Application using jar of EMAM2Middleware (zero java code in application)

EMADL2TORCS/generate2ros.sh

+#!/bin/bash
+
+echo "Cleaning target directory..."
+rm -rf target/*
+
+echo "Generating code..."
+java -cp embedded-montiarc-math-middleware-generator-0.0.9-SNAPSHOT-jar-with-dependencies.jar de.monticore.lang.monticar.generator.middleware.DistributedTargetGeneratorCli --models-dir=src/main/ --root-model=dp.mastercomponent --output-dir=target/Mastercomponent --generators=emadlcpp,roscpp --backend=MXNET
+
+echo "Copying build and run scripts..."
+cp -rf resources/scripts/* target/
+chmod u+x target/*.sh
+
+echo "Copying CNN weights..."
+cp -rf resources/torcs target/torcs
+chmod u+x resources/torcs/*.sh
+cp -rf resources/dpnet target/model
+
+echo "Building generated code..."
+cd target
+./build_all.sh
+
+echo "Please start TORCS, configure race and run ./run_all.sh"

TorcsEMAMGenerator/src/main/resources/torcs/src/camera/src/main.cpp → EMADL2TORCS/resources/torcs/src/camera/src/main.cpp

@@ -4,7 +4,7 @@
 
 #include <ml.h>
 #include <highgui.h>
-#include <cv.h>
+#include <cv.hpp>
 #include <ros/ros.h>
 #include <std_msgs/Float32.h>
 #include <std_msgs/Float32MultiArray.h>

TorcsEMAMGenerator/src/main/models/dp/subcomponents/Denormalizer.emadl → EMADL2TORCS/src/main/dp/subcomponents/Denormalizer.emadl

@@ -13,50 +13,50 @@ component Denormalizer {
 
             Q newMinAngle = -0.5;
             Q newRangeAngle = 0.5 - newMinAngle;
-            affordance.angle = (((normalizedPredictions(0) - oldMin) * newRangeAngle) / oldRange) + newMinAngle;
+            affordance.angle = (((normalizedPredictions(1) - oldMin) * newRangeAngle) / oldRange) + newMinAngle;
 
             Q newMinMarkingL = -7;
             Q newRangeMarkingL = -2.5 - newMinMarkingL;
-            affordance.toMarkingL = (((normalizedPredictions(1) - oldMin) * newRangeMarkingL) / oldRange) + newMinMarkingL;
+            affordance.toMarkingL = (((normalizedPredictions(2) - oldMin) * newRangeMarkingL) / oldRange) + newMinMarkingL;
 
             Q newMinMarkingM = -2;
             Q newRangeMarkingM = 3.5 - newMinMarkingM;
-            affordance.toMarkingM = (((normalizedPredictions(2) - oldMin) * newRangeMarkingM) / oldRange) + newMinMarkingM;
+            affordance.toMarkingM = (((normalizedPredictions(3) - oldMin) * newRangeMarkingM) / oldRange) + newMinMarkingM;
 
             Q newMinMarkingR = 2.5;
             Q newRangeMarkingR = newMinMarkingR - 7;
-            affordance.toMarkingR = (((normalizedPredictions(3) - oldMin) * newRangeMarkingR) / oldRange) + newMinMarkingR;
+            affordance.toMarkingR = (((normalizedPredictions(4) - oldMin) * newRangeMarkingR) / oldRange) + newMinMarkingR;
 
             Q newMinDist = 0;
             Q newRangeDist = 75 - newMinDist;
-            affordance.distL = (((normalizedPredictions(4) - oldMin) * newRangeDist) / oldRange) + newMinDist;
-            affordance.distR = (((normalizedPredictions(5) - oldMin) * newRangeDist) / oldRange) + newMinDist;
+            affordance.distL = (((normalizedPredictions(5) - oldMin) * newRangeDist) / oldRange) + newMinDist;
+            affordance.distR = (((normalizedPredictions(6) - oldMin) * newRangeDist) / oldRange) + newMinDist;
 
             Q newMinMarkingLL = -9.5;
             Q newRangeMarkingLL = -4 - newMinMarkingLL;
-            affordance.toMarkingLL = (((normalizedPredictions(6) - oldMin) * newRangeMarkingLL) / oldRange) + newMinMarkingLL;
+            affordance.toMarkingLL = (((normalizedPredictions(7) - oldMin) * newRangeMarkingLL) / oldRange) + newMinMarkingLL;
 
             Q newMinMarkingML = -5.5;
             Q newRangeMarkingML = -0.5 - newMinMarkingML;
-            affordance.toMarkingML = (((normalizedPredictions(7) - oldMin) * newRangeMarkingML) / oldRange) + newMinMarkingML;
+            affordance.toMarkingML = (((normalizedPredictions(8) - oldMin) * newRangeMarkingML) / oldRange) + newMinMarkingML;
 
             Q newMinMarkingMR = 0.5;
             Q newRangeMarkingMR = 5.5 - newMinMarkingMR;
-            affordance.toMarkingMR = (((normalizedPredictions(8) - oldMin) * newRangeMarkingMR) / oldRange) + newMinMarkingMR;
+            affordance.toMarkingMR = (((normalizedPredictions(9) - oldMin) * newRangeMarkingMR) / oldRange) + newMinMarkingMR;
 
             Q newMinMarkingRR = 4;
             Q newRangeMarkingRR = 9.5 - newMinMarkingRR;
-            affordance.toMarkingRR = (((normalizedPredictions(9) - oldMin) * newRangeMarkingRR) / oldRange) + newMinMarkingRR;
+            affordance.toMarkingRR = (((normalizedPredictions(10) - oldMin) * newRangeMarkingRR) / oldRange) + newMinMarkingRR;
 
             Q newMinDistLMR = 0;
             Q newRangeDistLMR = 75 - newMinDistLMR;
-            affordance.distLL = (((normalizedPredictions(10) - oldMin) * newRangeDistLMR) / oldRange) + newMinDistLMR;
-            affordance.distMM = (((normalizedPredictions(11) - oldMin) * newRangeDistLMR) / oldRange) + newMinDistLMR;
-            affordance.distRR = (((normalizedPredictions(12) - oldMin) * newRangeDistLMR) / oldRange) + newMinDistLMR;
+            affordance.distLL = (((normalizedPredictions(11) - oldMin) * newRangeDistLMR) / oldRange) + newMinDistLMR;
+            affordance.distMM = (((normalizedPredictions(12) - oldMin) * newRangeDistLMR) / oldRange) + newMinDistLMR;
+            affordance.distRR = (((normalizedPredictions(13) - oldMin) * newRangeDistLMR) / oldRange) + newMinDistLMR;
 
             Q newMinFast = 0;
             Q newRangeFast = 1 - newMinFast;
-            affordance.fast = (((normalizedPredictions(13) - oldMin) * newRangeFast) / oldRange) + newMinFast;
+            affordance.fast = (((normalizedPredictions(14) - oldMin) * newRangeFast) / oldRange) + newMinFast;
         }
 
 }

TorcsEMAMGenerator/src/main/models/dp/subcomponents/Dpnet.cnnt → EMADL2TORCS/src/main/dp/subcomponents/Dpnet.cnnt

 configuration Dpnet{
      num_epoch : 100
      batch_size : 64
-     context:cpu
-     normalize:true
+     eval_metric : mse
+     context : gpu
+     load_checkpoint : true
+     normalize : true
      optimizer : sgd{
          learning_rate : 0.01
          learning_rate_decay : 0.9

TorcsEMAMGenerator/src/main/models/dp/subcomponents/DriverController.emadl → EMADL2TORCS/src/main/dp/subcomponents/DriverController.emadl

@@ -57,7 +57,7 @@ component DriverController {
 
         desiredSpeed = 20; // 20m/s = 72 kmh
 	    if (affordanceIn.fast != 1)
-	        desiredSpeed = 20 - abs(steeringRecordIn(0) + steeringRecordIn(1) + steeringRecordIn(2) + steeringRecordIn(3) + steeringRecordIn(4)) * 4.5;
+	        desiredSpeed = 20 - abs(steeringRecordIn(1) + steeringRecordIn(2) + steeringRecordIn(3) + steeringRecordIn(4) + steeringRecordIn(5)) * 4.5;
 	    end
 
 	    if (desiredSpeed < 10)
@@ -88,4 +88,4 @@ component DriverController {
             commandsOut(1) = 0; // accelCmd
         end
     }
-}
\ No newline at end of file
+}

TorcsEMAMGenerator/.gitignore

-target/
-output/
-venv/
-.idea/
-.git
-*.iml
-src/main/resources/dpnet/

TorcsEMAMGenerator/README.md

-# How-to
-
-1. Run Generator in src/main/java
-2. Start TORCS, choose 'Quick Race', go to 'Configure', select some map and choose 'chenyi' as the only driver. Start race.
-* To set specific screen resolution go to torcs config folder (e.g. ./torcs/config) and edit screen.xml. Our toolchain uses 280x210.
-3. Go to target/generated-sources-torcs-dl and run `build_all.sh` to compile generated code
-4. Go to target/generated-sources-torcs-dl and run `run_all.sh` to start ROS and ROS node including TORCS connectors. This will open a separate console for each ROS node
- and another console for ROS core.
\ No newline at end of file

TorcsEMAMGenerator/pom.xml

-<?xml version="1.0" encoding="UTF-8"?>
-<project xmlns="http://maven.apache.org/POM/4.0.0"
-         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
-         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
-    <modelVersion>4.0.0</modelVersion>
-
-    <groupId>de.monticore.lang.monticar</groupId>
-    <artifactId>torcs-dl</artifactId>
-    <version>1.0-SNAPSHOT</version>
-    <build>
-        <plugins>
-            <plugin>
-                <groupId>org.apache.maven.plugins</groupId>
-                <artifactId>maven-compiler-plugin</artifactId>
-                <version>2.5</version>
-                <configuration>
-                    <source>1.8</source>
-                    <target>1.8</target>
-                </configuration>
-            </plugin>
-        </plugins>
-    </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>0.0.9-SNAPSHOT</version>
-        </dependency>
-        <dependency>
-            <groupId>de.monticore.lang.monticar</groupId>
-            <artifactId>embedded-montiarc-math-roscpp-generator</artifactId>
-            <version>0.0.1c-SNAPSHOT</version>
-        </dependency>
-        <dependency>
-            <groupId>de.monticore.lang.monticar</groupId>
-            <artifactId>embedded-montiarc-math-middleware-generator</artifactId>
-            <version>0.0.1-SNAPSHOT</version>
-        </dependency>
-        <dependency>
-            <groupId>de.monticore.lang.monticar</groupId>
-            <artifactId>embedded-montiarc-deeplearning</artifactId>
-            <version>0.2.1-SNAPSHOT</version>
-        </dependency>
-        <dependency>
-            <groupId>de.monticore.lang.monticar</groupId>
-            <artifactId>embedded-montiarc-emadl-generator</artifactId>
-            <version>0.2.1-SNAPSHOT</version>
-        </dependency>
-        <dependency>
-            <groupId>de.monticore.lang.monticar</groupId>
-            <artifactId>embedded-montiarc-behaviour</artifactId>
-            <version>0.0.11-SNAPSHOT</version>
-        </dependency>
-    </dependencies>
-    
-</project>
\ No newline at end of file

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

-package de.monticore.lang.monticar.torcs_dl;
-
-import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
-import de.monticore.lang.monticar.generator.FileContent;
-import de.monticore.lang.monticar.emadl.generator.EMADLGenerator;
-import de.monticore.lang.monticar.generator.middleware.helpers.NameHelper;
-import de.monticore.lang.monticar.generator.middleware.helpers.TemplateHelper;
-import de.monticore.lang.monticar.generator.middleware.impls.GeneratorImpl;
-import de.monticore.lang.tagging._symboltable.TaggingResolver;
-
-import java.io.File;
-import java.io.IOException;
-import java.util.ArrayList;
-import java.util.List;
-
-public class EMADLGeneratorImpl implements GeneratorImpl {
-    private String generationTargetPath;
-    private EMADLGenerator emadlGenerator;
-
-    public EMADLGeneratorImpl(String modelPath){
-        emadlGenerator = new EMADLGenerator();
-        emadlGenerator.setModelsPath(modelPath);
-    }
-
-
-    @Override
-    public List<File> generate(ExpandedComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
-        List<File> files = new ArrayList<>();
-
-        emadlGenerator.setGenerationTargetPath(generationTargetPath);
-        List<FileContent> fileContents = emadlGenerator.generateStrings(taggingResolver, componentInstanceSymbol, taggingResolver);
-
-        for (FileContent fileContent : fileContents) {
-            files.add(emadlGenerator.getEmamGen().generateFile(fileContent));
-        }
-
-        files.add(emadlGenerator.getEmamGen().generateFile((generateCMake(componentInstanceSymbol))));
-        return files;
-    }
-
-    @Override
-    public void setGenerationTargetPath(String path) {
-        this.generationTargetPath = path;
-    }
-
-    private FileContent generateCMake(ExpandedComponentInstanceSymbol componentInstanceSymbol) {
-        FileContent cmake = new FileContent();
-        cmake.setFileName("CMakeLists.txt");
-        String name = NameHelper.getNameTargetLanguage(componentInstanceSymbol.getFullName());
-        cmake.setFileContent(TemplateHelper.getCmakeCppTemplate().replace("${compName}", name));
-        cmake.setFileContent(cmake.getFileContent() + "target_link_libraries(" + name + " -lmxnet)");
-        return cmake;
-    }
-}

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

-package de.monticore.lang.monticar.torcs_dl;
-
-import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
-import de.monticore.lang.embeddedmontiarc.tagging.RosToEmamTagSchema;
-import de.monticore.lang.monticar.emadl.generator.AbstractSymtab;
-import de.monticore.lang.monticar.generator.middleware.MiddlewareGenerator;
-import de.monticore.lang.monticar.generator.middleware.impls.RosCppGenImpl;
-import de.monticore.lang.monticar.generator.roscpp.helper.TagHelper;
-import de.monticore.lang.tagging._symboltable.TaggingResolver;
-import org.apache.commons.io.FileUtils;
-
-import java.io.File;
-import java.io.IOException;
-import java.nio.file.Files;
-import java.nio.file.Paths;
-import java.nio.file.StandardCopyOption;
-
-public class Generator {
-
-    public static final String TARGET_PATH_GENERATED = "./target/generated-sources-torcs-dl/";
-    public static final String MODELS_PATH = "src/main/models/";
-    public static final String RESOURCES_PATH = "src/main/resources/";
-
-    public static void main(String[] args) {
-        System.out.println("Starting code generation...");
-
-        TaggingResolver taggingResolver = AbstractSymtab.createSymTabAndTaggingResolver(MODELS_PATH);
-        RosToEmamTagSchema.registerTagTypes(taggingResolver);
-
-        try {
-            System.out.println("Code generation for Mastercomponent");
-            ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("dp."+ "Mastercomponent".toLowerCase(), ExpandedComponentInstanceSymbol.KIND).orElse(null);
-
-            assert componentInstanceSymbol != null;
-            TagHelper.resolveTags(taggingResolver, componentInstanceSymbol);
-
-            MiddlewareGenerator middlewareGenerator = new MiddlewareGenerator();
-            middlewareGenerator.add(new EMADLGeneratorImpl(MODELS_PATH), "cpp");
-            middlewareGenerator.add(new RosCppGenImpl(), "roscpp");
-            middlewareGenerator.setGenerationTargetPath(TARGET_PATH_GENERATED + "Mastercomponent");
-            middlewareGenerator.generate(componentInstanceSymbol, taggingResolver);
-        } catch (IOException e1) {
-            System.err.println("Failed to generate sources. Sorry.");
-            e1.printStackTrace();
-        }
-
-        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");
-
-            FileUtils.copyDirectory(new File(RESOURCES_PATH+"dpnet"), new File(TARGET_PATH_GENERATED+"model"));
-        } catch (IOException e) {
-            System.err.println("Failed to copy build and start scripts.");
-            e.printStackTrace();
-        }
-    }
-
-}

TorcsEMAMGenerator/src/main/resources/de/monticore/lang/monticar/generator/middleware/IAdapterTemplate.ftl

-#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

-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

-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

-#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/struct_msgsCmakeTemplate.ftl

-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()