Model: Cleanup

src/test/resources/ba/System.emam

 package ba;
 import ba.intersection.IntersectionController;
-import ba.util.RelToAbsTrajectory;
 import ba.util.CommQuality;
 import ba.vehicle.VelocityController;
 import ba.collision.CollisionDetection;
 import ba.struct.Rectangle;
-//component System<N1 n = 2,N1 x = 1,N1 m = 5,N1 m1 = 4,N1 m2 = 10>{
+
 component System{
+    ports
     //Intersection ports
-    ports in Q(0s : 10s) cutoffTimeIn,
-          in B isActiveIn,
-          in Q^{3,5} absTrajectory[2];
-
+        in Q(0s : 10s) cutoffTimeIn,
+        in B isActiveIn,
+        in Q^{3,5} absTrajectory[2],
     //Collision detection ports
-    ports in Rectangle hullsIn[2],
-          out B collisionOut;
-
+        in Rectangle hullsIn[2],
+        out B collisionOut,
     //Vehicle ports
-    ports in Q(0m/s^2 : 100m/s^2) maxAccel[2],
-          in Q(0m/s : 60m/s) maxVel[2],
-          in Q(0s : 10s) deltaTime[2],
-          in Q(0s : 60s) holdTime[2],
-          in B resetVel[2],
-          in B slowDown[2],
-          out Q(0m/s : 60m/s) curVel[2];
+        in Q(0m/s^2 : 100m/s^2) maxAccel[2],
+        in Q(0m/s : 60m/s) maxVel[2],
+        in Q(0s : 10s) deltaTime[2],
+        in Q(0s : 60s) holdTime[2],
+        in B resetVel[2],
+        in B slowDown[2],
+        out Q(0m/s : 60m/s) curVel[2];
 
     instance IntersectionController intersectionController;
     instance CollisionDetection collisionDetection;
     instance CommQuality<B> stopCommQuality[2];
     instance VelocityController(3.0) velocityController[2];
 
-
     //Intersection
     connect cutoffTimeIn -> intersectionController.cutoffTime;
     connect isActiveIn -> intersectionController.isActive;

src/test/resources/ba/collision/CollisionDetection.emam

@@ -4,7 +4,6 @@ import ba.util.SingleSetCompareRectangle;
 import ba.struct.Rectangle;
 
 component CollisionDetection<N1 n = 2,N1 x = 1>{
-//component CollisionDetection{
     ports in Rectangle hulls[n],
           out B collision;
 

src/test/resources/ba/intersection/IntersectionController.emam

@@ -2,15 +2,14 @@ package ba.intersection;
 import ba.util.SingleSetCompareMatrix;
 //TODO: x = (n-1)n/2
 //TODO: m1 = m - 1, m2 = m1(m1+1)/2
-//component IntersectionController<N1 n = 2,N1 x = 1,N1 m = 5,N1 m1 = 4,N1 m2 = 10>{
-component IntersectionController{
-    ports in Q^{3,5} trajectoryIn[2],
+component IntersectionController<N1 n = 2,N1 x = 1,N1 m = 5,N1 m1 = 4,N1 m2 = 10>{
+    ports in Q^{3,5} trajectoryIn[n],
           in Q(0m : 10m) cutoffTime,
           in B isActive,
-          out B stop[2];
+          out B stop[n];
 
     instance SingleSetCompareMatrix<3,5,2,1> singleSetCompare;
-    instance TrajectoryCollision<5,4,10> trajectoryCollision[1];
+    instance TrajectoryCollision<5,4,10> trajectoryCollision[x];
     instance CollisionToStop<2,1,5> collisionToStop;
 
     connect trajectoryIn[:] -> singleSetCompare.setIn[:];

src/test/resources/ba/util/CommQualityMatrix.emam

-package ba.util;
-
-//TODO: remove once EMAM2Cpp can handle matrix generics
-//Dummy component. Behaviour is implemented in ROS. The Ports are only used to define the incoming and outgoing topics
-component CommQualityMatrix<N1 rows = 3,N1 cols = 3>{
-    port in Q^{rows,cols} commIn,
-         out Q^{rows,cols} commOut;
-}
\ No newline at end of file