Merge branch 'hardware-emulator' into 'master'

Hardware emulator

See merge request !31

pom.xml

@@ -30,7 +30,7 @@
 
     <groupId>de.monticore.lang.monticar</groupId>
     <artifactId>embedded-montiarc-math-generator</artifactId>
-    <version>0.1.8-SNAPSHOT</version>
+    <version>0.1.9</version>
 
     <!-- == PROJECT DEPENDENCIES ============================================= -->
 

src/main/java/de/monticore/lang/monticar/generator/cmake/CMakeFindModule.java

@@ -41,6 +41,7 @@ public class CMakeFindModule extends ViewModelBase {
     private List<String> libPaths = new ArrayList<>();
     private Boolean findPath;
     private Boolean findLibrary;
+    private Boolean fortranQuadMath = false;
 
     private boolean required;
 
@@ -63,6 +64,8 @@ public class CMakeFindModule extends ViewModelBase {
         this.findPath = findPath;
         this.findLibrary = findLibrary;
         this.required = required;
+        if (packageName.equals("GFortran"))
+            this.fortranQuadMath = true;
     }
 
     // methods
@@ -134,4 +137,13 @@ public class CMakeFindModule extends ViewModelBase {
     public void setFindLibrary(Boolean findLibrary) {
         this.findLibrary = findLibrary;
     }
+
+    public Boolean getFortranQuadMath() {
+        return fortranQuadMath;
+    }
+
+    public void setFortranQuadMath(Boolean fortranQuadMath) {
+        this.fortranQuadMath = fortranQuadMath;
+    }
+
 }

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

@@ -23,6 +23,7 @@ package de.monticore.lang.monticar.generator.cpp;
 import de.ma2cfg.helper.Names;
 import de.monticore.lang.embeddedmontiarc.embeddedmontiarc.ComponentScanner;
 import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAPortInstanceSymbol;
 import de.monticore.lang.embeddedmontiarcdynamic.embeddedmontiarcdynamic._symboltable.instanceStructure.EMADynamicComponentInstanceSymbol;
 import de.monticore.lang.math._symboltable.MathStatementsSymbol;
 import de.monticore.lang.monticar.generator.*;
@@ -36,7 +37,7 @@ import de.monticore.lang.monticar.generator.cpp.converter.OptimizationSymbolHand
 import de.monticore.lang.monticar.generator.cpp.converter.TypeConverter;
 import de.monticore.lang.monticar.generator.cpp.mathopt.MathOptSolverConfig;
 import de.monticore.lang.monticar.generator.cpp.template.AllTemplates;
-import de.monticore.lang.monticar.generator.cpp.viewmodel.AutopilotAdapterViewModel;
+import de.monticore.lang.monticar.generator.cpp.viewmodel.AutopilotAdapterDataModel;
 import de.monticore.lang.monticar.generator.cpp.viewmodel.ServerWrapperViewModel;
 import de.monticore.lang.monticar.generator.testing.StreamTestGenerator;
 import de.monticore.lang.monticar.ts.MCTypeSymbol;
@@ -482,15 +483,29 @@ public class GeneratorCPP implements Generator {
 
     private static List<FileContent> getAutopilotAdapterFiles(EMAComponentInstanceSymbol componentSymbol) {
         List<FileContent> result = new ArrayList<>();
-        result.add(FileUtil.getResourceAsFile("/template/autopilotadapter/AutopilotAdapter.h", "AutopilotAdapter.h"));
-        result.add(generateAutopilotAdapter(componentSymbol));
+
+        AutopilotAdapterDataModel dm = new AutopilotAdapterDataModel();
+        dm.setMainModelName(GeneralHelperMethods.getTargetLanguageComponentName(componentSymbol.getFullName()));
+        dm.setInputCount(componentSymbol.getIncomingPortInstances().size());
+        dm.setOutputCount(componentSymbol.getOutgoingPortInstances().size());
+        for ( EMAPortInstanceSymbol port : componentSymbol.getIncomingPortInstances()){
+            dm.addInput(port.getName(), port.getTypeReference().getName());
+        }
+        for ( EMAPortInstanceSymbol port : componentSymbol.getOutgoingPortInstances()){
+            dm.addOutput(port.getName(), port.getTypeReference().getName());
+        }
+
+        result.add(generateAutopilotAdapterH(dm));
+        result.add(generateAutopilotAdapterCpp(dm));
         return result;
     }
 
-    private static FileContent generateAutopilotAdapter(EMAComponentInstanceSymbol componentSymbol) {
-        AutopilotAdapterViewModel vm = new AutopilotAdapterViewModel();
-        vm.setMainModelName(GeneralHelperMethods.getTargetLanguageComponentName(componentSymbol.getFullName()));
-        String fileContents = AllTemplates.generateAutopilotAdapter(vm);
+    private static FileContent generateAutopilotAdapterH(AutopilotAdapterDataModel dm) {
+        String fileContents = AllTemplates.generateAutopilotAdapterH(dm);
+        return new FileContent(fileContents, "AutopilotAdapter.h");
+    }
+    private static FileContent generateAutopilotAdapterCpp(AutopilotAdapterDataModel dm) {
+        String fileContents = AllTemplates.generateAutopilotAdapterCpp(dm);
         if (currentInstance.generateCMake)
             addAutopilotAdapterCMakeConfig();
         return new FileContent(fileContents, "AutopilotAdapter.cpp");

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

@@ -129,10 +129,18 @@ public final class GeneratorCppCli {
             .required(false)
             .build();
 
+    public static final Option OPTION_FLAG_CMAKE = Option.builder()
+            .longOpt("flag-generate-cmake")
+            .desc("optional flag indicating if a CMake project should be generated to build the model")
+            .hasArg(false)
+            .required(false)
+            .build();
+
     private GeneratorCppCli() {
     }
 
     public static void main(String[] args) {
+        Log.initDEBUG();
         Options options = getOptions();
         CommandLineParser parser = new DefaultParser();
         CommandLine cliArgs = parseArgs(options, parser, args);
@@ -154,6 +162,7 @@ public final class GeneratorCppCli {
         options.addOption(OPTION_FLAG_ALGEBRAIC);
         options.addOption(OPTION_FLAG_THREADING);
         options.addOption(OPTION_FLAG_EXEC_LOGGING);
+        options.addOption(OPTION_FLAG_CMAKE);
         return options;
     }
 
@@ -194,6 +203,8 @@ public final class GeneratorCppCli {
         g.setUseThreadingOptimization(cliArgs.hasOption(OPTION_FLAG_THREADING.getLongOpt()));
         g.setExecutionLoggingActive(cliArgs.hasOption(OPTION_FLAG_EXEC_LOGGING.getLongOpt()));
 
+        g.setGenerateCMake(cliArgs.hasOption(OPTION_FLAG_CMAKE.getLongOpt()));
+
         try {
             if (componentSymbol != null) {
                 g.generateFiles(componentSymbol, symTab);

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

@@ -96,6 +96,7 @@ public class LanguageUnitCPP extends LanguageUnit {
         List<String> alreadyGeneratedIncludes = new ArrayList<>();
         //includes
         //add default include
+        String backendName = MathConverter.curBackend.getBackendName();
         if (MathConverter.curBackend.getBackendName().equals("OctaveBackend")) {
             resultString += "#include \"octave/oct.h\"\n";
             alreadyGeneratedIncludes.add("octave/oct");

src/main/java/de/monticore/lang/monticar/generator/cpp/mathopt/optimizationSolver/solver/ipopt/IpoptSolverGeneratorImplementation.java

@@ -141,8 +141,9 @@ public class IpoptSolverGeneratorImplementation implements NLPSolverGeneratorImp
         CMakeFindModule findCoinMumps = new CMakeFindModule("CoinMumps", "", "coinmumps", new ArrayList<String>(), new ArrayList<String>(), false, true, true);
         CMakeFindModule findCoinLapack = new CMakeFindModule("CoinLapack", "", "coinlapack", new ArrayList<String>(), new ArrayList<String>(), false, true, true);
         CMakeFindModule findCoinBlas = new CMakeFindModule("CoinBlas", "", "coinblas", new ArrayList<String>(), new ArrayList<String>(), false, true, true);
+        CMakeFindModule findCoinMetis = new CMakeFindModule("CoinMetis", "", "coinmetis", new ArrayList<String>(), new ArrayList<String>(), false, true, true);
         CMakeFindModule findGfortran = new CMakeFindModule("GFortran", "", "gfortran", new ArrayList<String>(), new ArrayList<String>(), false, true, true);
-        return Arrays.asList(findCPPAD, findIPOpt, findCoinMumps, findCoinLapack, findCoinBlas, findGfortran);
+        return Arrays.asList(findCPPAD, findIPOpt, findCoinMumps, findCoinLapack, findCoinBlas, findCoinMetis, findGfortran);
     }
 
 }

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

@@ -20,7 +20,7 @@
  */
 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.AutopilotAdapterDataModel;
 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.ServerWrapperViewModel;
@@ -42,7 +42,8 @@ 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;
+    private static final Template AUTOPILOT_ADAPTER_CPP;
+    private static final Template AUTOPILOT_ADAPTER_H;
     private static final Template SERVER_WRAPPER;
 
     private static final Template DYNAMICS_EVENT_PortValueCheker;
@@ -60,7 +61,8 @@ 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");
+            AUTOPILOT_ADAPTER_CPP = conf.getTemplate("/autopilotadapter/AutopilotAdapterCpp.ftl");
+            AUTOPILOT_ADAPTER_H = conf.getTemplate("/autopilotadapter/AutopilotAdapterH.ftl");
             SERVER_WRAPPER = conf.getTemplate("/serverwrapper/ServerWrapper.ftl");
             DYNAMICS_EVENT_PortValueCheker = conf.getTemplate("/dynamics/events_port_value_check_h.ftl");
             DYNAMICS_EVENT_DynamicHelper = conf.getTemplate("/dynamics/dynamic_port_request_connect_helper_h.ftl");
@@ -90,8 +92,11 @@ public final class AllTemplates {
         return generate(ENUM, viewModel);
     }
 
-    public static String generateAutopilotAdapter(AutopilotAdapterViewModel viewModel) {
-        return generate(AUTOPILOT_ADAPTER, viewModel);
+    public static String generateAutopilotAdapterCpp(AutopilotAdapterDataModel viewModel) {
+        return generate(AUTOPILOT_ADAPTER_CPP, viewModel);
+    }
+    public static String generateAutopilotAdapterH(AutopilotAdapterDataModel viewModel) {
+        return generate(AUTOPILOT_ADAPTER_H, viewModel);
     }
 
     public static String generateServerWrapper(ServerWrapperViewModel viewModel) {

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

@@ -20,15 +20,87 @@
  */
 package de.monticore.lang.monticar.generator.cpp.viewmodel;
 
-public final class AutopilotAdapterViewModel extends ViewModelBase {
+public final class AutopilotAdapterDataModel extends ViewModelBase {
 
     private String mainModelName;
+    private String inputCount;
+    private String outputCount;
+    private String inputNames = "";
+    private String outputNames = "";
+    private String inputTypes = "";
+    private String outputTypes = "";
+    private String functionDeclarations = "";
+    private String functionImplementations = "";
 
     public String getMainModelName() {
         return mainModelName;
     }
+    public String getInputCount() {
+        return inputCount;
+    }
+    public String getOutputCount() {
+        return outputCount;
+    }
+    public String getInputNames() {
+        return inputNames;
+    }
+    public String getOutputNames() {
+        return outputNames;
+    }
+    public String getInputTypes() {
+        return inputTypes;
+    }
+    public String getOutputTypes() {
+        return outputTypes;
+    }
+    public String getFunctionDeclarations() {
+        return functionDeclarations;
+    }
+    public String getFunctionImplementations() {
+        return functionImplementations;
+    }
 
     public void setMainModelName(String mainModelName) {
         this.mainModelName = mainModelName;
     }
+
+    public void setInputCount(int count) {
+        this.inputCount = Integer.toString(count);
+    }
+    public void setOutputCount(int count) {
+        this.outputCount = Integer.toString(count);
+    }
+
+    public void addInput(String name, String type){
+        //Add lines to name and type array
+        this.inputNames += "\n    \"" + name + "\",";
+        this.inputTypes += "\n    \"" + type + "\",";
+
+        //Add line to function declarations and implementations
+        String functionHeader = "EXPORT void set_input_" + name;
+        if (type.equals("Q")){
+            functionHeader += "(double v)";
+            this.functionImplementations += functionHeader + " { AUTOPILOT_INSTANCE." + name + " = v; }\n";
+        } else if (type.equals("Z")) {
+            functionHeader += "(int v)";
+            this.functionImplementations += functionHeader + " { AUTOPILOT_INSTANCE." + name + " = v; }\n";
+        } else if (type.equals("CommonMatrixType")) {
+            functionHeader += "(double *data, int size)";
+            this.functionImplementations += functionHeader + " { copy_double_array_to_mat( data, size, AUTOPILOT_INSTANCE." + name + "); }\n";
+        }
+        this.functionDeclarations += functionHeader + ";\n";
+
+    }
+
+    public void addOutput(String name, String type){
+        this.outputNames += "\n    \"" + name + "\",";
+        this.outputTypes += "\n    \"" + type + "\",";
+
+        String functionHeader = "";
+        if (type.equals("Q")){
+            functionHeader = "EXPORT double get_output_" + name + "()";
+            this.functionImplementations += functionHeader + " { return AUTOPILOT_INSTANCE." + name + "; }\n";
+        }
+        this.functionDeclarations += functionHeader + ";\n";
+    }
 }

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

-<#include "/Common.ftl">
-#ifndef AUTOPILOT_ADAPTER
-#define AUTOPILOT_ADAPTER
-
-#include "AutopilotAdapter.h"
-
-#include "./${viewModel.mainModelName}.h"
-
-#include <stdlib.h>
-#include <stdio.h>
-#include <time.h>
-#include "armadillo.h"
-
-${viewModel.mainModelName} AUTOPILOT_INSTANCE;
-
-
-
-void copyJLongArrayToMatrix(JNIEnv *jenv, jlongArray &source, mat &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, mat &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));
-    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

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

+<#include "/Common.ftl">
+#include "AutopilotAdapter.h"
+
+#include "./${viewModel.mainModelName}.h"
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <time.h>
+#include "armadillo"
+
+
+void copy_double_array_to_mat(double *data, int size, mat &dest){
+    for (int i=0; i<size; ++i) {
+        dest(0,i) = data[i];
+    }
+}
+
+${viewModel.mainModelName} AUTOPILOT_INSTANCE;
+
+int input_count = ${viewModel.inputCount};
+int output_count = ${viewModel.outputCount};
+
+const char *input_names[] = { ${viewModel.inputNames}
+};
+const char *output_names[] = { ${viewModel.outputNames}
+};
+const char *input_types[] = { ${viewModel.inputTypes}
+};
+const char *output_types[] = { ${viewModel.outputTypes}
+};
+
+extern "C" {
+
+EXPORT int get_input_count(){
+    return input_count;
+}
+EXPORT const char *get_input_name(int id){
+    return input_names[id];
+}
+EXPORT const char *get_input_type(int id){
+    return input_types[id];
+}
+
+EXPORT int get_output_count(){
+    return output_count;
+}
+EXPORT const char *get_output_name(int id){
+    return output_names[id];
+}
+EXPORT const char *get_output_type(int id){
+    return output_types[id];
+}
+
+EXPORT void init(){
+    srand(time(NULL));
+    AUTOPILOT_INSTANCE.init();
+}
+EXPORT void execute(){
+    AUTOPILOT_INSTANCE.execute();
+}
+
+${viewModel.functionImplementations}
+
+
+}
\ No newline at end of file

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

+<#include "/Common.ftl">
+#pragma once
+#if defined(_MSC_VER)
+    //  Microsoft
+    #define EXPORT __declspec(dllexport)
+    #define IMPORT __declspec(dllimport)
+#elif defined(__GNUC__)
+    //  GCC
+    #define EXPORT __attribute__((visibility("default")))
+    #define IMPORT
+#else
+    //  do nothing and hope for the best?
+    #define EXPORT
+    #define IMPORT
+    #pragma warning Unknown dynamic link import/export semantics.
+#endif
+
+extern "C" {
+
+EXPORT int get_input_count();
+EXPORT const char *get_input_name(int id);
+EXPORT const char *get_input_type(int id);
+
+EXPORT int get_output_count();
+EXPORT const char *get_output_name(int id);