add AutopilotAdapter generation

src/main/java/de/monticore/lang/monticar/generator/cpp/FileUtil.java

+package de.monticore.lang.monticar.generator.cpp;
+
+import de.monticore.lang.monticar.generator.FileContent;
+
+import java.io.InputStream;
+import java.util.Scanner;
+
+public final class FileUtil {
+
+    private FileUtil() {
+    }
+
+    public static FileContent getResourceAsFile(String resourcePath, String destinationFilePath) {
+        InputStream resource = FileUtil.class.getResourceAsStream(resourcePath);
+        String body = new Scanner(resource, "UTF-8").useDelimiter("\\A").next();
+        return new FileContent(body, destinationFilePath);
+    }
+}

src/main/java/de/monticore/lang/monticar/generator/cpp/GeneratorCPP.java

@@ -9,13 +9,17 @@ import de.monticore.lang.monticar.generator.Helper;
 import de.monticore.lang.monticar.generator.MathCommandRegister;
 import de.monticore.lang.monticar.generator.cpp.converter.MathConverter;
 import de.monticore.lang.monticar.generator.cpp.converter.TypeConverter;
+import de.monticore.lang.monticar.generator.cpp.template.AllTemplates;
+import de.monticore.lang.monticar.generator.cpp.viewmodel.AutopilotAdapterViewModel;
 import de.monticore.lang.monticar.ts.MCTypeSymbol;
 import de.monticore.lang.tagging._symboltable.TaggingResolver;
 import de.monticore.symboltable.Scope;
 import de.se_rwth.commons.logging.Log;
 
-import java.io.*;
-import java.nio.file.Files;
+import java.io.BufferedWriter;
+import java.io.File;
+import java.io.FileWriter;
+import java.io.IOException;
 import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.Collection;
@@ -29,6 +33,7 @@ public class GeneratorCPP implements Generator {
 
     private Path modelsDirPath;
     private boolean isGenerateTests = false;
+    private boolean isGenerateAutopilotAdapter = false;
     private final List<BluePrintCPP> bluePrints = new ArrayList<>();
 
     protected String generationTargetPath = "./target/generated-sources-cpp/";
@@ -145,6 +150,9 @@ public class GeneratorCPP implements Generator {
             TestsGeneratorCPP g = new TestsGeneratorCPP(this);
             fileContents.addAll(g.generateStreamTests(symtab));
         }
+        if (isGenerateAutopilotAdapter()) {
+            fileContents.addAll(getAutopilotAdapterFiles(componentSymbol));
+        }
         //System.out.println(fileContents);
         if (getGenerationTargetPath().charAt(getGenerationTargetPath().length() - 1) != '/') {
             setGenerationTargetPath(getGenerationTargetPath() + "/");
@@ -275,6 +283,14 @@ public class GeneratorCPP implements Generator {
         isGenerateTests = generateTests;
     }
 
+    public boolean isGenerateAutopilotAdapter() {
+        return isGenerateAutopilotAdapter;
+    }
+
+    public void setGenerateAutopilotAdapter(boolean generateAutopilotAdapter) {
+        isGenerateAutopilotAdapter = generateAutopilotAdapter;
+    }
+
     public List<BluePrintCPP> getBluePrints() {
         return Collections.unmodifiableList(bluePrints);
     }
@@ -283,4 +299,18 @@ public class GeneratorCPP implements Generator {
         TypesGeneratorCPP tg = new TypesGeneratorCPP();
         return tg.generateTypes(typeSymbols);
     }
+
+    private static List<FileContent> getAutopilotAdapterFiles(ExpandedComponentInstanceSymbol componentSymbol) {
+        List<FileContent> result = new ArrayList<>();
+        result.add(FileUtil.getResourceAsFile("/template/autopilotadapter/AutopilotAdapter.h", "AutopilotAdapter.h"));
+        result.add(generateAutopilotAdapter(componentSymbol));
+        return result;
+    }
+
+    private static FileContent generateAutopilotAdapter(ExpandedComponentInstanceSymbol componentSymbol) {
+        AutopilotAdapterViewModel vm = new AutopilotAdapterViewModel();
+        vm.setMainModelName(GeneralHelperMethods.getTargetLanguageComponentName(componentSymbol.getFullName()));
+        String fileContents = AllTemplates.generateAutopilotAdapter(vm);
+        return new FileContent(fileContents, "AutopilotAdapter.cpp");
+    }
 }

src/main/java/de/monticore/lang/monticar/generator/cpp/GeneratorCppCli.java

@@ -63,6 +63,13 @@ public final class GeneratorCppCli {
             .required(false)
             .build();
 
+    public static final Option OPTION_FLAG_AUTOPILOT_ADAPTER = Option.builder()
+            .longOpt("flag-generate-autopilot-adapter")
+            .desc("optional flag indicating if autopilot adapter should be generated")
+            .hasArg(false)
+            .required(false)
+            .build();
+
     private GeneratorCppCli() {
     }
 
@@ -82,6 +89,7 @@ public final class GeneratorCppCli {
         options.addOption(OPTION_OUTPUT_PATH);
         options.addOption(OPTION_FLAG_TESTS);
         options.addOption(OPTION_FLAG_ARMADILLO);
+        options.addOption(OPTION_FLAG_AUTOPILOT_ADAPTER);
         return options;
     }
 
@@ -112,6 +120,7 @@ public final class GeneratorCppCli {
             if (cliArgs.hasOption(OPTION_FLAG_ARMADILLO.getOpt())) {
                 g.useArmadilloBackend();
             }
+            g.setGenerateAutopilotAdapter(cliArgs.hasOption(OPTION_FLAG_AUTOPILOT_ADAPTER.getLongOpt()));
             try {
                 g.generateFiles(componentSymbol, symTab);
             } catch (IOException e) {

src/main/java/de/monticore/lang/monticar/generator/cpp/TestsGeneratorCPP.java

@@ -26,14 +26,12 @@ import de.monticore.lang.numberunit._ast.ASTUnitNumber;
 import de.monticore.symboltable.Scope;
 import de.se_rwth.commons.logging.Log;
 
-import java.io.InputStream;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.HashMap;
 import java.util.HashSet;
 import java.util.List;
 import java.util.Map;
-import java.util.Scanner;
 import java.util.Set;
 
 public final class TestsGeneratorCPP {
@@ -195,9 +193,10 @@ public final class TestsGeneratorCPP {
     }
 
     private static FileContent getCatchLib() {
-        InputStream resource = TestsGeneratorCPP.class.getResourceAsStream("/vendor/catch.hpp");
-        String body = new Scanner(resource, "UTF-8").useDelimiter("\\A").next();
-        return new FileContent(body, TESTS_DIRECTORY_NAME + "/catch.hpp");
+        return FileUtil.getResourceAsFile(
+                "/vendor/catch.hpp",
+                TESTS_DIRECTORY_NAME + "/catch.hpp"
+        );
     }
 
     private static String getFileName(ComponentStreamTestViewModel viewModel) {

src/main/java/de/monticore/lang/monticar/generator/cpp/template/AllTemplates.java

 package de.monticore.lang.monticar.generator.cpp.template;
 
+import de.monticore.lang.monticar.generator.cpp.viewmodel.AutopilotAdapterViewModel;
 import de.monticore.lang.monticar.generator.cpp.viewmodel.ComponentStreamTestViewModel;
 import de.monticore.lang.monticar.generator.cpp.viewmodel.EnumViewModel;
 import de.monticore.lang.monticar.generator.cpp.viewmodel.StructViewModel;
@@ -20,6 +21,7 @@ public final class AllTemplates {
     private static final Template TESTS_MAIN_ENTRY;
     private static final Template STRUCT;
     private static final Template ENUM;
+    private static final Template AUTOPILOT_ADAPTER;
 
     static {
         Configuration conf = new Configuration(Configuration.VERSION_2_3_23);
@@ -32,6 +34,7 @@ public final class AllTemplates {
             TESTS_MAIN_ENTRY = conf.getTemplate("/test/TestsMainEntry.ftl");
             STRUCT = conf.getTemplate("/type/Struct.ftl");
             ENUM = conf.getTemplate("/type/Enum.ftl");
+            AUTOPILOT_ADAPTER = conf.getTemplate("/autopilotadapter/AutopilotAdapter.ftl");
         } catch (IOException e) {
             String msg = "could not load templates";
             Log.error(msg, e);
@@ -58,6 +61,10 @@ public final class AllTemplates {
         return generate(ENUM, viewModel);
     }
 
+    public static String generateAutopilotAdapter(AutopilotAdapterViewModel viewModel) {
+        return generate(AUTOPILOT_ADAPTER, viewModel);
+    }
+
     private static String generate(Template template, ViewModelBase viewModelBase) {
         return generate(template, TemplateHelper.getDataForTemplate(viewModelBase));
     }

src/main/java/de/monticore/lang/monticar/generator/cpp/viewmodel/AutopilotAdapterViewModel.java

+package de.monticore.lang.monticar.generator.cpp.viewmodel;
+
+public final class AutopilotAdapterViewModel extends ViewModelBase {
+
+    private String mainModelName;
+
+    public String getMainModelName() {
+        return mainModelName;
+    }
+
+    public void setMainModelName(String mainModelName) {
+        this.mainModelName = mainModelName;
+    }
+}

src/main/resources/template/autopilotadapter/AutopilotAdapter.ftl

+<#include "/Common.ftl">
+#ifndef AUTOPILOT_ADAPTER
+#define AUTOPILOT_ADAPTER
+
+#include "AutopilotAdapter.h"
+
+#define _GLIBCXX_USE_CXX11_ABI 0
+
+#include "./${viewModel.mainModelName}.h"
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <time.h>
+
+#include "./Helper.h"
+
+${viewModel.mainModelName} AUTOPILOT_INSTANCE;
+
+
+
+void copyJLongArrayToMatrix(JNIEnv *jenv, jlongArray &source, Matrix &dest) {
+  jsize len = jenv -> GetArrayLength(source);
+  if (len <= 0) {
+    return;
+  }
+  jlong *body = jenv -> GetLongArrayElements(source, 0);
+  for (int i=0; i<len; i++) {
+    dest(0,i) = body[i];
+  }
+  jenv -> ReleaseLongArrayElements(source, body, 0);
+}
+
+void copyJDoubleArrayToMatrix(JNIEnv *jenv, jdoubleArray &source, Matrix &dest) {
+  jsize len = jenv -> GetArrayLength(source);
+  if (len <= 0) {
+    return;
+  }
+  jdouble *body = jenv -> GetDoubleArrayElements(source, 0);
+  for (int i=0; i<len; i++) {
+    dest(0,i) = body[i];
+  }
+  jenv -> ReleaseDoubleArrayElements(source, body, 0);
+}
+
+
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_timeIncrement
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1timeIncrement
+  (JNIEnv *jenv, jobject jobj, jdouble v) { AUTOPILOT_INSTANCE.timeIncrement = v; }
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_currentVelocity
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1currentVelocity
+  (JNIEnv *jenv, jobject jobj, jdouble v) { AUTOPILOT_INSTANCE.currentVelocity = v; }
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_currentGpsLat
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1x
+  (JNIEnv *jenv, jobject jobj, jdouble v) { AUTOPILOT_INSTANCE.x = v; }
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_currentGpsLon
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1y
+  (JNIEnv *jenv, jobject jobj, jdouble v) { AUTOPILOT_INSTANCE.y = v; }
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_compass
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1compass
+  (JNIEnv *jenv, jobject jobj, jdouble v) { AUTOPILOT_INSTANCE.compass = v; }
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_currentEngine
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1currentEngine
+  (JNIEnv *jenv, jobject jobj, jdouble v) { AUTOPILOT_INSTANCE.currentEngine = v; }
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_currentSteering
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1currentSteering
+  (JNIEnv *jenv, jobject jobj, jdouble v) { AUTOPILOT_INSTANCE.currentSteering = v; }
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_currentBrakes
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1currentBrakes
+  (JNIEnv *jenv, jobject jobj, jdouble v) { AUTOPILOT_INSTANCE.currentBrakes = v; }
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_addNodes_length
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1trajectory_1length
+  (JNIEnv *jenv, jobject jobj, jint v) { AUTOPILOT_INSTANCE.trajectory_length = v; }
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_addNodes_gpsLat
+ * Signature: ([D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1trajectory_1x
+  (JNIEnv *jenv, jobject jobj, jdoubleArray v) { copyJDoubleArrayToMatrix(jenv, v, AUTOPILOT_INSTANCE.trajectory_x); }
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_addNodes_gpsLon
+ * Signature: ([D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1trajectory_1y
+  (JNIEnv *jenv, jobject jobj, jdoubleArray v) { copyJDoubleArrayToMatrix(jenv, v, AUTOPILOT_INSTANCE.trajectory_y); }
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    get_engine
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL Java_simulator_integration_AutopilotAdapter_get_1engine
+  (JNIEnv *jenv, jobject jobj) { return AUTOPILOT_INSTANCE.engine; }
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    get_steering
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL Java_simulator_integration_AutopilotAdapter_get_1steering
+  (JNIEnv *jenv, jobject jobj) { return AUTOPILOT_INSTANCE.steering; }
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    get_brakes
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL Java_simulator_integration_AutopilotAdapter_get_1brakes
+  (JNIEnv *jenv, jobject jobj) { return AUTOPILOT_INSTANCE.brakes; }
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    exec
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_exec
+  (JNIEnv *jenv, jobject jobj) { AUTOPILOT_INSTANCE.execute(); }
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    init
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_init
+  (JNIEnv *jenv, jobject jobj) {
+    srand(time(NULL));
+    Helper::init();
+    AUTOPILOT_INSTANCE.init();
+  }
+
+#endif

src/main/resources/template/autopilotadapter/AutopilotAdapter.h

+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class simulator_integration_AutopilotAdapter */
+
+#ifndef _Included_simulator_integration_AutopilotAdapter
+#define _Included_simulator_integration_AutopilotAdapter
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_timeIncrement
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1timeIncrement
+  (JNIEnv *, jobject, jdouble);
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_currentVelocity
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1currentVelocity
+  (JNIEnv *, jobject, jdouble);
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_x
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1x
+  (JNIEnv *, jobject, jdouble);
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_y
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1y
+  (JNIEnv *, jobject, jdouble);
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_compass
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1compass
+  (JNIEnv *, jobject, jdouble);
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_currentEngine
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1currentEngine
+  (JNIEnv *, jobject, jdouble);
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_currentSteering
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1currentSteering
+  (JNIEnv *, jobject, jdouble);
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_currentBrakes
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1currentBrakes
+  (JNIEnv *, jobject, jdouble);
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_trajectory_length
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1trajectory_1length
+  (JNIEnv *, jobject, jint);
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_trajectory_x
+ * Signature: ([D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1trajectory_1x
+  (JNIEnv *, jobject, jdoubleArray);
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    set_trajectory_y
+ * Signature: ([D)V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_set_1trajectory_1y
+  (JNIEnv *, jobject, jdoubleArray);
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    get_engine
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL Java_simulator_integration_AutopilotAdapter_get_1engine
+  (JNIEnv *, jobject);
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    get_steering
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL Java_simulator_integration_AutopilotAdapter_get_1steering
+  (JNIEnv *, jobject);
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    get_brakes
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL Java_simulator_integration_AutopilotAdapter_get_1brakes
+  (JNIEnv *, jobject);
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    exec
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_exec
+  (JNIEnv *, jobject);
+
+/*
+ * Class:     simulator_integration_AutopilotAdapter
+ * Method:    init
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL Java_simulator_integration_AutopilotAdapter_init
+  (JNIEnv *, jobject);
+
+#ifdef __cplusplus
+}
+#endif
+#endif