Model: added Rectangle struct

src/test/resources/ba/System.emam

@@ -4,6 +4,7 @@ import ba.util.RelToAbsTrajectory;
 import ba.util.CommQuality;
 import ba.vehicle.VelocityController;
 import ba.collisionDetection.CollisionDetectionGeneric;
+import ba.struct.Rectangle;
 //component System<N1 n = 2,N1 x = 1,N1 m = 5,N1 m1 = 4,N1 m2 = 10>{
 component System{
     //Intersection ports
@@ -12,7 +13,7 @@ component System{
           in Q^{3,5} absTrajectory[2];
 
     //Collision detection ports
-    ports in Q(0m : 10000000m)^{2,4} hullsIn[2],
+    ports in Rectangle hullsIn[2],
           out B collisionOut;
 
     //Vehicle ports

src/test/resources/ba/collisionDetection/CollisionDetectionGeneric.emam

 package ba.collisionDetection;
 import ba.util.RectIntersection;
-import ba.util.SingleSetCompareMatrix;
+import ba.util.SingleSetCompareRectangle;
 import ba.util.MultiOr;
+import ba.struct.Rectangle;
 
 component CollisionDetectionGeneric<N1 n = 2,N1 x = 1>{
 //component CollisionDetection{
-    ports in Q^{2,4} hulls[n],
+    ports in Rectangle hulls[n],
           out B collision;
 
-    instance SingleSetCompareMatrix<2,4,2,1> singleSetCompare;
+    instance SingleSetCompareRectangle<2,1> singleSetCompare;
     instance RectIntersection rectIntersection[x];
     instance MultiOr<1> multiOr;
 

src/test/resources/ba/struct/Point.struct

+package ba.struct;
+
+struct Point{
+    Q posX;
+    Q posY;
+}
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src/test/resources/ba/struct/RectToPoints.emam

+package ba.struct;
+
+component RectToPoints{
+    ports in Rectangle rect,
+          out Point points[4];
+
+    implementation Math{
+        points(1) = rect.pointA;
+        points(2) = rect.pointB;
+        points(3) = rect.pointC;
+        points(4) = rect.pointD;
+    }
+}
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src/test/resources/ba/struct/Rectangle.struct

+package ba.struct;
+
+struct Rectangle{
+    Point pointA;
+    Point pointB;
+    Point pointC;
+    Point pointD;
+}
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src/test/resources/ba/util/PointsToLine.emam

+package ba.util;
+import ba.struct.Point;
+
+component PointsToLine{
+    ports in Point pointA,
+          in Point pointB,
+          out Q^{4,1} line;
+
+    implementation Math{
+        line(1,1) = pointA.posX;
+        line(2,1) = pointA.posY;
+        line(3,1) = pointB.posX;
+        line(4,1) = pointB.posY;
+    }
+}
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src/test/resources/ba/util/RectIntersection.emam

 package ba.util;
+import ba.struct.Rectangle;
 
 component RectIntersection{
-    //TODO: make rect type clearer. Current: 4 points going clockwise around the rect
-    ports in Q^{2,4} rect1,
-          in Q^{2,4} rect2,
+    ports in Rectangle rect1,
+          in Rectangle rect2,
           out B collision;
 
     //check intersection of 4*4 lines w/o permutations

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

 package ba.util;
+import ba.struct.Rectangle;
+import ba.struct.RectToPoints;
 
 component RectToLines{
-    ports in Q^{2,4} rect,
+    ports in Rectangle rect,
           out Q^{4,1} lines[4];
 
-    implementation Math{
-        Q^{4,1} tmpLine;
-        for i = 1:4
-            Z j;
-            if i == 4
-                j = 1;
-            else
-                j = i + 1;
-            end
-            //x1,y1,x2,y2
-            tmpLine(1,1) = rect(1,i);
-            tmpLine(2,1) = rect(2,i);
-            tmpLine(3,1) = rect(1,j);
-            tmpLine(4,1) = rect(2,j);
-
-        lines(i) = tmpLine;
-
-
-          //TODO: as array once issue is resolved
-          //if i == 1
-          //      lineA = tmpLine;
-          //  elseif i == 2
-          //      lineB = tmpLine;
-          //  elseif i == 3
-          //      lineC = tmpLine;
-          //  elseif i == 4
-          //      lineD = tmpLine;
-          //  end
-        end
-    }
+    instance RectToPoints rectToPoints;
+    instance PointsToLine pointsToLine[4];
+
+    connect rect -> rectToPoints.rect;
+    connect rectToPoints.points[1] -> pointsToLine[1].pointA;
+    connect rectToPoints.points[2] -> pointsToLine[1].pointB;
+
+    connect rectToPoints.points[2] -> pointsToLine[2].pointA;
+    connect rectToPoints.points[3] -> pointsToLine[2].pointB;
+
+    connect rectToPoints.points[3] -> pointsToLine[3].pointA;
+    connect rectToPoints.points[4] -> pointsToLine[3].pointB;
+
+    connect rectToPoints.points[4] -> pointsToLine[4].pointA;
+    connect rectToPoints.points[1] -> pointsToLine[4].pointB;
+
+    connect pointsToLine[:].line -> lines[:];
+
 }
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src/test/resources/ba/util/SingleSetCompareRectangle.emam

+package ba.util;
+import ba.struct.Rectangle;
+
+//TODO: x has to be (n-1)n/2
+//TODO: EMAM2Cpp does not work with struct generics
+component SingleSetCompareRectangle<N1 n = 2,N1 x = 1>{
+    ports in Rectangle setIn[n],
+          out Rectangle outA[x],
+          out Rectangle outB[x];
+
+    implementation Math{
+        Z counter = 1;
+        for i = 1:n
+            for j = (i+1):n
+                outA(counter) = setIn(i);
+                outB(counter) = setIn(j);
+                counter = counter + 1;
+            end
+        end
+    }
+}
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