Single-lane driving controller implementation.

TorcsEMAMGenerator/pom.xml

@@ -12,6 +12,7 @@
             <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>
@@ -41,6 +42,11 @@
             <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>

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

@@ -2,6 +2,7 @@ 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;
@@ -23,7 +24,7 @@ public class Generator {
     public static void main(String[] args) {
         System.out.println("Starting code generation...");
 
-        TaggingResolver taggingResolver = de.monticore.lang.monticar.emadl.generator.AbstractSymtab.createSymTabAndTaggingResolver(MODELS_PATH);
+        TaggingResolver taggingResolver = AbstractSymtab.createSymTabAndTaggingResolver(MODELS_PATH);
         RosToEmamTagSchema.registerTagTypes(taggingResolver);
 
         try {

TorcsEMAMGenerator/src/main/models/dp/subcomponents/Drivercontroller.emadl

@@ -2,12 +2,26 @@ package dp.subcomponents;
 
 component Drivercontroller {
     ports
-	    in Q(0:1)^{13,1,1} affordanceIn,
+	    in Q(0:1)^{1,1,13} affordanceIn,
 	    out Q(0:1)^{3,1,1} commandsOut;
 
 	implementation Math {
-	    commandsOut(1,1,1)=0.5;  // steering
-        commandsOut(2,1,1)=0.8;  // acceleration
+	    Q Constant = 1;
+	    Q angle = affordanceIn(0,0,0);
+	    Q roadWidth = affordanceIn(0,0,1) + affordanceIn(0,0,4);
+	    Q laneWidth = affordanceIn(0,0,2) + affordanceIn(0,0,3);
+	    Q distToLaneCenter = abs(laneWidth/2 - affordanceIn(0,0,2));
+
+	    // Steering
+	    commandsOut(2,1,1) = Constant * (angle-distToLaneCenter/roadWidth);  // steering
+
+	    // Acceleration
+	    Q vMax = 72;
+	    Q vC = 1;
+	    Q vD = 0;
+	    Q desiredSpeed = vMax * (exp(-(vC/vMax) * affordanceIn(0,0,6) - vD));
+	    commandsOut(1,1,1) = desiredSpeed/vMax;  // acceleration
+
         commandsOut(3,1,1)=0.0;  // brake
     }
 }
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