Localization controller model

EMADL2TORCS/src/main/dp/subcomponents/Lane.enum

+package dp.subcomponents;
+
+enum Lane {
+	CENTER_LANE |  RIGHT_LANE |  LEFT_LANE | OUTSIDE_LANE
+}
+

EMADL2TORCS/src/main/dp/subcomponents/LocalizationController.emadl

+package dp.subcomponents;
+
+component LocalizationController {
+    ports
+	in Affordance affordanceIn,
+	out B onLane,
+	out B onMarking,
+	out Z laneNumber,
+	out Lane lane;
+
+	implementation Math {
+		onLane = false;
+		onMarking = false;
+
+		// Car is on lane
+		if (-affordanceIn.toMarkingML + affordanceIn.toMarkingMR < 5.5)
+			onLane = true;
+			onMarking = false;
+			if (affordanceIn.toMarkingLL <= -7.5 && affordanceIn.toMarkingRR >= 7.5)
+				laneNumber = 1;
+				lane = CENTER_LANE;
+
+			elseif (affordanceIn.toMarkingLL > -7.5 && affordanceIn.toMarkingRR < 7.5)
+				laneNumber = 3;
+				lane = CENTER_LANE;
+
+			elseif (affordanceIn.toMarkingLL > -7.5 || affordanceIn.toMarkingRR < 7.5)
+				laneNumber = 2;
+				if (affordanceIn.toMarkingRR >=7.5)
+					lane = RIGHT_LANE;
+				end
+				if (affordanceIn.toMarkingLL <= -7.5)
+					lane = LEFT_LANE;
+				end
+
+			else
+				laneNumber = 0;
+				onLane = false;
+				lane = OUTSIDE_LANE;
+			end
+		else // Car is on marking
+			onLane = false;
+			onMarking = true;
+			// Car on central marking
+			if (affordanceIn.toMarkingR < 6 && affordanceIn.toMarkingL > -6)
+				laneNumber = 2;
+				lane = CENTER_LANE;
+			
+			// When on Outer lanes consider the road only 1 lane.
+			else
+				laneNumber = 1;
+				if (affordanceIn.toMarkingL < -6)
+                			lane = LEFT_LANE;
+            			elseif (affordanceIn.toMarkingR > 6)
+                			lane = RIGHT_LANE;
+            			end
+			end			
+		end
+	}
+}