Commit 593a3832 authored by Helge's avatar Helge

Bumpbot streamtest included in pom.xml

parent 0089cee6
...@@ -12,7 +12,7 @@ component Wrapper{ ...@@ -12,7 +12,7 @@ component Wrapper{
in Q (-oo m : 0.01 m : oo m) ^ {1,100} trajectory_x, in Q (-oo m : 0.01 m : oo m) ^ {1,100} trajectory_x,
in Q (-oo m : 0.01 m : oo m) ^ {1,100} trajectory_y, in Q (-oo m : 0.01 m : oo m) ^ {1,100} trajectory_y,
out Ego_Vehicle vehicle_control, out Ego_Vehicle vehicle_control;
//Connections for CARLA to Autopilot: //Connections for CARLA to Autopilot:
......
...@@ -5,8 +5,8 @@ stream WrapperTest for Wrapper{ ...@@ -5,8 +5,8 @@ stream WrapperTest for Wrapper{
vehicle_status.velocity: 0; vehicle_status.velocity: 0;
vehicle_status.acceleration: 0; vehicle_status.acceleration: 0;
orientation.x: -3.40606290796e-05; orientation.x: -3.40606290796;
orientation.y: -1.96673991356e-06; orientation.y: -1.96673991356;
orientation.z: -0.715650891876; orientation.z: -0.715650891876;
orientation.w: 0.698458158942; orientation.w: 0.698458158942;
...@@ -32,5 +32,4 @@ stream WrapperTest for Wrapper{ ...@@ -32,5 +32,4 @@ stream WrapperTest for Wrapper{
vehicle_control.reverse: false; vehicle_control.reverse: false;
vehicle_control.gear: -; vehicle_control.gear: -;
vehicle_control.manual_gear_shift: false; vehicle_control.manual_gear_shift: false;
} }
...@@ -4,9 +4,10 @@ import bumper.structures.*; ...@@ -4,9 +4,10 @@ import bumper.structures.*;
component BumpBot{ component BumpBot{
ports out Ego_Vehicle vehicle_control, ports in Quaternion orientation,
in Quaternion orientation,
in Vector3 collision_normale, in Vector3 collision_normale,
out Ego_Vehicle vehicle_control,
out Vector3 collision_normale_out; out Vector3 collision_normale_out;
implementation Math{ implementation Math{
......
package bumper; package bumper;
stream BumpbotTest for BumpBot{ stream BumpBotTest for BumpBot{
// Input // Input
vehicle_status.velocity: 0; orientation.x: 3.41;
vehicle_status.acceleration: 0; orientation.y: 1.97;
orientation.z: 0.72;
orientation.w: 0.69;
orientation.x: -3.40606290796e-05; collision_normale.x: 0;
orientation.y: -1.96673991356e-06; collision_normale.y: 0;
orientation.z: -0.715650891876; collision_normale.z: 0;
orientation.w: 0.698458158942;
collision_normale.x: 0.0;
collision_normale.y: 0.0;
collision_normale.z: 0.0;
// Output // Output
// - means: all values are allowed // - means: all values are allowed
// 100 +/- 1 means: all values from 99 to 101 are allowed // 100 +/- 1 means: all values from 99 to 101 are allowed
vehicle_control.throttle: 0 +/- 1; vehicle_control.throttle: 0 +/- 1;
vehicle_control.steer: -; vehicle_control.steer: -;
vehicle_control.brake: -; vehicle_control.brake: -;
vehicle_control.hand_brake: false; vehicle_control.hand_brake: false;
vehicle_control.reverse: false; vehicle_control.reverse: false;
vehicle_control.gear: -; vehicle_control.gear: -;
vehicle_control.manual_gear_shift: false; vehicle_control.manual_gear_shift: false;
collision_normale_out.x: -;
collision_normale_out.y: -;
collision_normale_out.z: -;
} }
...@@ -29,7 +29,7 @@ ...@@ -29,7 +29,7 @@
<configuration> <configuration>
<pathMain>Bumpbot/models</pathMain> <pathMain>Bumpbot/models</pathMain>
<pathTest>Bumpbot/models</pathTest> <pathTest>Bumpbot/models</pathTest>
<runStreamTestBefore>true</runStreamTestBefore> <runStreamTestBefore>false</runStreamTestBefore>
<pathTmpOut>Bumpbot/target/tmp</pathTmpOut> <pathTmpOut>Bumpbot/target/tmp</pathTmpOut>
<generator>MinGW</generator> <generator>MinGW</generator>
<pathMiddlewareOut>Bumpbot/target/middleware</pathMiddlewareOut> <pathMiddlewareOut>Bumpbot/target/middleware</pathMiddlewareOut>
...@@ -38,6 +38,16 @@ ...@@ -38,6 +38,16 @@
</middlewareRootModels> </middlewareRootModels>
</configuration> </configuration>
<executions> <executions>
<execution>
<id>test</id>
<configuration>
<enableExecutionLogging>false</enableExecutionLogging>
</configuration>
<phase>test</phase>
<goals>
<goal>streamtest-execute</goal>
</goals>
</execution>
<execution> <execution>
<id>compilemiddleware</id> <id>compilemiddleware</id>
<configuration> <configuration>
......
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