgs/Float64MultiArray)};
-    tag drivercontroller.commandsOut with RosConnection = {topic=(/commands,std_msgs/Float64MultiArray)};
+    tag drivercontroller.commandsOut with RosConnection = {topic=(/commands,std_msgs/Float32MultiArray)};
 }

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;
+
+        implementation Math {
+                affordanceOut=[0; 0; 0; 0; 0; 0; 0; 0; 0; 0; 0; 0; 0];
+        }
+
+    //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.tag

@@ -3,5 +3,5 @@ conforms to de.monticore.lang.monticar.generator.roscpp.RosToEmamTagSchema;
 
 tags Featureextraction {
     tag featureextraction.imageIn with RosConnection = {topic=(/images,std_msgs/Int8MultiArray)};
-    tag featureextraction.affordanceOut with RosConnection = {topic=(/affordance,std_msgs/Int8MultiArray)};
+    tag featureextraction.affordanceOut with RosConnection = {topic=(/affordance,std_msgs/Float64MultiArray)};
 }

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

@@ -32,6 +32,10 @@ cmake ..
 make -j
 cd ../..
 
+echo "Building TORCS adapters"
+cd torcs
+./build.sh
+
 echo
 echo "Well done!"
 echo "Run ./run_all.sh to run all."

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

 %!/bin/bash
 
+xterm -T ROSCORE -e roscore &
+
+echo "Waiting for ROSCORE to start..."
+sleep 2
+
+xterm -T TORCSDriver -e torcs/src/driver/build/driver &
+
+xterm -T TORCSCamera -e torcs/src/camera/build/camera &
+
 xterm -T DriverController -e Drivercontroller/build/coordinator/Coordinator_dp_drivercontroller &
 
 xterm -T SafetyController -e Safetycontroller/build/coordinator/Coordinator_dp_safetycontroller &

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/src/main.cpp

 #include "ros/ros.h"
-#include "std_msgs/Float64MultiArray.h"
+#include "std_msgs/Int8MultiArray.h"
 #include "torcsclient.h"
 
 #include <sstream>
@@ -8,7 +8,7 @@ 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::Publisher chatter_pub = n.advertise<std_msgs::Int8MultiArray>("/camera", 1000);
     ros::Rate loop_rate(10);
     int count = 0;
 
@@ -16,8 +16,8 @@ int main(int argc, char **argv)
 
     while (ros::ok())
     {
-        std_msgs::Float64MultiArray::Ptr msg(new std_msgs::Float64MultiArray);
-	msg->data.resize(torcs::IMAGE_SIZE_BYTES);
+        std_msgs::Int8MultiArray::Ptr msg(new std_msgs::Int8MultiArray);
+	    msg->data.resize(torcs::IMAGE_SIZE_BYTES);
         
         const auto imageData = client.getScreenshot();
         memcpy(msg->data.data(), imageData->data(), imageData->size());

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

@@ -89,6 +89,10 @@ void TorcsClient::sendCommand(Command cmd)
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
     }
 
+    shared->accelCmd = cmd.accelCmd;
+    shared->steerCmd = cmd.steerCmd;
+    shared->brakeCmd = cmd.brakeCmd;
+
     shared->control = 0;
     //shared->accelCmd = 10.0;
     //shared->steerCmd = 1.0;

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

@@ -47,7 +47,14 @@ struct shared_use_st
 
 struct Command
 {
-
+    Command(float accel, float steer, float brakec)
+        : accelCmd(accel), steerCmd(steer), brakeCmd(brakec)
+    {
+    }
+
+    float accelCmd;
+    float steerCmd;
+    float brakeCmd;
 };
 
 using DataContainer = std::array<uint8_t, IMAGE_SIZE_BYTES>;

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

 #include "ros/ros.h"
-#include "std_msgs/Float64MultiArray.h"
+#include "std_msgs/Float32MultiArray.h"
 #include "torcsclient.h"
 
 #include <memory>
 
 std::unique_ptr<torcs::TorcsClient> client;
 
-void chatterCallback(const std_msgs::Float64MultiArray::ConstPtr& msg)
+void chatterCallback(const std_msgs::Float32MultiArray::ConstPtr& msg)
 {
-    ROS_INFO("Received command: %f", msg->data[0]);
-    client->sendCommand(torcs::Command());
+    ROS_INFO("Received command. accel: %f, steer: %f, break: %f", msg->data[0], msg->data[1], msg->data[2]);
+    client->sendCommand(torcs::Command(msg->data[0], msg->data[1], msg->data[2]));
 }
 
 int main(int argc, char **argv)
@@ -20,7 +20,7 @@ int main(int argc, char **argv)
 
     ros::NodeHandle n;
 
-    ros::Subscriber sub = n.subscribe("/commands", 1000, chatterCallback);
+    ros::Subscriber sub = n.subscribe("/commands", 100, chatterCallback);
     ros::spin();
 
     return 0;

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

@@ -89,6 +89,10 @@ void TorcsClient::sendCommand(Command cmd)
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
     }
 
+    shared->accelCmd = cmd.accelCmd;
+    shared->steerCmd = cmd.steerCmd;
+    shared->brakeCmd = cmd.brakeCmd;
+
     shared->control = 0;
     //shared->accelCmd = 10.0;
     //shared->steerCmd = 1.0;

TorcsEMAMGenerator/src/main/resources/torcs/src/driver/src/torcsclient.h

@@ -47,7 +47,14 @@ struct shared_use_st
 
 struct Command
 {
-
+    Command(float accel, float steer, float brakec)
+        : accelCmd(accel), steerCmd(steer), brakeCmd(brakec)
+    {
+    }
+
+    float accelCmd;
+    float steerCmd;
+    float brakeCmd;
 };
 
 using DataContainer = std::array<uint8_t, IMAGE_SIZE_BYTES>;

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

-cmake_minimum_required(VERSION 2.8.3)
-project(torcs)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++14)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  std_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES torcs
-#  CATKIN_DEPENDS roscpp std_msgs
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/torcs.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-add_executable(${PROJECT_NAME} src/torcs.cpp src/torcsclient.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}
-  ${catkin_LIBRARIES}
-)
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_torcs.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)

TorcsEMAMGenerator/src/main/resources/torcs/src/torcs/package.xml

-<?xml version="1.0"?>
-<package>
-  <name>torcs</name>
-  <version>0.0.0</version>
-  <description>The torcs package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="svetlana.pavlitskaya@rwth-aachen.de">Sveta</maintainer>
-
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/torcs</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>std_msgs</run_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-
-  </export>
-</package>

TorcsEMAMGenerator/src/main/resources/torcs/src/torcs/src/HelperA.h

-#ifndef HELPERA_H
-#define HELPERA_H
-#define _GLIBCXX_USE_CXX11_ABI 0
-#include <iostream>
-#include "armadillo.h"
-#include <stdarg.h>
-#include <initializer_list>
-using namespace arma;
-class HelperA{
-public:
-static mat getEigenVectors(mat A){
-vec eigenValues;
-mat eigenVectors;
-eig_sym(eigenValues,eigenVectors,A);
-return eigenVectors;
-}
-static vec getEigenValues(mat A){
-vec eigenValues;
-mat eigenVectors;
-eig_sym(eigenValues,eigenVectors,A);
-return eigenValues;
-}
-
-static mat getKMeansClusters(mat A, int k){
-mat clusters;
-kmeans(clusters,A.t(),k,random_subset,20,true);
-printf("cluster centroid calculation done\n");
-std::ofstream myfile;
-     myfile.open("data after cluster.txt");
-     myfile << A;
-     myfile.close();
-	 
-	 std::ofstream myfile2;
-     myfile2.open("cluster centroids.txt");
-     myfile2 << clusters;
-     myfile2.close();
-mat indexedData=getKMeansClustersIndexData(A.t(), clusters);
-
-std::ofstream myfile3;
-     myfile3.open("data after index.txt");
-     myfile3 << indexedData;
-     myfile3.close();
-	 
-return indexedData;
-}
-
-static mat getKMeansClustersIndexData(mat A, mat centroids){
-	mat result=mat(A.n_cols, 1);
-	for(int i=0;i<A.n_cols;++i){
-		result(i, 0) = getIndexForClusterCentroids(A, i, centroids);
-	}
-	return result;
-}
-
-static int getIndexForClusterCentroids(mat A, int colIndex, mat centroids){
-	int index=1;
-	double lowestDistance=getEuclideanDistance(A, colIndex, centroids, 0);
-	for(int i=1;i<centroids.n_cols;++i){
-		double curDistance=getEuclideanDistance(A, colIndex, centroids, i);
-		if(curDistance<lowestDistance){
-			lowestDistance=curDistance;
-			index=i+1;
-		}
-	}
-	return index;
-}
-
-static double getEuclideanDistance(mat A, int colIndexA, mat B, int colIndexB){
-	double distance=0;
-	for(int i=0;i<A.n_rows;++i){
-		double elementA=A(i,colIndexA);