Working ROS code generation

TorcsEMAMGenerator/.gitignore

 output/
+generated/
 target/
+.idea/

TorcsEMAMGenerator/.idea/libraries/Maven__de_monticore_lang_NumberUnit_0_0_10_SNAPSHOT.xml

 <component name="libraryTable">
   <library name="Maven: de.monticore.lang:NumberUnit:0.0.10-SNAPSHOT">
     <CLASSES>
-      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/NumberUnit/0.0.10-SNAPSHOT/NumberUnit-0.0.10-20180211.010901-1.jar!/" />
+      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/NumberUnit/0.0.10-SNAPSHOT/NumberUnit-0.0.10-20180310.011750-1.jar!/" />
     </CLASSES>
     <JAVADOC>
-      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/NumberUnit/0.0.10-SNAPSHOT/NumberUnit-0.0.10-20180211.010901-1-javadoc.jar!/" />
+      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/NumberUnit/0.0.10-SNAPSHOT/NumberUnit-0.0.10-20180310.011750-1-javadoc.jar!/" />
     </JAVADOC>
     <SOURCES>
-      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/NumberUnit/0.0.10-SNAPSHOT/NumberUnit-0.0.10-20180211.010901-1-sources.jar!/" />
+      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/NumberUnit/0.0.10-SNAPSHOT/NumberUnit-0.0.10-20180310.011750-1-sources.jar!/" />
     </SOURCES>
   </library>
 </component>
\ No newline at end of file

TorcsEMAMGenerator/.idea/libraries/Maven__de_monticore_lang_monticar_common_monticar_0_0_10_SNAPSHOT.xml

 <component name="libraryTable">
   <library name="Maven: de.monticore.lang.monticar:common-monticar:0.0.10-SNAPSHOT">
     <CLASSES>
-      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/common-monticar/0.0.10-SNAPSHOT/common-monticar-0.0.10-20180210.010444-1.jar!/" />
+      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/common-monticar/0.0.10-SNAPSHOT/common-monticar-0.0.10-20180214.010746-1.jar!/" />
     </CLASSES>
     <JAVADOC>
-      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/common-monticar/0.0.10-SNAPSHOT/common-monticar-0.0.10-20180210.010444-1-javadoc.jar!/" />
+      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/common-monticar/0.0.10-SNAPSHOT/common-monticar-0.0.10-20180214.010746-1-javadoc.jar!/" />
     </JAVADOC>
     <SOURCES>
-      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/common-monticar/0.0.10-SNAPSHOT/common-monticar-0.0.10-20180210.010444-1-sources.jar!/" />
+      <root url="jar://$MAVEN_REPOSITORY$/de/monticore/lang/monticar/common-monticar/0.0.10-SNAPSHOT/common-monticar-0.0.10-20180214.010746-1-sources.jar!/" />
     </SOURCES>
   </library>
 </component>
\ No newline at end of file

TorcsEMAMGenerator/experiments.iml

@@ -76,5 +76,11 @@
     <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: 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

@@ -26,6 +26,16 @@
             <artifactId>embedded-montiarc-math-generator</artifactId>
             <version>0.0.6-SNAPSHOT</version>
         </dependency>
+        <dependency>
+            <groupId>de.moticore.lang.monticar</groupId>
+            <artifactId>embedded-montiarc-math-roscpp-generator</artifactId>
+            <version>0.0.1-SNAPSHOT</version>
+        </dependency>
+        <dependency>
+            <groupId>de.moticore.lang.monticar</groupId>
+            <artifactId>embedded-montiarc-math-middleware-generator</artifactId>
+            <version>0.0.1-SNAPSHOT</version>
+        </dependency>
     </dependencies>
     
 </project>
\ No newline at end of file

TorcsEMAMGenerator/resources/config/add.yaml

+- !de.monticar.lang.monticar.generator.python.RosTag
+  component: sp.add
+  subscriber:
+    - !de.monticar.lang.monticar.generator.python.RosInterface
+      ports:
+        a: clock.toSec()
+        b: clock.toSec()
+      topic: /clock
+      type: rosgraph_msgs/Clock
+  publisher:
+      - !de.monticar.lang.monticar.generator.python.RosInterface
+        ports:
+          c: data
+        topic: /echo
+        type: automated_driving_msgs/StampedFloat64
\ No newline at end of file

TorcsEMAMGenerator/resources/sp/Add.emam

+package sp;
+
+component Add {
+ports
+	in (0 m : 10 m) a,
+	in (0 m : 10 m) b,
+	out (0 m : 20 m) c;
+
+	implementation Math {
+		c = a + b;
+	}
+}
+

TorcsEMAMGenerator/src/main/java/Experiments.java

-import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
-import de.monticore.lang.monticar.generator.cpp.GeneratorCPP;
-import de.monticore.symboltable.Scope;
-
-import java.io.File;
-import java.io.IOException;
-import java.util.List;
-
-import static de.monticore.lang.monticar.generator.order.simulator.AbstractSymtab.createSymTab;
-
-public class Experiments {
-    public static void main(String[] args) {
-        System.out.println("Experiments!");
-
-        Scope symtab = createSymTab("src/test/resources");
-
-        ExpandedComponentInstanceSymbol componentSymbol =
-                symtab.<ExpandedComponentInstanceSymbol>resolve(
-                        "test.basicPortsLoop",
-                        ExpandedComponentInstanceSymbol.KIND).orElse(null);
-
-        GeneratorCPP generatorCPP = new GeneratorCPP();
-        generatorCPP.useArmadilloBackend();
-        generatorCPP.setGenerationTargetPath("./output/cpp");
-        try {
-            List<File> files = generatorCPP.generateFiles(null, componentSymbol, symtab);
-        } catch (IOException e) {
-            e.printStackTrace();
-        }
-    }
-}

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

+package de.monticore.lang.monticar.generator;
+
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
+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.DummyMiddlewareGenImpl;
+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;
+import de.monticore.lang.monticar.generator.order.nfp.TagInitTagSchema.TagInitTagSchema;
+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.TagHelper;
+import de.monticore.lang.monticar.generator.roscpp.helper.YamlHelper;
+import de.monticore.lang.monticar.generator.roscpp.tagging.RosToEmamTagSchema;
+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.List;
+
+import static de.monticore.lang.monticar.generator.order.simulator.AbstractSymtab.createSymTab;
+
+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);
+
+        RosToEmamTagSchema.registerTagTypes(symtab);
+
+        ExpandedComponentInstanceSymbol componentInstanceSymbol = symtab.<ExpandedComponentInstanceSymbol>resolve("sp.add", ExpandedComponentInstanceSymbol.KIND).orElse(null);
+
+        GeneratorRosCpp generatorRosCpp = new GeneratorRosCpp();
+        generatorRosCpp.setGenerationTargetPath("generated/");
+
+        try {
+            List<File> files = YamlHelper.generateFromFile("resources/config/add.yaml", symtab, generatorRosCpp);
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+}

TorcsEMAMGenerator/src/test/resources/a/Sub2.emam

-package a;
-
-component Sub2 implements SuperComp{
-  port in (-oo:oo) in1,
-        out B out1;
-}

TorcsEMAMGenerator/src/test/resources/a/SuperComp.emam

-package a;
-
-component SuperComp{
-    port in (1:1:100) percentage;
-
-}
\ No newline at end of file

TorcsEMAMGenerator/src/test/resources/ba/Delay.emam

-package ba;
-
-component Delay(Q(-oo:oo) value) {
-	port
-		in Q(-oo:oo) in1,
-		out Q(-oo:oo) out1;
-
-	implementation Math{
-	    static Q lastVal = value;
-	    out1 = lastVal;
-	    lastVal = in1;
-	}
-}

TorcsEMAMGenerator/src/test/resources/ba/LookUp.emam

-package ba;
-
-component LookUp(Q(-oo:oo)^{1,n} lookupTable) {
-	ports
-		in N1 in1,
-		out (0:100) out1;
-	implementation Math{
-	    out1 = lookupTable(in1);
-	}
-}

TorcsEMAMGenerator/src/test/resources/detection/EigenSolver.emam

-package detection;
-
-component EigenSolver<N1 n = 1,N1 targetEigenvectors = 1>{
-    ports in Q(-oo:oo)^{n,n} matrix,
-          out Q(-oo:oo)^{n,targetEigenvectors} eigenvectors;
-
-    implementation Math{
-        //calculate requested amount of eigenvectors if present
-        Q^{n,n} eigenVectors = eigvec(matrix);
-
-        Q counter = 1;
-        Q start = size(eigenVectors,2) - ( targetEigenvectors - 1 );
-        for i= start : size(eigenVectors,1)
-                eigenvectors(:,counter) = eigenVectors(:,i);
-            counter = counter + 1;
-        end
-    }
-}
\ No newline at end of file

TorcsEMAMGenerator/src/test/resources/detection/KMeansClustering.emam

-package detection;
-
-component KMeansClustering<N1 n=1, N1 amountVectors=1, N1 maximumClusters=1>{
-    ports in Q(-oo:oo)^{n, amountVectors} vectors,
-          out Q(-oo:oo)^{n, 1} clusters;
-
-    implementation Math{
-    // construct the normalized matrix U from the obtained eigen vectors
-            Q^{n,amountVectors} UMatrix;
-            for i=1:size(vectors,1)
-                Q^{1,amountVectors} target= vectors(i,:) .^ 2;
-                Q amount = sqrt(sum(target));
-                UMatrix(i,:) = vectors(i,:) ./ amount;
-            end
-
-        clusters = kmeans(UMatrix, maximumClusters);
-    }
-}
\ No newline at end of file

TorcsEMAMGenerator/src/test/resources/detection/NormalizedLaplacian.emam

-package detection;
-
-
-component NormalizedLaplacian<N1 n = 1>{
-    ports in diag Q(-oo:oo)^{n,n} degree,
-          in Q(-oo:oo)^{n,n} W,
-          out Q(-oo:oo)^{n,n} nLaplacian;
-
-    implementation Math{
-        /*for i=1:size(degree,1)
-            for j=1:size(degree,2)
-                nLaplacian(i,j) = W(i,j) / (sqrt(degree(i,i)) * sqrt(degree(j,j)));
-            end
-        end*/
-        /*currently not working, this short notation will be automatically converted
-         * later on as it is equivalent to the expression below
-        */
-        //nLaplacian = degree^(-0.5) * W * degree^(-0.5);
-        nLaplacian = sqrtm(inv(degree)) * W * sqrtm(inv(degree));
-
-    }
-}
\ No newline at end of file

TorcsEMAMGenerator/src/test/resources/detection/NormalizedLaplacianInstance.emam

-package detection;
-
-component NormalizedLaplacianInstance{
-    ports in Q(-oo:oo)^{2500,2500} degree,
-              in Q(-oo:oo)^{2500,2500} W,
-              out Q(-oo:oo)^{2500,2500} nLaplacian;
-
-    instance NormalizedLaplacian<2500> normLaplaInst;
-
-    connect degree -> normLaplaInst.degree;
-    connect W -> normLaplaInst.W;
-    connect normLaplaInst.nLaplacian -> nLaplacian;
-
-}
\ No newline at end of file

TorcsEMAMGenerator/src/test/resources/detection/ObjectDetector.emam

-package detection;
-import SpectralClusterer;
-
-component ObjectDetector{
-    ports in Q(0:255)^{2500, 3} imgFront,
-          in Q(0:255)^{2500, 3} imgBack,
-          in Q(0:255)^{2500, 3} imgLeft,
-          in Q(0:255)^{2500, 3} imgRight,
-          out Q(-oo:oo)^{2500, 1} clusters[4];
-
-    instance SpectralClusterer<2500, 4, 4> spectralClusterer[4];
-
-    connect  imgFront -> spectralClusterer[1].imgMatrix;
-    connect  imgRight -> spectralClusterer[2].imgMatrix;
-    connect  imgLeft -> spectralClusterer[3].imgMatrix;
-    connect  imgBack -> spectralClusterer[4].imgMatrix;
-    connect spectralClusterer[:].clusters -> clusters[:];
-
-
-}
\ No newline at end of file

TorcsEMAMGenerator/src/test/resources/detection/ObjectDetector1.emam

-package detection;
-import SpectralClusterer;
-
-component ObjectDetector1{
-    ports in Q(0:255)^{2500, 3} imgFront,
-          out Q(-oo:oo)^{2500, 1} clusters;
-
-    instance SpectralClusterer<2500, 4, 4> spectralClusterer;
-
-    connect  imgFront -> spectralClusterer.imgMatrix;
-    connect spectralClusterer.clusters -> clusters;
-
-
-}
\ No newline at end of file

TorcsEMAMGenerator/src/test/resources/detection/ObjectDetector2.emam

-package detection;
-import SpectralClusterer;
-
-component ObjectDetector2{
-    ports in Q(0:255)^{2500, 3} imgFront,
-          in Q(0:255)^{2500, 3} imgBack,
-          out Q(-oo:oo)^{2500, 1} clusters[2];
-
-    instance SpectralClusterer<2500, 4, 4> spectralClusterer[2];
-
-    connect  imgFront -> spectralClusterer[1].imgMatrix;
-    connect  imgBack -> spectralClusterer[2].imgMatrix;
-    connect spectralClusterer[:].clusters -> clusters[:];
-
-
-}
\ No newline at end of file

TorcsEMAMGenerator/src/test/resources/detection/ObjectDetector3.emam

-package detection;
-import SpectralClusterer;
-
-component ObjectDetector3{
-    ports in Q(0:255)^{2500, 3} imgFront,
-          in Q(0:255)^{2500, 3} imgBack,
-          in Q(0:255)^{2500, 3} imgLeft,
-          out Q(-oo:oo)^{2500, 1} clusters[3];
-
-    instance SpectralClusterer<2500, 4, 4> spectralClusterer[3];
-
-    connect  imgFront -> spectralClusterer[1].imgMatrix;
-    connect  imgBack -> spectralClusterer[2].imgMatrix;
-    connect  imgLeft -> spectralClusterer[3].imgMatrix;
-    connect spectralClusterer[:].clusters -> clusters[:];
-
-
-}
\ No newline at end of file

TorcsEMAMGenerator/src/test/resources/detection/ObjectDetector4.emam

-package detection;
-import SpectralClusterer;
-
-component ObjectDetector4{
-    ports in Q(0:255)^{2500, 3} imgFront,
-          in Q(0:255)^{2500, 3} imgBack,
-          in Q(0:255)^{2500, 3} imgLeft,
-          in Q(0:255)^{2500, 3} imgRight,
-          out Q(-oo:oo)^{2500, 1} clusters[4];
-
-    instance SpectralClusterer<2500, 4, 4> spectralClusterer[4];
-
-    connect  imgFront -> spectralClusterer[1].imgMatrix;
-    connect  imgRight -> spectralClusterer[2].imgMatrix;
-    connect  imgLeft -> spectralClusterer[3].imgMatrix;
-    connect  imgBack -> spectralClusterer[4].imgMatrix;
-    connect spectralClusterer[:].clusters -> clusters[:];
-
-
-}
\ No newline at end of file

TorcsEMAMGenerator/src/test/resources/detection/ObjectDetector5.emam

-package detection;
-import SpectralClusterer;
-
-component ObjectDetector5{
-    ports in Q(0:255)^{2500, 3} imgFront,
-          in Q(0:255)^{2500, 3} imgBack,
-          in Q(0:255)^{2500, 3} imgLeft,
-          in Q(0:255)^{2500, 3} imgRight,
-          in Q(0:255)^{2500, 3} imgFront2,
-          out Q(-oo:oo)^{2500, 1} clusters[5];
-
-    instance SpectralClusterer<2500, 4, 4> spectralClusterer[5];
-
-    connect  imgFront -> spectralClusterer[1].imgMatrix;
-    connect  imgRight -> spectralClusterer[2].imgMatrix;
-    connect  imgLeft -> spectralClusterer[3].imgMatrix;
-    connect  imgBack -> spectralClusterer[4].imgMatrix;
-    connect  imgFront2 -> spectralClusterer[5].imgMatrix;
-    connect spectralClusterer[:].clusters -> clusters[:];
-
-
-}
\ No newline at end of file

TorcsEMAMGenerator/src/test/resources/detection/ObjectDetector6.emam

-package detection;
-import SpectralClusterer;
-
-component ObjectDetector6{
-    ports in Q(0:255)^{2500, 3} imgFront,
-          in Q(0:255)^{2500, 3} imgBack,
-          in Q(0:255)^{2500, 3} imgLeft,
-          in Q(0:255)^{2500, 3} imgRight,
-          in Q(0:255)^{2500, 3} imgFront2,
-          in Q(0:255)^{2500, 3} imgBack2,
-          out Q(-oo:oo)^{2500, 1} clusters[6];
-
-    instance SpectralClusterer<2500, 4, 4> spectralClusterer[6];
-
-    connect  imgFront -> spectralClusterer[1].imgMatrix;
-    connect  imgRight -> spectralClusterer[2].imgMatrix;
-    connect  imgLeft -> spectralClusterer[3].imgMatrix;
-    connect  imgBack -> spectralClusterer[4].imgMatrix;
-    connect  imgFront2 -> spectralClusterer[5].imgMatrix;
-    connect  imgBack2 -> spectralClusterer[6].imgMatrix;
-    connect spectralClusterer[:].clusters -> clusters[:];
-
-
-}
\ No newline at end of file

TorcsEMAMGenerator/src/test/resources/detection/ObjectDetector7.emam

-package detection;
-import SpectralClusterer;
-
-component ObjectDetector7{
-    ports in Q(0:255)^{2500, 3} imgFront,
-          in Q(0:255)^{2500, 3} imgBack,
-          in Q(0:255)^{2500, 3} imgLeft,
-          in Q(0:255)^{2500, 3} imgRight,
-          in Q(0:255)^{2500, 3} imgFront2,
-          in Q(0:255)^{2500, 3} imgBack2,
-          in Q(0:255)^{2500, 3} imgLeft2,
-          out Q(-oo:oo)^{2500, 1} clusters[7];
-
-    instance SpectralClusterer<2500, 4, 4> spectralClusterer[7];
-
-    connect  imgFront -> spectralClusterer[1].imgMatrix;
-    connect  imgRight -> spectralClusterer[2].imgMatrix;
-    connect  imgLeft -> spectralClusterer[3].imgMatrix;
-    connect  imgBack -> spectralClusterer[4].imgMatrix;
-    connect  imgFront2 -> spectralClusterer[5].imgMatrix;
-    connect  imgBack2 -> spectralClusterer[6].imgMatrix;
-    connect  imgLeft2 -> spectralClusterer[7].imgMatrix;
-    connect spectralClusterer[:].clusters -> clusters[:];
-
-
-}
\ No newline at end of file

TorcsEMAMGenerator/src/test/resources/detection/ObjectDetector8.emam

-package detection;
-import SpectralClusterer;
-
-component ObjectDetector8{
-    ports in Q(0:255)^{2500, 3} imgFront,
-          in Q(0:255)^{2500, 3} imgBack,
-          in Q(0:255)^{2500, 3} imgLeft,
-          in Q(0:255)^{2500, 3} imgRight,
-          in Q(0:255)^{2500, 3} imgFront2,
-          in Q(0:255)^{2500, 3} imgBack2,
-          in Q(0:255)^{2500, 3} imgLeft2,
-          in Q(0:255)^{2500, 3} imgRight2,
-          out Q(-oo:oo)^{2500, 1} clusters[8];
-
-    instance SpectralClusterer<2500, 4, 4> spectralClusterer[8];
-
-    connect  imgFront -> spectralClusterer[1].imgMatrix;
-    connect  imgRight -> spectralClusterer[2].imgMatrix;
-    connect  imgLeft -> spectralClusterer[3].imgMatrix;
-    connect  imgBack -> spectralClusterer[4].imgMatrix;
-    connect  imgFront2 -> spectralClusterer[5].imgMatrix;
-    connect  imgRight2 -> spectralClusterer[6].imgMatrix;
-    connect  imgLeft2 -> spectralClusterer[7].imgMatrix;
-    connect  imgBack2 -> spectralClusterer[8].imgMatrix;
-    connect spectralClusterer[:].clusters -> clusters[:];
-
-
-}
\ No newline at end of file

TorcsEMAMGenerator/src/test/resources/detection/ObjectDetector9.emam

-package detection;
-import SpectralClusterer;
-
-component ObjectDetector9{
-    ports in Q(0:255)^{2500, 3} imgFront,
-          in Q(0:255)^{2500, 3} imgBack,
-          in Q(0:255)^{2500, 3} imgLeft,
-          in Q(0:255)^{2500, 3} imgRight,
-          in Q(0:255)^{2500, 3} imgFront2,
-          in Q(0:255)^{2500, 3} imgBack2,
-          in Q(0:255)^{2500, 3} imgLeft2,
-          in Q(0:255)^{2500, 3} imgRight2,
-          in Q(0:255)^{2500, 3} imgFront3,
-          out Q(-oo:oo)^{2500, 1} clusters[9];
-
-    instance SpectralClusterer<2500, 4, 4> spectralClusterer[9];
-
-    connect  imgFront -> spectralClusterer[1].imgMatrix;
-    connect  imgRight -> spectralClusterer[2].imgMatrix;