Commit 038ac651 authored by Jean Meurice's avatar Jean Meurice
Browse files

Merge branch 'dev' into 'master'

Simple Network & EE Simplification

See merge request !4
parents cd21e6ee f8f92141
Pipeline #381490 passed with stage
in 1 minute and 1 second
......@@ -18,7 +18,19 @@
]
},
"components": [
{ "type": "constant_bus" },
{
"type": "constant_bus",
"connected_to": [
"SteeringActuator",
"BrakingActuator",
"GasActuator",
"TrueVelocitySensor",
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"JavaAutopilot"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
......@@ -57,6 +69,7 @@
{ "type": "navigation" },
{
"type": "java_autopilot",
"name": "JavaAutopilot",
"maxVehicleAccel": 7.460690450979396
}
]
......
......@@ -18,7 +18,19 @@
]
},
"components": [
{ "type": "constant_bus" },
{
"type": "constant_bus",
"connected_to": [
"SteeringActuator",
"BrakingActuator",
"GasActuator",
"TrueVelocitySensor",
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"JavaAutopilot"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
......@@ -57,6 +69,7 @@
{ "type": "navigation" },
{
"type": "java_autopilot",
"name": "JavaAutopilot",
"maxVehicleAccel": 7.460690450979396
}
]
......
......@@ -16,7 +16,19 @@
]
},
"components": [
{ "type": "constant_bus" },
{
"type": "constant_bus",
"connected_to": [
"SteeringActuator",
"BrakingActuator",
"GasActuator",
"TrueVelocitySensor",
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"Computer"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
......@@ -55,12 +67,15 @@
{ "type": "navigation" },
{
"type": "computer",
"name": "Computer",
"software_name": "TestEMADLAP",
"emulator_type": "direct",
"os": "windows",
"backend": {
"type": "direct"
},
"time_model": {
"type": "instant"
}
"type": "constant"
},
"cycle_duration": [0,10000000]
}
]
}
......
......@@ -16,7 +16,19 @@
]
},
"components": [
{ "type": "constant_bus" },
{
"type": "constant_bus",
"connected_to": [
"SteeringActuator",
"BrakingActuator",
"GasActuator",
"TrueVelocitySensor",
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"Computer"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
......@@ -56,8 +68,10 @@
{
"type": "computer",
"software_name": "TestEMAMAP",
"emulator_type": "emu",
"os": "windows",
"backend": {
"type": "emu",
"os": "auto"
},
"time_model": {
"type": "models",
"cpu_frequency": 4000000000,
......
......@@ -16,7 +16,19 @@
]
},
"components": [
{ "type": "constant_bus" },
{
"type": "constant_bus",
"connected_to": [
"SteeringActuator",
"BrakingActuator",
"GasActuator",
"TrueVelocitySensor",
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"Computer"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
......@@ -55,12 +67,15 @@
{ "type": "navigation" },
{
"type": "computer",
"name": "Computer",
"software_name": "TestEMAMAP",
"emulator_type": "direct",
"os": "windows",
"backend": {
"type": "direct"
},
"time_model": {
"type": "instant"
}
},
"cycle_duration": [0,10000000]
}
]
}
......
{
"name": "new_basic",
"name": "cppautopilot",
"map_name": "aachen",
"cars": [
{
......@@ -16,7 +16,19 @@
]
},
"components": [
{ "type": "constant_bus" },
{
"type": "constant_bus",
"connected_to": [
"SteeringActuator",
"BrakingActuator",
"GasActuator",
"TrueVelocitySensor",
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"Computer"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
......@@ -55,9 +67,12 @@
{ "type": "navigation" },
{
"type": "computer",
"name": "Computer",
"software_name": "cppautopilotzigzag",
"emulator_type": "emu",
"os": "windows",
"backend": {
"type": "emu",
"os": "auto"
},
"time_model": {
"type": "models",
"cpu_frequency": 4000000000,
......
......@@ -17,7 +17,19 @@
]
},
"components": [
{ "type": "constant_bus" },
{
"type": "constant_bus",
"connected_to": [
"SteeringActuator",
"BrakingActuator",
"GasActuator",
"TrueVelocitySensor",
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"Computer"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
......@@ -56,14 +68,17 @@
{ "type": "navigation" },
{
"type": "computer",
"name": "Computer",
"software_name": "cppautopilotzigzag",
"emulator_type": "direct",
"os": "windows",
"backend": {
"type": "direct"
},
"time_model": {
"type": "instant"
}
"type": "constant"
},
"cycle_duration": [0,10000000]
}
]
}
]
}
\ No newline at end of file
}
{
"name": "explicit",
"map_name": "aachen",
"max_duration": [60,0],
"tick_duration": [0,10000000],
"cars": [
{
"name": "TestVehicle",
"start_pos": [ -123.09, 21.64 ],
"start_orientation": -30.0,
"task": {
"goals": [
{
......@@ -53,22 +56,30 @@
"type": "rigidbody"
},
"components": [
{
"type": "constant_bus",
"name": "DefaultBus",
"mode": "instant",
"rate": 0.0,
"connected_to": [
"SteeringActuator",
"BrakingActuator",
"GasActuator",
"TrueVelocitySensor",
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"TestAutopilot"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
"priority": {},
"buses": [
"DefaultBus"
],
"physical_value_name": "steering",
"change_rate": 60.0,
"sensor": {
"type": "sensor",
"name": "UnnamedComponent",
"priority": {},
"buses": [
"DefaultBus"
],
"update_interval": [
0,
100000000
......@@ -83,19 +94,11 @@
{
"type": "actuator",
"name": "BrakingActuator",
"priority": {},
"buses": [
"DefaultBus"
],
"physical_value_name": "braking",
"change_rate": 10.0,
"sensor": {
"type": "sensor",
"name": "UnnamedComponent",
"priority": {},
"buses": [
"DefaultBus"
],
"update_interval": [
0,
100000000
......@@ -110,19 +113,11 @@
{
"type": "actuator",
"name": "GasActuator",
"priority": {},
"buses": [
"DefaultBus"
],
"physical_value_name": "gas",
"change_rate": "Infinity",
"sensor": {
"type": "sensor",
"name": "UnnamedComponent",
"priority": {},
"buses": [
"DefaultBus"
],
"update_interval": [
0,
100000000
......@@ -137,10 +132,6 @@
{
"type": "sensor",
"name": "TrueVelocitySensor",
"priority": {},
"buses": [
"DefaultBus"
],
"physical_value_name": "true_velocity",
"update_interval": [
0,
......@@ -155,10 +146,6 @@
{
"type": "sensor",
"name": "TruePositionSensor",
"priority": {},
"buses": [
"DefaultBus"
],
"physical_value_name": "true_position",
"update_interval": [
0,
......@@ -173,10 +160,6 @@
{
"type": "sensor",
"name": "TrueCompassSensor",
"priority": {},
"buses": [
"DefaultBus"
],
"physical_value_name": "true_compass",
"update_interval": [
0,
......@@ -190,26 +173,11 @@
},
{
"type": "navigation",
"name": "Navigation",
"priority": {},
"buses": [
"DefaultBus"
]
},
{
"type": "constant_bus",
"name": "DefaultBus",
"priority": {},
"mode": "instant",
"rate": 0.0
"name": "Navigation"
},
{
"type": "java_autopilot",
"name": "TestAutopilot",
"priority": {},
"buses": [
"DefaultBus"
],
"compute_time": [
0,
0
......
......@@ -18,7 +18,19 @@
]
},
"components": [
{ "type": "constant_bus" },
{
"type": "constant_bus",
"connected_to": [
"SteeringActuator",
"BrakingActuator",
"GasActuator",
"TrueVelocitySensor",
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"JavaAutopilot"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
......@@ -57,6 +69,7 @@
{ "type": "navigation" },
{
"type": "java_autopilot",
"name": "JavaAutopilot",
"maxVehicleAccel": 7.460690450979396
}
]
......
{
"name": "two_vcgs",
"map_name": "aachen",
"modules": [
{
"type": "simple_network",
"transmission_time": [0, 100000000]
}
],
"cars": [
{
"name": "VCGTestVehicle1",
"start_pos": [ 0, 0 ],
"task": {
"goals": [
{
"type": "path",
"ltl_operator": "eventually",
"path": [ [-63.83, -171.96] ],
"range": 5
}
]
},
"components": [
{
"type": "constant_bus",
"connected_to": [
"SteeringActuator",
"BrakingActuator",
"GasActuator",
"TrueVelocitySensor",
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"SimpleCommunicationGateway",
"Computer"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
"physical_value_name": "steering",
"change_rate": 60.0,
"sensor": { "type": "sensor" }
},
{
"type": "actuator",
"name": "BrakingActuator",
"physical_value_name": "braking",
"change_rate": 10.0,
"sensor": { "type": "sensor" }
},
{
"type": "actuator",
"name": "GasActuator",
"physical_value_name": "gas",
"sensor": { "type": "sensor" }
},
{
"type": "sensor",
"name": "TrueVelocitySensor",
"physical_value_name": "true_velocity"
},
{
"type": "sensor",
"name": "TruePositionSensor",
"physical_value_name": "true_position"
},
{
"type": "sensor",
"name": "TrueCompassSensor",
"physical_value_name": "true_compass"
},
{ "type": "navigation" },
{ "type": "simple_communication_gateway" },
{
"type": "computer",
"name": "Computer",
"backend": {
"type": "tcp",
"host": "::1",
"port": 4567,
"ref_id": 16384
},
"time_model": {
"type": "measured"
},
"cycle_duration": [0,10000000]
}
]
},
{
"name": "VCGTestVehicle2",
"start_pos": [ 0, 10 ],
"task": {
"goals": [
{
"type": "path",
"ltl_operator": "eventually",
"path": [ [-63.83, -171.96] ],
"range": 5
}
]
},
"components": [
{
"type": "constant_bus",
"connected_to": [
"SteeringActuator",
"BrakingActuator",
"GasActuator",
"TrueVelocitySensor",
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"SimpleCommunicationGateway",
"Computer"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
"physical_value_name": "steering",
"change_rate": 60.0,
"sensor": { "type": "sensor"}
},
{
"type": "actuator",
"name": "BrakingActuator",
"physical_value_name": "braking",
"change_rate": 10.0,
"sensor": { "type": "sensor" }
},
{
"type": "actuator",
"name": "GasActuator",
"physical_value_name": "gas",
"sensor": { "type": "sensor" }
},
{
"type": "sensor",
"name": "TrueVelocitySensor",
"physical_value_name": "true_velocity"
},
{
"type": "sensor",
"name": "TruePositionSensor",
"physical_value_name": "true_position"
},
{
"type": "sensor",
"name": "TrueCompassSensor",
"physical_value_name": "true_compass"
},
{ "type": "navigation" },
{ "type": "simple_communication_gateway" },
{
"type": "computer",
"name": "Computer",
"backend": {