All components communicate over ROS. Scripts to help building and executing all the components.

RosWorkspace/build.sh

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

RosWorkspace/run_all.sh

+%!/bin/bash
+
+source devel/setup.bash
+
+xterm -T listener -e rosrun listener listener &
+xterm -T publisher -e rosrun publisher publisher &
+
+

RosWorkspace/src/listener/src/main.cpp

-// %Tag(FULLTEXT)%
 #include "ros/ros.h"
-#include "std_msgs/String.h"
+#include "std_msgs/Float64MultiArray.h"
 
-// %Tag(CALLBACK)%
-void chatterCallback(const std_msgs::String::ConstPtr& msg)
+void chatterCallback(const std_msgs::Float64MultiArray::ConstPtr& msg)
 {
-    ROS_INFO("I heard: [%s]", msg->data.c_str());
+    ROS_INFO("Received command: %f", msg->data[0]);
 }
-// %EndTag(CALLBACK)%
 
 int main(int argc, char **argv)
 {
@@ -15,14 +12,8 @@ int main(int argc, char **argv)
 
     ros::NodeHandle n;
 
-// %Tag(SUBSCRIBER)%
-    ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
-// %EndTag(SUBSCRIBER)%
-
-// %Tag(SPIN)%
+    ros::Subscriber sub = n.subscribe("/commands", 1000, chatterCallback);
     ros::spin();
-// %EndTag(SPIN)%
 
     return 0;
 }
-// %EndTag(FULLTEXT)%

RosWorkspace/src/publisher/src/main.cpp

-// %Tag(FULLTEXT)%
-// %Tag(ROS_HEADER)%
 #include "ros/ros.h"
-// %EndTag(ROS_HEADER)%
-// %Tag(MSG_HEADER)%
-#include "std_msgs/String.h"
-// %EndTag(MSG_HEADER)%
+#include "std_msgs/Float64MultiArray.h"
 
 #include <sstream>
 
 int main(int argc, char **argv)
 {
-// %Tag(INIT)%
     ros::init(argc, argv, "publisher");
-// %EndTag(INIT)%
-
-// %Tag(NODEHANDLE)%
     ros::NodeHandle n;
-// %EndTag(NODEHANDLE)%
-
-// %Tag(PUBLISHER)%
-    ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
-// %EndTag(PUBLISHER)%
-
-// %Tag(LOOP_RATE)%
+    ros::Publisher chatter_pub = n.advertise<std_msgs::Float64MultiArray>("/camera", 1000);
     ros::Rate loop_rate(10);
-// %EndTag(LOOP_RATE)%
-
-// %Tag(ROS_OK)%
     int count = 0;
+
     while (ros::ok())
     {
-// %EndTag(ROS_OK)%
-
-// %Tag(FILL_MESSAGE)%
-        std_msgs::String msg;
-
-        std::stringstream ss;
-        ss << "hello world " << count;
-        msg.data = ss.str();
-// %EndTag(FILL_MESSAGE)%
-
-// %Tag(ROSCONSOLE)%
-        ROS_INFO("%s", msg.data.c_str());
-// %EndTag(ROSCONSOLE)%
-
-// %Tag(PUBLISH)%
+        std_msgs::Float64MultiArray msg;
+	msg.data.resize(512 * 512);
+        msg.data[0] = double(count) / 1000.; // Set first bit to "iteration/1000" for debugging
+        
+        ROS_INFO("%f", msg.data[0]);
         chatter_pub.publish(msg);
-// %EndTag(PUBLISH)%
-
-// %Tag(SPINONCE)%
         ros::spinOnce();
-// %EndTag(SPINONCE)%
-
-// %Tag(RATE_SLEEP)%
         loop_rate.sleep();
-// %EndTag(RATE_SLEEP)%
         ++count;
     }
-
-
     return 0;
 }
-// %EndTag(FULLTEXT)%

TorcsEMAMGenerator/generated/build.sh

+%!/bin/bash
+
+echo "Building DriverController"
+cd Drivercontroller
+mkdir -p build
+cd build
+cmake ..
+make -j
+cd ../../
+
+echo "Building SafetyController"
+cd Safetycontroller
+mkdir -p build
+cd build
+cmake ..
+make -j
+cd ../../
+
+echo "Building FeatureExtraction"
+cd Featureextraction
+mkdir -p build
+cd build
+cmake ..
+make -j
+cd ../../
+
+echo "Building ImagePreprocessing"
+cd Imagepreprocessing
+mkdir -p build
+cd build
+cmake ..
+make -j
+cd ../../
+
+echo
+echo "Well done!"
+echo "Run ./run_all.sh to run all."
+

TorcsEMAMGenerator/generated/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/resources/config/Drivercontroller.yaml

-- !de.monticar.lang.monticar.generator.python.RosTag
-  component: dp.drivercontroller
-  subscriber:
-    - !de.monticar.lang.monticar.generator.python.RosInterface
-      ports:
-        affordanceIn: clock.toSec()
-      topic: /indocators
-      type: std_msgs/Int32
-  publisher:
-      - !de.monticar.lang.monticar.generator.python.RosInterface
-        ports:
-          commandsOut: data
-        topic: /commands
-        type: std_msgs/Float64

TorcsEMAMGenerator/resources/config/Featureextraction.yaml

-- !de.monticar.lang.monticar.generator.python.RosTag
-  component: dp.featureextraction
-  subscriber:
-    - !de.monticar.lang.monticar.generator.python.RosInterface
-      ports:
-        imageIn: clock.toSec()
-      topic: /images
-      type: std_msgs/Int32
-  publisher:
-      - !de.monticar.lang.monticar.generator.python.RosInterface
-        ports:
-          affordanceOut: data
-        topic: /indicators
-        type: std_msgs/Float64

TorcsEMAMGenerator/resources/config/Imagepreprocessing.yaml

-- !de.monticar.lang.monticar.generator.python.RosTag
-  component: dp.imagepreprocessing
-  subscriber:
-    - !de.monticar.lang.monticar.generator.python.RosInterface
-      ports:
-        imageIn: data
-      topic: /camera
-      type: std_msgs/Int32
-  publisher:
-      - !de.monticar.lang.monticar.generator.python.RosInterface
-        ports:
-          imageOut: data
-        topic: /images
-        type: std_msgs/Float64MultiArray

TorcsEMAMGenerator/resources/config/Safetycontroller.yaml

-- !de.monticar.lang.monticar.generator.python.RosTag
-  component: dp.safetycontroller
-  subscriber:
-    - !de.monticar.lang.monticar.generator.python.RosInterface
-      ports:
-        imageIn: clock.toSec()
-        affordanceIn: clock.toSec()
-      topic: /indicators
-      type: std_msgs/Int32
-  publisher:
-      - !de.monticar.lang.monticar.generator.python.RosInterface
-        ports:
-          safetyLevelOut: data
-        topic: /safety
-        type: std_msgs/Float64

TorcsEMAMGenerator/resources/dp/Drivercontroller.emam

@@ -2,7 +2,7 @@ package dp;
 
 component Drivercontroller {
 ports
-	in Q(0:1)^{13,1,1} affordanceIn,
-	out Q(0:1)^{3,1,1} commandsOut;
+	in Q(0:1)^{13,1} affordanceIn,
+	out Q(0:1)^{3,1} commandsOut;
 }
 

TorcsEMAMGenerator/resources/dp/Drivercontroller.tag

+package dp;
+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)};
+}

TorcsEMAMGenerator/resources/dp/Featureextraction.emam

@@ -2,7 +2,7 @@ package dp;
 
 component Featureextraction {
 ports
-	in Z(0:255)^{3, 224, 224} imageIn,
-	out Q(0:1)^{13,1,1} affordanceOut;
+	in Z(0:255)^{512,1} imageIn,
+	out Q(0:1)^{13,1} affordanceOut;
 }
 

TorcsEMAMGenerator/resources/dp/Featureextraction.tag

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

TorcsEMAMGenerator/resources/dp/Imagepreprocessing.emam

 package dp;
 
 component Imagepreprocessing {
-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;
+ports in Z(0:255)^{512,1} imageIn,
+      out Z(0:255)^{512,1} imageOut;
 }

TorcsEMAMGenerator/resources/dp/Imagepreprocessing.tag

@@ -2,10 +2,6 @@ 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)};
+    tag imagepreprocessing.imageIn with RosConnection = {topic=(/camera,std_msgs/Float64MultiArray)};
+    tag imagepreprocessing.imageOut with RosConnection = {topic=(/images,std_msgs/Float64MultiArray)};
 }

TorcsEMAMGenerator/resources/dp/Safetycontroller.emam

@@ -2,8 +2,7 @@ package dp;
 
 component Safetycontroller {
 ports
-	in Z(0:255)^{3, 224, 224} imageIn,
-	in Q(0:1)^{13,1,1} affordanceIn,
-	out Q(0:1)^{1,1,1} safetyLevelOut;
+	in Z(0:255)^{512,1} imageIn,
+	in Q(0:1)^{13,1} affordanceIn,
+	out Q(0:1)^{1,1} safetyLevelOut;
 }
-

TorcsEMAMGenerator/resources/dp/Safetycontroller.tag

+package dp;
+conforms to de.monticore.lang.monticar.generator.roscpp.RosToEmamTagSchema;
+
+tags Safetycontroller {
+    tag safetycontroller.imageIn with RosConnection = {topic=(/images,std_msgs/Float64MultiArray)};
+    tag safetycontroller.affordanceIn with RosConnection = {topic=(/affordance,std_msgs/Float64MultiArray)};
+    tag safetycontroller.safetyLevelOut with RosConnection = {topic=(/safety,std_msgs/Float64MultiArray)};
+}

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

@@ -26,8 +26,6 @@ public class Experiments {
     public static void main(String[] args) {
         System.out.println("Experiments!");
 
-        //---
-
         Scope scope = createSymTab("resources");
         TaggingResolver taggingResolver = new TaggingResolver(scope, Arrays.asList("resources"));
         TagMinMaxTagSchema.registerTagTypes(taggingResolver);
@@ -45,16 +43,6 @@ public class Experiments {
         middlewareGenerator.add(new CPPGenImpl(), "cpp");
         middlewareGenerator.add(new RosCppGenImpl(), "roscpp");
 
-
-//        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");
         inputs.add("Featureextraction");
@@ -72,23 +60,6 @@ public class Experiments {
                 middlewareGenerator.setGenerationTargetPath("generated/"+inpu);
                 middlewareGenerator.generate(componentInstanceSymbol, taggingResolver);
 
-//                distributedTargetGenerator.setGenerationTargetPath("generated/"+inpu);
-//                distributedTargetGenerator.generate(componentInstanceSymbol, symtab);
-
-//                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) {
             e.printStackTrace();