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torcs_dl
Commit bd4cf7b0 authored by Svetlana Pavlitskaya's avatar Svetlana Pavlitskaya
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minor changes in TorcsEMAMGenerator

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TorcsEMAMGenerator/README.md
View file @ bd4cf7b0
......@@ -2,6 +2,7 @@
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.
3. Change to target/generated-sources-torcs-dl directory and run `build_all.sh` to compile generated code
4. Change to target/generated-sources-torcs-dl directory and run `run_all.sh` to start ROS and all the ROS nodes including TORCS connectors. This will open a separate console for each ROS node.
* 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/experiments.iml deleted 100644 → 0
View file @ ce6b2506
<?xml version="1.0" encoding="UTF-8"?>
<module org.jetbrains.idea.maven.project.MavenProjectsManager.isMavenModule="true" type="JAVA_MODULE" version="4">
<component name="NewModuleRootManager" LANGUAGE_LEVEL="JDK_1_8">
<output url="file://$MODULE_DIR$/target/classes" />
<output-test url="file://$MODULE_DIR$/target/test-classes" />
<content url="file://$MODULE_DIR$">
<sourceFolder url="file://$MODULE_DIR$/src/main/java" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/main/resources" type="java-resource" />
<sourceFolder url="file://$MODULE_DIR$/src/test/java" isTestSource="true" />
<sourceFolder url="file://$MODULE_DIR$/src/test/resources" type="java-test-resource" />
<excludeFolder url="file://$MODULE_DIR$/target" />
</content>
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</component>
</module>
\ No newline at end of file
TorcsEMAMGenerator/src/main/java/de/monticore/lang/monticar/torcs_dl/Generator.java
View file @ bd4cf7b0
......@@ -3,19 +3,9 @@ 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.generator.middleware.MiddlewareGenerator;
import de.monticore.lang.monticar.generator.middleware.impls.CPPGenImpl;
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.order.simulator.AbstractSymtab;
import de.monticore.lang.monticar.generator.roscpp.helper.TagHelper;
import de.monticore.lang.tagging._symboltable.TaggingResolver;
import de.monticore.symboltable.Scope;
import org.apache.commons.io.FileUtils;
import java.io.File;
......@@ -23,7 +13,6 @@ import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Paths;
import java.nio.file.StandardCopyOption;
import java.util.Arrays;
public class Generator {
......@@ -34,85 +23,42 @@ public class Generator {
public static void main(String[] args) {
System.out.println("Starting code generation...");
// generateForEmamComponent("Imagepreprocessing");
// generateForEmamComponent("Safetycontroller");
// generateForEmamComponent("Drivercontroller");
//// generateForEmamComponent("Featureextraction");
// generateForEmadlComponent("Featureextraction");
generateForEmadlComponent("Mastercomponent");
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();
}
}
private static void generateForEmamComponent(String componentName) {
TaggingResolver taggingResolver = createSymTabAndTaggingResolver( MODELS_PATH);
TaggingResolver taggingResolver = de.monticore.lang.monticar.emadl.generator.AbstractSymtab.createSymTabAndTaggingResolver(MODELS_PATH);
RosToEmamTagSchema.registerTagTypes(taggingResolver);
try {
System.out.println("Generating for " + componentName);
ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("dp."+componentName.toLowerCase(), ExpandedComponentInstanceSymbol.KIND).orElse(null);
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 CPPGenImpl(), "cpp");
middlewareGenerator.add(new EMADLGeneratorImpl(MODELS_PATH), "cpp");
middlewareGenerator.add(new RosCppGenImpl(), "roscpp");
middlewareGenerator.setGenerationTargetPath(TARGET_PATH_GENERATED +componentName);
middlewareGenerator.setGenerationTargetPath(TARGET_PATH_GENERATED + "Mastercomponent");
middlewareGenerator.generate(componentInstanceSymbol, taggingResolver);
} catch (IOException e) {
} catch (IOException e1) {
System.err.println("Failed to generate sources. Sorry.");
e.printStackTrace();
e1.printStackTrace();
}
}
private static void generateForEmadlComponent(String componentName) {
TaggingResolver taggingResolver = de.monticore.lang.monticar.emadl.generator.AbstractSymtab.createSymTabAndTaggingResolver(MODELS_PATH);
RosToEmamTagSchema.registerTagTypes(taggingResolver);
try {
System.out.println("Generating for " + componentName);
ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("dp."+componentName.toLowerCase(), ExpandedComponentInstanceSymbol.KIND).orElse(null);
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");
TagHelper.resolveTags(taggingResolver, componentInstanceSymbol);
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");
MiddlewareGenerator middlewareGenerator = new MiddlewareGenerator();
middlewareGenerator.add(new EMADLGeneratorImpl(MODELS_PATH), "cpp");
middlewareGenerator.add(new RosCppGenImpl(), "roscpp");
middlewareGenerator.setGenerationTargetPath(TARGET_PATH_GENERATED +componentName);
middlewareGenerator.generate(componentInstanceSymbol, taggingResolver);
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 generate sources. Sorry.");
System.err.println("Failed to copy build and start scripts.");
e.printStackTrace();
}
}
public static TaggingResolver createSymTabAndTaggingResolver( String... modelPath) {
Scope scope = AbstractSymtab.createSymTab(modelPath);
TaggingResolver tagging = new TaggingResolver(scope, Arrays.asList(modelPath));
TagMinMaxTagSchema.registerTagTypes(tagging);
TagTableTagSchema.registerTagTypes(tagging);
TagBreakpointsTagSchema.registerTagTypes(tagging);
TagExecutionOrderTagSchema.registerTagTypes(tagging);
TagInitTagSchema.registerTagTypes(tagging);
TagThresholdTagSchema.registerTagTypes(tagging);
TagDelayTagSchema.registerTagTypes(tagging);
return tagging;
}
}
TorcsEMAMGenerator/src/main/models/dp/subcomponents/Imagepreprocessing.emadl
View file @ bd4cf7b0
......@@ -2,7 +2,7 @@ package dp.subcomponents;
component Imagepreprocessing {
ports
in Z(0:255)^{3, 240, 320} imageIn,
in Z(0:255)^{3, 210, 280} imageIn,
out Z(0:255)^{3, 210, 280} imageOut;
implementation Math {
......
TorcsEMAMGenerator/src/main/resources/scripts/build_all.sh
View file @ bd4cf7b0
%!/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
echo "Building Mastercomponent"
cd Mastercomponent
mkdir -p build
cd build
cmake ..
......@@ -39,5 +15,3 @@ cd torcs
echo
echo "Well done!"
echo "Run ./run_all.sh to run all."
TorcsEMAMGenerator/src/main/resources/scripts/run_all.sh
View file @ bd4cf7b0
......@@ -9,11 +9,4 @@ 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 &
xterm -T FeatureExtraction -e Featureextraction/build/coordinator/Coordinator_dp_featureextraction &
xterm -T ImagePreprocessing -e Imagepreprocessing/build/coordinator/Coordinator_dp_imagepreprocessing &
xterm -T Mastercomponent -e Mastercomponent/build/coordinator/Coordinator_dp_mastercomponent &
\ No newline at end of file
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