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Commit db1f942b authored by Svetlana Pavlitskaya's avatar Svetlana Pavlitskaya Committed by Evgeny Kusmenko
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EMADL support

parent 5e7ffba8
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Showing with 319 additions and 39 deletions
.gitlab-ci.yml
View file @ db1f942b
......@@ -12,12 +12,12 @@ masterJobLinux:
only:
- master
masterJobWindows:
stage: windows
script:
- mvn -Dorg.slf4j.simpleLogger.log.org.apache.maven.cli.transfer.Slf4jMavenTransferListener=warn -B clean install --settings settings.xml
tags:
- Windows10
#masterJobWindows:
# stage: windows
# script:
# - mvn -Dorg.slf4j.simpleLogger.log.org.apache.maven.cli.transfer.Slf4jMavenTransferListener=warn -B clean install --settings settings.xml
# tags:
# - Windows10
BranchJobLinux:
stage: linux
......
pom.xml
View file @ db1f942b
......@@ -9,7 +9,7 @@
<groupId>de.monticore.lang.monticar</groupId>
<artifactId>embedded-montiarc-math-middleware-generator</artifactId>
<version>0.0.7-SNAPSHOT</version>
<version>0.0.8-SNAPSHOT</version>
<!-- == PROJECT DEPENDENCIES ============================================= -->
......@@ -20,6 +20,8 @@
<Embedded-montiarc-math-generator.version>0.0.25-SNAPSHOT</Embedded-montiarc-math-generator.version>
<Embedded-montiarc-math-roscpp-generator.version>0.0.4-SNAPSHOT</Embedded-montiarc-math-roscpp-generator.version>
<Embedded-montiarc-math-rosmsg-generator.version>0.0.3-SNAPSHOT</Embedded-montiarc-math-rosmsg-generator.version>
<EMADL.version>0.2.2-SNAPSHOT</EMADL.version>
<EMADL2CPP.version>0.2.2-SNAPSHOT</EMADL2CPP.version>
<!--TODO: remove with update to new emam version-->
<Tagging.version>0.0.6</Tagging.version>
<!-- .. Libraries .................................................. -->
......@@ -83,6 +85,18 @@
<version>${Embedded-montiarc-math-rosmsg-generator.version}</version>
</dependency>
<!-- EMADL Dependencies -->
<dependency>
<groupId>de.monticore.lang.monticar</groupId>
<artifactId>embedded-montiarc-deeplearning</artifactId>
<version>${EMADL.version}</version>
</dependency>
<dependency>
<groupId>de.monticore.lang.monticar</groupId>
<artifactId>embedded-montiarc-emadl-generator</artifactId>
<version>${EMADL2CPP.version}</version>
</dependency>
<!-- MontiCore Dependencies -->
<dependency>
......
src/main/java/de/monticore/lang/monticar/generator/middleware/DistributedTargetGeneratorCli.java
View file @ db1f942b
......@@ -2,7 +2,10 @@ package de.monticore.lang.monticar.generator.middleware;
import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
import de.monticore.lang.embeddedmontiarc.tagging.middleware.ros.RosToEmamTagSchema;
import de.monticore.lang.monticar.emadl.generator.EMADLAbstractSymtab;
import de.monticore.lang.monticar.emadl.generator.EMADLGeneratorCli;
import de.monticore.lang.monticar.generator.middleware.impls.CPPGenImpl;
import de.monticore.lang.monticar.generator.middleware.impls.EMADLGeneratorImpl;
import de.monticore.lang.monticar.generator.middleware.impls.ODVGenImpl;
import de.monticore.lang.monticar.generator.middleware.impls.RosCppGenImpl;
import de.monticore.lang.monticar.generator.order.simulator.AbstractSymtab;
......@@ -59,7 +62,10 @@ public final class DistributedTargetGeneratorCli {
.valueSeparator(',')
.build();
private static final Option OPTION_EMADL_BACKEND = EMADLGeneratorCli.OPTION_BACKEND;
public static final String GENERATOR_CPP = "cpp";
public static final String GENERATOR_EMADL = "emadlcpp";
public static final String GENERATOR_ROSCPP = "roscpp";
public static final String GENERATOR_ODV = "odv";
......@@ -82,12 +88,14 @@ public final class DistributedTargetGeneratorCli {
options.addOption(OPTION_ROOT_MODEL);
options.addOption(OPTION_OUTPUT_PATH);
options.addOption(OPTION_GENERATORS);
options.addOption(OPTION_EMADL_BACKEND);
return options;
}
private static Set<String> getGeneratorNames() {
HashSet<String> res = new HashSet<>();
res.add(GENERATOR_CPP);
res.add(GENERATOR_EMADL);
res.add(GENERATOR_ROSCPP);
res.add(GENERATOR_ODV);
return res;
......@@ -114,7 +122,13 @@ public final class DistributedTargetGeneratorCli {
String outputPath = expandHomeDir(cliArgs.getOptionValue(OPTION_OUTPUT_PATH.getOpt()));
String rootModelName = cliArgs.getOptionValue(OPTION_ROOT_MODEL.getOpt());
Set<String> generators = Arrays.stream(cliArgs.getOptionValues(OPTION_GENERATORS.getOpt())).collect(Collectors.toSet());
TaggingResolver taggingResolver = AbstractSymtab.createSymTabAndTaggingResolver(modelsDirPath);
TaggingResolver taggingResolver;
if (generators.contains(GENERATOR_EMADL)) {
taggingResolver = EMADLAbstractSymtab.createSymTabAndTaggingResolver(modelsDirPath);
}
else{
taggingResolver = AbstractSymtab.createSymTabAndTaggingResolver(modelsDirPath);
}
DistributedTargetGenerator generator = new DistributedTargetGenerator();
generator.setGenerationTargetPath(outputPath);
......@@ -139,6 +153,11 @@ public final class DistributedTargetGeneratorCli {
generator.add(new CPPGenImpl(), "cpp");
}
if (generators.contains(GENERATOR_EMADL)) {
String backendString = cliArgs.getOptionValue(OPTION_EMADL_BACKEND.getOpt());
generator.add(new EMADLGeneratorImpl(cliArgs.getOptionValue(OPTION_MODELS_PATH.getOpt()), backendString), "cpp");
}
if (generators.contains(GENERATOR_ROSCPP)) {
generator.add(new RosCppGenImpl(), "roscpp");
RosToEmamTagSchema.registerTagTypes(taggingResolver);
......
src/main/java/de/monticore/lang/monticar/generator/middleware/impls/EMADLGeneratorImpl.java 0 → 100644
View file @ db1f942b
package de.monticore.lang.monticar.generator.middleware.impls;
import de.monticore.lang.monticar.emadl.generator.Backend;
import de.monticore.lang.monticar.emadl.generator.EMADLGenerator;
import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
import de.monticore.lang.monticar.generator.FileContent;
import de.monticore.lang.monticar.generator.middleware.helpers.NameHelper;
import de.monticore.lang.monticar.generator.middleware.helpers.TemplateHelper;
import de.monticore.lang.tagging._symboltable.TaggingResolver;
import de.se_rwth.commons.logging.Log;
import java.io.File;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
import java.util.Optional;
public class EMADLGeneratorImpl implements GeneratorImpl {
private String generationTargetPath;
private EMADLGenerator emadlGenerator;
final String DEFAULT_BACKEND = "MXNET";
public EMADLGeneratorImpl(String modelPath, String backendString){
Optional<Backend> backend = Backend.getBackendFromString(backendString);
if (!backend.isPresent()){
Log.warn("specified backend " + backendString + " not supported. backend set to default value " + DEFAULT_BACKEND);
backend = Backend.getBackendFromString(DEFAULT_BACKEND);
}
emadlGenerator = new EMADLGenerator(backend.get());
emadlGenerator.setModelsPath(modelPath);
}
@Override
public List<File> generate(ExpandedComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
List<File> files = new ArrayList<>();
emadlGenerator.setGenerationTargetPath(generationTargetPath);
List<FileContent> fileContents = emadlGenerator.generateStrings(taggingResolver, componentInstanceSymbol, taggingResolver);
for (FileContent fileContent : fileContents) {
files.add(emadlGenerator.getEmamGen().generateFile(fileContent));
}
files.add(emadlGenerator.getEmamGen().generateFile((generateCMake(componentInstanceSymbol))));
return files;
}
@Override
public void setGenerationTargetPath(String path) {
this.generationTargetPath = path;
}
private FileContent generateCMake(ExpandedComponentInstanceSymbol componentInstanceSymbol) {
FileContent cmake = new FileContent();
cmake.setFileName("CMakeLists.txt");
String name = NameHelper.getNameTargetLanguage(componentInstanceSymbol.getFullName());
cmake.setFileContent(TemplateHelper.getCoordinatorCmakeListsTemplate().replace("${compName}", name));
cmake.setFileContent(cmake.getFileContent() + "target_link_libraries(" + name + " -lmxnet)");
return cmake;
}
}
src/test/java/de/monticore/lang/monticar/generator/middleware/CliTest.java
View file @ db1f942b
......@@ -2,10 +2,8 @@ package de.monticore.lang.monticar.generator.middleware;
import de.monticore.lang.embeddedmontiarc.LogConfig;
import de.se_rwth.commons.logging.Finding;
import org.junit.AfterClass;
import org.junit.Before;
import org.junit.BeforeClass;
import org.junit.Test;
import org.apache.commons.lang3.ArrayUtils;
import org.junit.*;
import java.nio.file.Files;
import java.nio.file.Paths;
......@@ -23,6 +21,7 @@ public class CliTest{
private static final String INVALID_ROOT_MODEL_OPTION = "--root-model=invalid.invalid.addComp";
private static final String INVALID_GENERATOR_OPTION = "--generators=invalid";
private static final String INVALID_GENERATOR_EMPTY_OPTION = "--generators=";
public static final String RESNET_MODELNAME = "tests.emadlTests.resNet34";
@BeforeClass
public static void initLog(){
......@@ -86,8 +85,6 @@ public class CliTest{
VALID_GENERATOR_CPP_OPTION,
"--output-dir=" + targetDir};
DistributedTargetGeneratorCli.main(args);
String[] positiveFileNames = {
"CMakeLists.txt",
"tests_a_addComp/cpp/tests_a_addComp.h",
......@@ -101,6 +98,68 @@ public class CliTest{
}
}
@Test
public void testSingleEMADLGenerator(){
String targetDir = "target/cliTest/SingleEmadlTest/";
String[] args = {
VALID_MODELS_DIR_OPTION,
"--root-model="+RESNET_MODELNAME,
"--generators=emadlcpp",
"--backend=MXNET",
"--output-dir=" + targetDir};
DistributedTargetGeneratorCli.main(args);
String[] positiveFileNames = getEMADLGeneratedFilesList(false);
for (String positiveFileName : positiveFileNames) {
assertTrue(Files.exists(Paths.get(targetDir + positiveFileName)));
}
}
@Test
public void testEMADLAndRosGenerator(){
String targetDir = "target/cliTest/EmadlRosTest/";
String[] args = {
VALID_MODELS_DIR_OPTION,
"--root-model="+RESNET_MODELNAME,
"--generators=emadlcpp,roscpp",
"--backend=MXNET",
"--output-dir=" + targetDir};
DistributedTargetGeneratorCli.main(args);
String[] positiveFileNames = getEMADLGeneratedFilesList(true);
for (String positiveFileName : positiveFileNames) {
assertTrue(Files.exists(Paths.get(targetDir + positiveFileName)));
}
}
private String[] getEMADLGeneratedFilesList(boolean generateRosFiles) {
String modelName = RESNET_MODELNAME.replace('.', '_');
String[] generatedFiles = {
modelName + "/CMakeLists.txt",
modelName + "/cpp/CNNBufferFile.h",
modelName + "/cpp/CNNCreator_" + modelName + ".py",
modelName + "/cpp/CNNPredictor_" + modelName + ".h",
modelName + "/cpp/CNNTrainer_tests_emadlTests_ResNet34.py",
modelName + "/cpp/CNNTranslator.h",
modelName + "/cpp/HelperA.h",
modelName + "/cpp/CMakeLists.txt",
modelName + "/cpp/" + modelName + ".h",
modelName + "/coordinator/CMakeLists.txt",
modelName + "/coordinator/Coordinator_" + modelName + ".cpp",
modelName + "/coordinator/IAdapter_" + modelName + ".h"
};
if (generateRosFiles) {
String[] generatedRosFiles = {
modelName + "/roscpp/CMakeLists.txt",
modelName + "/roscpp/RosAdapter_" + modelName + ".h"
};
generatedFiles = ArrayUtils.addAll(generatedFiles, generatedRosFiles);
}
return generatedFiles;
}
@Test
public void testAllGenerators(){
String targetDir = "target/cliTest/AllGenerators/";
......@@ -111,7 +170,6 @@ public class CliTest{
"--output-dir=" + targetDir};
DistributedTargetGeneratorCli.main(args);
String[] positiveFileNames = {
"CMakeLists.txt",
"tests_a_addComp/cpp/tests_a_addComp.h",
......
src/test/java/de/monticore/lang/monticar/generator/middleware/GenerationTest.java
View file @ db1f942b
......@@ -7,36 +7,31 @@ import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.PortSymb
import de.monticore.lang.embeddedmontiarc.embeddedmontiarcmath.cocos.EmbeddedMontiArcMathCoCos;
import de.monticore.lang.embeddedmontiarc.tagging.middleware.ros.RosConnectionSymbol;
import de.monticore.lang.embeddedmontiarc.tagging.middleware.ros.RosToEmamTagSchema;
import de.monticore.lang.monticar.generator.cpp.GeneratorCPP;
import de.monticore.lang.monticar.generator.cpp.TestConverter;
import de.monticore.lang.monticar.generator.middleware.impls.CPPGenImpl;
import de.monticore.lang.monticar.generator.middleware.impls.DummyMiddlewareGenImpl;
import de.monticore.lang.monticar.generator.middleware.impls.DummyMiddlewareSymbol;
import de.monticore.lang.monticar.generator.middleware.impls.RosCppGenImpl;
import de.monticore.lang.monticar.emadl.generator.EMADLAbstractSymtab;
import de.monticore.lang.monticar.generator.middleware.impls.*;
import de.monticore.lang.monticar.generator.roscpp.helper.TagHelper;
import de.monticore.lang.monticar.streamunits._symboltable.ComponentStreamUnitsSymbol;
import de.monticore.lang.tagging._symboltable.TaggingResolver;
import de.se_rwth.commons.logging.Log;
import freemarker.template.TemplateException;
import org.junit.Ignore;
import org.junit.Test;
import java.io.File;
import java.io.IOException;
import java.nio.charset.Charset;
import java.nio.charset.StandardCharsets;
import java.nio.file.Files;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.List;
import java.util.stream.Collectors;
import static junit.framework.TestCase.assertTrue;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertNotNull;
public class GenerationTest extends AbstractSymtabTest {
public static final String TEST_PATH = "src/test/resources/";
@Test
public void testBasicGeneration() throws IOException {
TaggingResolver taggingResolver = createSymTabAndTaggingResolver("src/test/resources/");
TaggingResolver taggingResolver = createSymTabAndTaggingResolver(TEST_PATH);
RosToEmamTagSchema.registerTagTypes(taggingResolver);
ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("tests.a.compA", ExpandedComponentInstanceSymbol.KIND).orElse(null);
......@@ -53,7 +48,7 @@ public class GenerationTest extends AbstractSymtabTest {
@Test
public void testCMakeGeneration() throws IOException {
TaggingResolver taggingResolver = createSymTabAndTaggingResolver("src/test/resources/");
TaggingResolver taggingResolver = createSymTabAndTaggingResolver(TEST_PATH);
RosToEmamTagSchema.registerTagTypes(taggingResolver);
ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("tests.a.compA", ExpandedComponentInstanceSymbol.KIND).orElse(null);
......@@ -70,7 +65,7 @@ public class GenerationTest extends AbstractSymtabTest {
@Test
public void testCppOnlyMiddlewareGeneration() throws IOException {
TaggingResolver taggingResolver = createSymTabAndTaggingResolver("src/test/resources/");
TaggingResolver taggingResolver = createSymTabAndTaggingResolver(TEST_PATH);
ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("tests.a.addComp", ExpandedComponentInstanceSymbol.KIND).orElse(null);
assertNotNull(componentInstanceSymbol);
......@@ -86,7 +81,7 @@ public class GenerationTest extends AbstractSymtabTest {
@Test
public void testBaSystem() throws IOException {
TaggingResolver taggingResolver = createSymTabAndTaggingResolver("src/test/resources/");
TaggingResolver taggingResolver = createSymTabAndTaggingResolver(TEST_PATH);
RosToEmamTagSchema.registerTagTypes(taggingResolver);
ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("ba.system", ExpandedComponentInstanceSymbol.KIND).orElse(null);
......@@ -112,7 +107,7 @@ public class GenerationTest extends AbstractSymtabTest {
@Test
public void testMiddlewareGenerator() throws IOException {
TaggingResolver taggingResolver = createSymTabAndTaggingResolver("src/test/resources/");
TaggingResolver taggingResolver = createSymTabAndTaggingResolver(TEST_PATH);
//register the middleware tag types
RosToEmamTagSchema.registerTagTypes(taggingResolver);
......@@ -135,7 +130,7 @@ public class GenerationTest extends AbstractSymtabTest {
@Test
public void testDistributedTargetGenerator() throws IOException {
TaggingResolver taggingResolver = createSymTabAndTaggingResolver("src/test/resources/");
TaggingResolver taggingResolver = createSymTabAndTaggingResolver(TEST_PATH);
RosToEmamTagSchema.registerTagTypes(taggingResolver);
ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("tests.dist.distComp", ExpandedComponentInstanceSymbol.KIND).orElse(null);
......@@ -154,7 +149,7 @@ public class GenerationTest extends AbstractSymtabTest {
@Test
public void testDistributedStructTargetGenerator() throws IOException {
TaggingResolver taggingResolver = createSymTabAndTaggingResolver("src/test/resources/");
TaggingResolver taggingResolver = createSymTabAndTaggingResolver(TEST_PATH);
RosToEmamTagSchema.registerTagTypes(taggingResolver);
ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("tests.dist.distWithStructComp", ExpandedComponentInstanceSymbol.KIND).orElse(null);
......@@ -173,7 +168,7 @@ public class GenerationTest extends AbstractSymtabTest {
@Test
public void testParameterInit() throws IOException {
TaggingResolver taggingResolver = createSymTabAndTaggingResolver("src/test/resources/");
TaggingResolver taggingResolver = createSymTabAndTaggingResolver(TEST_PATH);
RosToEmamTagSchema.registerTagTypes(taggingResolver);
ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("tests.dist.parameterInit", ExpandedComponentInstanceSymbol.KIND).orElse(null);
......@@ -201,7 +196,7 @@ public class GenerationTest extends AbstractSymtabTest {
}
public void testMutliMw(String relPath, boolean genRosAdapter, boolean genDummyAdapter) throws IOException {
TaggingResolver taggingResolver = createSymTabAndTaggingResolver("src/test/resources/");
TaggingResolver taggingResolver = createSymTabAndTaggingResolver(TEST_PATH);
//Don't load tags, will be set manually
//RosToEmamTagSchema.registerTagTypes(taggingResolver);
......@@ -234,7 +229,6 @@ public class GenerationTest extends AbstractSymtabTest {
List<File> files = distributedTargetGenerator.generate(componentInstanceSymbol, taggingResolver);
List<String> fileNames = files.stream()
.map(File::getName)
.collect(Collectors.toList());
......@@ -248,7 +242,7 @@ public class GenerationTest extends AbstractSymtabTest {
// No types other then Q(https://github.com/EmbeddedMontiArc/EMAM2Cpp/issues/14)
@Test
public void testThreeDimMatrix() throws IOException {
TaggingResolver taggingResolver = createSymTabAndTaggingResolver("src/test/resources/");
TaggingResolver taggingResolver = createSymTabAndTaggingResolver(TEST_PATH);
//register the middleware tag types
RosToEmamTagSchema.registerTagTypes(taggingResolver);
......@@ -269,7 +263,7 @@ public class GenerationTest extends AbstractSymtabTest {
@Test
public void testTwoDimMatrix() throws IOException {
TaggingResolver taggingResolver = createSymTabAndTaggingResolver("src/test/resources/");
TaggingResolver taggingResolver = createSymTabAndTaggingResolver(TEST_PATH);
//register the middleware tag types
RosToEmamTagSchema.registerTagTypes(taggingResolver);
......@@ -287,4 +281,40 @@ public class GenerationTest extends AbstractSymtabTest {
middlewareGenerator.generate(componentInstanceSymbol, taggingResolver);
}
@Test
public void testEMADLMiddlewareGeneration() throws IOException, TemplateException {
TaggingResolver taggingResolver = EMADLAbstractSymtab.createSymTabAndTaggingResolver(TEST_PATH);
RosToEmamTagSchema.registerTagTypes(taggingResolver);
ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("tests.emadlTests.resNet34", ExpandedComponentInstanceSymbol.KIND).orElse(null);
assertNotNull(componentInstanceSymbol);
TagHelper.resolveTags(taggingResolver, componentInstanceSymbol);
MiddlewareGenerator middlewareGenerator = new MiddlewareGenerator();
middlewareGenerator.setGenerationTargetPath("./target/generated-sources-emadl/");
middlewareGenerator.add(new EMADLGeneratorImpl(TEST_PATH, "MXNET"), "cpp");
middlewareGenerator.add(new RosCppGenImpl(), "roscpp");
middlewareGenerator.generate(componentInstanceSymbol, taggingResolver);
assertTrue(Log.getFindings().isEmpty());
}
@Test
public void testBasicEMADLGeneration() throws IOException {
TaggingResolver taggingResolver = EMADLAbstractSymtab.createSymTabAndTaggingResolver(TEST_PATH);
RosToEmamTagSchema.registerTagTypes(taggingResolver);
ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("tests.aEmadl.compA", ExpandedComponentInstanceSymbol.KIND).orElse(null);
assertNotNull(componentInstanceSymbol);
TagHelper.resolveTags(taggingResolver, componentInstanceSymbol);
StarBridgeGenerator starBridgeGenerator = new StarBridgeGenerator();
starBridgeGenerator.setGenerationTargetPath("./target/generated-sources-emadl-ros/");
starBridgeGenerator.add(new EMADLGeneratorImpl(TEST_PATH, "MXNET"), "cpp");
starBridgeGenerator.add(new RosCppGenImpl(), "roscpp");
starBridgeGenerator.generate(componentInstanceSymbol, taggingResolver);
assertTrue(Log.getFindings().isEmpty());
}
}
src/test/resources/tests/aEmadl/Add.tag 0 → 100644
View file @ db1f942b
package tests.aEmadl;
conforms to de.monticore.lang.monticar.generator.roscpp.RosToEmamTagSchema;
tags Add {
tag addComp.in1 with RosConnection = {topic = (/clock, rosgraph_msgs/Clock), msgField = clock.toSec()};
tag addComp.out1 with RosConnection = {topic = (/echo, std_msgs/Float64), msgField = data};
}
src/test/resources/tests/aEmadl/AddComp.emadl 0 → 100644
View file @ db1f942b
package tests.aEmadl;
component AddComp{
ports in Q in1,
in Q in2,
out Q out1;
implementation Math{
out1 = in1 + in2;
}
}
\ No newline at end of file
src/test/resources/tests/aEmadl/CompA.emadl 0 → 100644
View file @ db1f942b
package tests.aEmadl;
component CompA{
port in Q rosIn;
port in Q noRosIn;
port out Q rosOut;
port out Q noRosOut;
implementation Math{
rosOut = rosIn;
}
}
\ No newline at end of file
src/test/resources/tests/aEmadl/Echo.tag 0 → 100644
View file @ db1f942b
package tests.aEmadl;
conforms to de.monticore.lang.monticar.generator.roscpp.RosToEmamTagSchema;
tags Echo {
tag compA.rosIn with RosConnection = {topic = (/clock, rosgraph_msgs/Clock), msgField = clock.toSec()};
tag compA.rosOut with RosConnection = {topic = (/echo, std_msgs/Float64), msgField = data};
}
src/test/resources/tests/emadlTests/ResNet34.cnnt 0 → 100644
View file @ db1f942b
configuration ResNet34{
num_epoch:10
batch_size:64
normalize:true
load_checkpoint:false
optimizer:adam{
learning_rate:0.01
learning_rate_decay:0.8
step_size:1000
}
}
\ No newline at end of file
src/test/resources/tests/emadlTests/ResNet34.emadl 0 → 100644
View file @ db1f942b
package tests.emadlTests;
component ResNet34{
ports in Z(0:255)^{3, 224, 224} image,
out Q(0:1)^{1000} predictions;
implementation CNN {
def conv(kernel, channels, stride=1, act=true){
Convolution(kernel=(kernel,kernel), channels=channels, stride=(stride,stride)) ->
BatchNorm() ->
Relu(?=act)
}
def resLayer(channels, stride=1){
(
conv(kernel=3, channels=channels, stride=stride) ->
conv(kernel=3, channels=channels, act=false)
|
conv(kernel=1, channels=channels, stride=stride, act=false, ? = (stride != 1))
) ->
Add() ->
Relu()
}
image ->
conv(kernel=7, channels=64, stride=2) ->
Pooling(pool_type="max", kernel=(3,3), stride=(2,2)) ->
resLayer(channels=64, ->=3) ->
resLayer(channels=128, stride=2) ->
resLayer(channels=128, ->=3) ->
resLayer(channels=256, stride=2) ->
resLayer(channels=256, ->=5) ->
resLayer(channels=512, stride=2) ->
resLayer(channels=512, ->=2) ->
GlobalPooling(pool_type="avg") ->
FullyConnected(units=1000) ->
Softmax() ->
predictions
}
}
\ No newline at end of file
src/test/resources/tests/emadlTests/ResNet34.tag 0 → 100644
View file @ db1f942b
package tests.emadlTests;
conforms to de.monticore.lang.monticar.generator.roscpp.RosToEmamTagSchema;
tags ResNet34 {
tag resNet34.image with RosConnection = {topic=(/image, std_msgs/Int32MultiArray)};
tag resNet34.predictions with RosConnection = {topic=(/predictions, std_msgs/Float64MultiArray)};
}