HardwareEmulator interface tweaks, old_execute

install/demo/basic-linux.bat

+@echo off
+pushd ..
+call run.bat os=linux cpu_frequency=10000000 memory_frequency=1000000 cache_DL1=128,1,2 cache_IL1=128,1,2 cache_L2=1024,10,15 export debug=unsupported_syscalls
+popd
\ No newline at end of file

install/demo/basic.bat

+@echo off
+pushd ..
+call run.bat test_real os=windows cpu_frequency=10000000 memory_frequency=1000000 cache_DL1=128,1,2 cache_IL1=128,1,2 cache_L2=1024,10,15 export
+popd
\ No newline at end of file

install/demo/no-cache.bat

+@echo off
+pushd ..
+call run.bat test_real os=windows cpu_frequency=10000000 memory_frequency=1000000 export
+popd
\ No newline at end of file

install/demo/no-time.bat

+@echo off
+pushd ..
+call run.bat os=windows no_time test_real
+popd
\ No newline at end of file

install/demo/slow-cpu.bat

+@echo off
+pushd ..
+call run.bat test_real os=windows cpu_frequency=1500000 memory_frequency=150000 cache_DL1=128,1,2 cache_IL1=128,1,2 cache_L2=1024,10,15 export
+popd
\ No newline at end of file

install/readme.md

+## install
+
+This folder contains a sample setup of the RMIModelServer using the HardwareEmulator.
+
+This folder is used to perform a simple test including the HardwareEmulator.
+
+Autopilots can be added in the autopilots folder and loaded on the file using HardwareEmulator configuration.
+
+The demo folder contains examples that start the RMIModelServer with a default configuration that is added to
+every allocated autopilot.
\ No newline at end of file

install/run.bat

@@ -23,5 +23,5 @@
 call config.bat
 
 echo Starting RMIModelServer on port %PORT% with Autopilot folder: %AUTOPILOT_FOLDER%
-java "-Djava.rmi.server.codebase=file:rmi-model-server.jar" "-Djava.rmi.server.hostname=127.0.0.1" -cp rmi-model-server.jar rwth.rmi.model.server.RMIServer %PORT% %AUTOPILOT_FOLDER%
+java "-Djava.rmi.server.codebase=file:rmi-model-server.jar" "-Djava.rmi.server.hostname=127.0.0.1" -cp rmi-model-server.jar rwth.rmi.model.server.RMIServer %PORT% %AUTOPILOT_FOLDER% %*
 pause

pom.xml

@@ -26,7 +26,7 @@
 
   <groupId>montisim</groupId>
   <artifactId>rmi-model-server</artifactId>
-  <version>1.0.1-SNAPSHOT</version>
+  <version>1.1.0-SNAPSHOT</version>
   <packaging>jar</packaging>
 
   <name>rmi-model-server</name>

src/main/java/rwth/rmi/model/server/RMIServer.java

@@ -51,9 +51,9 @@ public class RMIServer {
             return;
         }
 
-        File autopilotAdapterDLL = new File(args[1]);
-        if (!autopilotAdapterDLL.exists()){
-            System.out.printf("AutopilotAdapter: %s not exist\n", autopilotAdapterDLL);
+        File autopilot_folder = new File(args[1]);
+        if (!autopilot_folder.exists()){
+            System.out.printf("The autopilot folder %s does not exist\n", autopilot_folder);
             return;
         }
 
@@ -63,7 +63,7 @@ public class RMIServer {
             zoo_servers = "localhost:2181";
         }
         //ZkClient zk = new ZkClient(zoo_servers, 1000, 5000);
-        HardwareEmulatorInterface manager = new HardwareEmulatorInterface(args[1]);
+        HardwareEmulatorInterface manager = new HardwareEmulatorInterface(args);
 
         String host = InetAddress.getLocalHost().getHostName();
         int port = Integer.valueOf(args[0]);

src/main/java/rwth/rmi/model/server/interfaces/RMIManager.java

@@ -33,12 +33,14 @@ public interface RMIManager extends Remote {
 
     public void update_bus(int id, HashMap<String, Serializable> inputs) throws RemoteException;
 
+    public HashMap<String, Serializable> old_execute(int id, long time_delta, HashMap<String, Serializable> inputs) throws RemoteException;
+
     public void start_tick(long time_delta) throws RemoteException;
     public void end_tick() throws RemoteException;
 
     public HashMap<String, Serializable> get_outputs(int id) throws RemoteException;
 
 
-    public String querry(String msg) throws RemoteException;
-    public String querry_autopilot(int id, String msg) throws RemoteException;
+    public String query(String msg) throws RemoteException;
+    public String query_autopilot(int id, String msg) throws RemoteException;
 }

src/main/java/simulator/integration/HardwareEmulatorInterface.java

@@ -19,16 +19,21 @@
  * *******************************************************************************
  */
 package simulator.integration;
-import rwth.rmi.model.server.interfaces.RMIManager;
 
 import java.io.File;
 import java.io.IOException;
 import java.util.HashMap;
 import java.io.Serializable;
+import rwth.rmi.model.server.interfaces.RMIManager;
 
 public class HardwareEmulatorInterface implements RMIManager {
-    public HardwareEmulatorInterface(String libraryPath) {
+    public HardwareEmulatorInterface(String[] args) {
         super();
+        String default_config = "";
+        for (int i = 2; i < args.length; i++){
+            default_config += args[i] + "\n";
+        }
+        String libraryPath = args[1];
         String emu = System.getProperty("user.dir") + "/HardwareEmulator";
         String OS = System.getProperty("os.name").toLowerCase();
         if (OS.contains("win")){
@@ -41,16 +46,19 @@ public class HardwareEmulatorInterface implements RMIManager {
         try {// Load AutopilotAdapter.dll from libraryPath
             File b = new File(libraryPath);
             String absolute = b.getCanonicalPath();
-            init("autopilots_folder=" + absolute);
+
+
+
+            init("autopilots_folder=" + absolute, default_config);
         } catch (IOException e) {
             e.printStackTrace();
             System.out.println("Could not initiate the Hardware Emulator");
-            init("");
+            init("", default_config);
         }
 
     }
 
-    private native boolean init(String config);
+    private native boolean init(String config, String default_config);
     @Override
     public native int alloc_autopilot(String config);
     @Override
@@ -62,6 +70,19 @@ public class HardwareEmulatorInterface implements RMIManager {
         }
     }
 
+    @Override
+    public HashMap<String, Serializable> old_execute(int id, long time_delta, HashMap<String, Serializable> inputs){
+        for (HashMap.Entry<String, Serializable> entry : inputs.entrySet()){
+            add_one_input(id, entry.getKey(), entry.getValue());
+        }
+        execute_one(id, time_delta);
+        HashMap<String, Serializable> outputs = new HashMap<String, Serializable>();
+        query_outputs(id, outputs);
+        return outputs;
+    }
+    private native void execute_one(int id, long time_delta);
+
+
     @Override
     public native void start_tick(long time_delta);
     @Override
@@ -70,18 +91,18 @@ public class HardwareEmulatorInterface implements RMIManager {
     @Override
     public HashMap<String, Serializable> get_outputs(int id) {
         HashMap<String, Serializable> outputs = new HashMap<String, Serializable>();
-		querry_outputs(id, outputs);
+		query_outputs(id, outputs);
 		return outputs;	
     }
 
     @Override
-    public native String querry(String msg);
+    public native String query(String msg);
     @Override
-    public native String querry_autopilot(int id, String msg);
+    public native String query_autopilot(int id, String msg);
     
     
     private native void add_one_input(int id, String key, Serializable value);
-    private native void querry_outputs(int id, HashMap<String, Serializable> opaque_hashmap);
+    private native void query_outputs(int id, HashMap<String, Serializable> opaque_hashmap);
     private void add_one_output(HashMap<String, Serializable> opaque_hashmap, String key, Serializable value) {
         opaque_hashmap.put(key, value);
     }

src/test/java/simulator/integration/HardwareEmulatorTest.java

@@ -30,10 +30,10 @@ public class HardwareEmulatorTest {
     @Test
     public void basic_test(){
         System.out.println("Current test directory: " + System.getProperty("user.dir"));
-        HardwareEmulatorInterface manager = new HardwareEmulatorInterface("autopilots");
+        HardwareEmulatorInterface manager = new HardwareEmulatorInterface(new String[]{"10101", "autopilots"});
 
         String querry = "get_available_autopilots\nget_available_threads";
-        String res = manager.querry(querry);
+        String res = manager.query(querry);
         System.out.println("EmulatorManager querry response: " + res);
 
         String lines[] = res.split("\n");
@@ -50,7 +50,7 @@ public class HardwareEmulatorTest {
         config += "\nos=windows";
         int id = manager.alloc_autopilot(config);
         if (id < 0){
-            String q = manager.querry( "get_error_msg" );
+            String q = manager.query( "get_error_msg" );
             Assert.assertTrue("Could not allocate Emulator: " + q, id >= 0);
         }
 
@@ -67,11 +67,12 @@ public class HardwareEmulatorTest {
         inputs.put("trajectory_x", new double[]{0.01, 0.02, 0.03, 0.04, 0.05, 0.06});
         inputs.put("trajectory_y", new double[]{0.01, 0.01, 0.02, 0.02, 0.01, 0.01});
         manager.update_bus(id, inputs);
-        manager.start_tick(1000000);
-        manager.end_tick();
-        String emu_querry = manager.querry_autopilot(id, "get_avg_runtime");
-        System.out.println("Emu querry: " + emu_querry);
-        HashMap<String, Serializable> outputs = manager.get_outputs(id);
+        //manager.start_tick(1000000);
+        //manager.end_tick();
+        HashMap<String, Serializable> outputs = manager.old_execute(id, 1000000, inputs);
+        //String emu_querry = manager.querry_autopilot(id, "get_avg_runtime");
+        //System.out.println("Emu querry: " + emu_querry);
+        //HashMap<String, Serializable> outputs = manager.get_outputs(id);
         Assert.assertEquals("output count", outputs.size(), 3);
         for (HashMap.Entry<String, Serializable> entry : outputs.entrySet()) {
             System.out.println(entry.getKey() + " = " + entry.getValue());