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monticore
EmbeddedMontiArc
applications
CarlaComponents
Commits
ed6fe428
Commit
ed6fe428
authored
Sep 25, 2019
by
Philipp Helios
Browse files
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Updated wrapper component
parent
3af6efb4
Pipeline
#187206
failed with stage
in 1 minute and 6 seconds
Changes
3
Pipelines
1
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3 changed files
with
39 additions
and
4 deletions
+39
-4
Autopilot/models/wrapper/CalculateWrappedValues.emam
Autopilot/models/wrapper/CalculateWrappedValues.emam
+3
-3
Autopilot/models/wrapper/Wrapper.emam
Autopilot/models/wrapper/Wrapper.emam
+0
-1
Autopilot/models/wrapper/WrapperTest.stream
Autopilot/models/wrapper/WrapperTest.stream
+36
-0
No files found.
Autopilot/models/wrapper/CalculateWrappedValues.emam
View file @
ed6fe428
...
...
@@ -6,9 +6,9 @@ component CalculateWrappedValues{
//
ports
for
CARLA
to
Autopilot
:
ports
in
Vehicle_Status
vehicle_status
,
in
Vehicle_Status
vehicle_status
,
in
Quaternion
orientation
,
in
Ego_Vehicle
tmp_vehicle
,
out
Q
(
0.0
m
/
s
:
0.01
m
/
s
:
oo
m
/
s
)
velocity
,
out
Q
(
0.0
:
0.001
:
2.5
)
throttle
,
...
...
@@ -26,7 +26,7 @@ component CalculateWrappedValues{
implementation
Math
{
//
Wrapping
CARLA
output
into
Autopilot
input
:
tmp_vehicle
=
vehicle_status
.
control
;
Ego_Vehicle
tmp_vehicle
=
vehicle_status
.
control
;
//
autopilot
:
engine
actuation
(
0
,
2.5
)
throttle
=
(
tmp_vehicle
.
throttle
*
2.5
);
...
...
Autopilot/models/wrapper/Wrapper.emam
View file @
ed6fe428
...
...
@@ -13,7 +13,6 @@ component Wrapper{
in
Q
(-
oo
m
:
0.01
m
:
oo
m
)
^
{
1
,
100
}
trajectory_y
,
out
Ego_Vehicle
vehicle_control
,
out
Q
test
;
//
Connections
for
CARLA
to
Autopilot
:
...
...
Autopilot/models/wrapper/WrapperTest.stream
0 → 100644
View file @
ed6fe428
package
wrapper
;
stream
WrapperTest
for
Wrapper
{
//
Input
vehicle_status
.
velocity
:
0
;
vehicle_status
.
acceleration
:
0
;
orientation
.
x
:
-
3.40606290796e-05
;
orientation
.
y
:
-
1.96673991356e-06
;
orientation
.
z
:
-
0.715650891876
;
orientation
.
w
:
0.698458158942
;
control
.
throttle
:
0
;
control
.
steer
:
0
;
control
.
brake
:
0
;
control
.
hand_brake
:
false
;
control
.
reverse
:
false
;
control
.
gear
:
1
;
control
.
manual_gear_shift
:
false
;
trajectory_length
:
100
;
trajectory_x
:
[
231.27
,
231.27
,
231.25
,
231.22
,
231.2
,
231.17
,
231.15
,
231.13
,
231.1
,
231.08
,
231.05
,
231.03
,
231.0
,
230.98
,
230.95
,
230.93
,
230.91
,
230.88
,
230.86
,
230.83
,
230.81
,
230.78
,
230.76
,
230.74
,
230.71
,
230.69
,
230.66
,
230.64
,
230.61
,
230.59
,
230.57
,
230.54
,
230.52
,
230.49
,
230.47
,
230.44
,
230.42
,
230.39
,
230.39
,
230.37
,
230.34
,
230.32
,
230.27
,
230.12
,
229.86
,
229.49
,
229.04
,
228.49
,
227.84
,
227.15
,
226.41
,
225.64
,
224.86
,
223.99
,
222.99
,
221.0
,
221.0
,
220.0
,
219.0
,
218.0
,
217.0
,
216.0
,
215.0
,
214.0
,
213.0
,
212.0
,
211.0
,
210.0
,
209.0
,
208.0
,
207.0
,
206.0
,
205.0
,
204.0
,
203.0
,
202.0
,
201.0
,
200.0
,
199.0
,
198.0
,
197.0
,
196.0
,
195.0
,
194.0
,
193.0
,
192.0
,
191.0
,
190.0
,
189.0
,
188.0
,
187.0
,
186.0
,
185.0
,
184.0
,
183.0
,
182.0
,
181.0
,
179.99
,
179.99
];
trajectory_y
:
[-
14.27
,
-
14.27
,
-
15.27
,
-
16.26
,
-
17.26
,
-
18.26
,
-
19.26
,
-
20.26
,
-
21.26
,
-
22.26
,
-
23.26
,
-
24.26
,
-
25.26
,
-
26.26
,
-
27.26
,
-
28.26
,
-
29.26
,
-
30.26
,
-
31.26
,
-
32.26
,
-
33.26
,
-
34.26
,
-
35.26
,
-
36.26
,
-
37.26
,
-
38.26
,
-
39.26
,
-
40.26
,
-
41.26
,
-
42.26
,
-
43.26
,
-
44.26
,
-
45.26
,
-
46.26
,
-
47.26
,
-
48.26
,
-
49.26
,
-
50.41
,
-
50.41
,
-
51.41
,
-
52.41
,
-
53.41
,
-
54.22
,
-
54.93
,
-
55.61
,
-
56.24
,
-
56.81
,
-
57.31
,
-
57.76
,
-
58.14
,
-
58.42
,
-
58.62
,
-
58.73
,
-
58.75
,
-
58.75
,
-
58.76
,
-
58.76
,
-
58.76
,
-
58.76
,
-
58.77
,
-
58.77
,
-
58.77
,
-
58.77
,
-
58.78
,
-
58.78
,
-
58.78
,
-
58.78
,
-
58.79
,
-
58.79
,
-
58.79
,
-
58.79
,
-
58.8
,
-
58.8
,
-
58.8
,
-
58.8
,
-
58.81
,
-
58.81
,
-
58.81
,
-
58.82
,
-
58.82
,
-
58.82
,
-
58.82
,
-
58.83
,
-
58.83
,
-
58.83
,
-
58.83
,
-
58.84
,
-
58.84
,
-
58.84
,
-
58.84
,
-
58.85
,
-
58.85
,
-
58.85
,
-
58.85
,
-
58.86
,
-
58.86
,
-
58.86
,
-
58.86
,
-
58.86
];
//
Output
//
-
means
:
all
values
are
allowed
//
100
+/-
1
means
:
all
values
from
99
to
101
are
allowed
vehicle_control
.
throttle
:
0
+/-
1
;
vehicle_control
.
steer
:
-;
vehicle_control
.
brake
:
-;
vehicle_control
.
hand_brake
:
false
;
vehicle_control
.
reverse
:
false
;
vehicle_control
.
gear
:
-;
vehicle_control
.
manual_gear_shift
:
false
;
}
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