Model: fixed out of bounds for intersectionController

src/test/resources/ba/System.emam

@@ -23,8 +23,8 @@ component System{
         in B slowDown[2],
         out Q(0m/s : 60m/s) curVel[2];
 
-    instance IntersectionController intersectionController;
-    instance CollisionDetection collisionDetection;
+    instance IntersectionController<2,1,5,4,10> intersectionController;
+    instance CollisionDetection<2,1> collisionDetection;
     instance CommQuality<B> stopCommQuality[2];
     instance VelocityController(3.0) velocityController[2];
 

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

@@ -9,12 +9,11 @@ component RectIntersection{
           in Rectangle rect2,
           out B collision;
 
-    //check intersection of 4*4 lines w/o permutations
-    //4*(4+1)/2 = 10 possibilities
-
     instance RectToLines rectToLines1;
     instance RectToLines rectToLines2;
 
+    //check intersection of 4*4 lines w/o permutations
+    //4*(4+1)/2 = 10 possibilities
     instance DualSetCompareMatrix<2,4,4,10> dualSetCompare;
 
     instance LineIntersection lineIntersection[10];

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

 package ba.intersection;
 
 //Finds the earliest line intersection from a set of LineIntersection components
-component FirstLineIntersection{
-    ports in B collisionIn[10],
-          in Q^{2,1} pointsIn[10],
+component FirstLineIntersection<N1 m1 = 4, N1 m2 = 10>{
+    ports in B collisionIn[m2],
+          in Q^{2,1} pointsIn[m2],
 
           out B collisionOut,
           out Z linexA,
@@ -14,8 +14,8 @@ component FirstLineIntersection{
         Z k = 1;
         B found = False;
 
-        for i = 1:4
-            for j = i:4
+        for i = 1:m1
+            for j = i:m1
                 if found == False
                     if collisionIn(k)
                         linexA = i;

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

 package ba.intersection;
 
-component TimeCutoffFilter(adaptable Q timeCutoff){
+component TimeCutoffFilter<N1 m = 5>(adaptable Q timeCutoff){
     ports in B collisionIn,
-          in Z IndexInA,
-          in Z IndexInB,
+          in Z indexInA,
+          in Z indexInB,
           in Q^{2,1} colPosIn,
-          in Q^{3,5} trajectoryInA,
-          in Q^{3,5} trajectoryInB,
+          in Q^{3,m} trajectoryInA,
+          in Q^{3,m} trajectoryInB,
           //in Q timeCutoff,
           out B collisionOut;
 
     implementation Math{
-        if collisionIn
+        if ((collisionIn) && (indexInA >= 1) && (indexInB >= 1) && (indexInA <= m - 1) && (indexInB <= m - 1))
             //TODO: with norm()?
-            Q dx1 = trajectoryInA(1,IndexInA) - trajectoryInA(1,IndexInA + 1);
-            Q dy1 = trajectoryInA(2,IndexInA) - trajectoryInA(2,IndexInA + 1);
+            Q dx1 = trajectoryInA(1,indexInA) - trajectoryInA(1,indexInA + 1);
+            Q dy1 = trajectoryInA(2,indexInA) - trajectoryInA(2,indexInA + 1);
             Q dist1 = sqrt(dx1*dx1 + dy1*dy1);
 
-            Q dx2 = trajectoryInB(1,IndexInB) - trajectoryInB(1,IndexInB + 1);
-            Q dy2 = trajectoryInB(2,IndexInB) - trajectoryInB(2,IndexInB + 1);
+            Q dx2 = trajectoryInB(1,indexInB) - trajectoryInB(1,indexInB + 1);
+            Q dy2 = trajectoryInB(2,indexInB) - trajectoryInB(2,indexInB + 1);
             Q dist2 = sqrt(dx2*dx2 + dy2*dy2);
 
-            Q dxp1 = trajectoryInA(1,IndexInA) - colPosIn(1,1);
-            Q dyp1 = trajectoryInA(2,IndexInA) - colPosIn(2,1);
+            Q dxp1 = trajectoryInA(1,indexInA) - colPosIn(1,1);
+            Q dyp1 = trajectoryInA(2,indexInA) - colPosIn(2,1);
             Q distp1 = sqrt(dxp1*dxp1 + dyp1*dyp1);
 
-            Q dxp2 = trajectoryInB(1,IndexInB) - colPosIn(1,1);
-            Q dyp2 = trajectoryInB(2,IndexInB) - colPosIn(2,1);
+            Q dxp2 = trajectoryInB(1,indexInB) - colPosIn(1,1);
+            Q dyp2 = trajectoryInB(2,indexInB) - colPosIn(2,1);
             Q distp2 = sqrt(dxp2*dxp2 + dyp2*dyp2);
 
-            Q time1 = distp1/dist1 * (trajectoryInA(3,IndexInA + 1) - trajectoryInA(3,IndexInA));
-            Q time2 = distp2/dist2 * (trajectoryInB(3,IndexInB + 1) - trajectoryInB(3,IndexInB));
+            Q time1 = distp1/dist1 * (trajectoryInA(3,indexInA + 1) - trajectoryInA(3,indexInA));
+            Q time2 = distp2/dist2 * (trajectoryInB(3,indexInB + 1) - trajectoryInB(3,indexInB));
 
             collisionOut = abs(time1 - time2) < timeCutoff;
         else

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

@@ -14,8 +14,8 @@ component TrajectoryCollision<N1 m = 5, N1 m1 = 4, N1 m2 = 10>{
     instance TrajectoryToLines trajectoryToLinesB;
     instance DualSetCompareMatrix<4,1,4,10> dualSetCompare;
     instance LineIntersection lineIntersection[m2];
-    instance FirstLineIntersection firstLineIntersection;
-    instance TimeCutoffFilter(2.0) timeCutoffFilter;
+    instance FirstLineIntersection<4,10> firstLineIntersection;
+    instance TimeCutoffFilter<5>(2.0) timeCutoffFilter;
 
     connect trajectoryA -> trajectoryToLinesA.trajectoryIn;
     connect trajectoryB -> trajectoryToLinesB.trajectoryIn;
@@ -24,8 +24,8 @@ component TrajectoryCollision<N1 m = 5, N1 m1 = 4, N1 m2 = 10>{
     connect lineIntersection[:].point -> firstLineIntersection.pointsIn[:];
 
     connect firstLineIntersection.collisionOut -> timeCutoffFilter.collisionIn;
-    connect firstLineIntersection.linexA -> timeCutoffFilter.IndexInA;
-    connect firstLineIntersection.linexB -> timeCutoffFilter.IndexInB;
+    connect firstLineIntersection.linexA -> timeCutoffFilter.indexInA;
+    connect firstLineIntersection.linexB -> timeCutoffFilter.indexInB;
     connect firstLineIntersection.pos -> timeCutoffFilter.colPosIn;
     connect trajectoryA -> timeCutoffFilter.trajectoryInA;
     connect trajectoryB -> timeCutoffFilter.trajectoryInB;