Documentation + OpenGL tests

.gitlab-ci.yml

@@ -23,44 +23,10 @@ stages:
 - build
 
   
-#jobWindows:
-#  stage: build
-#  script:
-#  - mvn clean install -s settings.xml
-#  tags:
-#  - Windows10
-  
-  
-masterJobLinux:
+build_linux:
   stage: build
-#  image: maven:3-jdk-8
   image: maven:3-amazoncorretto-8
   before_script:
-#  - apt-get update
-#  - apt-get install -y libxext6
-#  - apt-get install -y libxrender1
-#  - apt-get install -y libxtst6
-#  - apt-get install -y libopenjfx-java
-  script:
-  - mvn clean deploy -s settings.xml
-  only:
-  - master
-#  tags:
-#  - se
-  
-branchJobLinux:
-  stage: build
-  image: maven:3-jdk-8
-  before_script:
-  - apt-get update
-  - apt-get install -y libxext6
-  - apt-get install -y libxrender1
-  - apt-get install -y libxtst6
-  - apt-get install -y libopenjfx-java
   script:
   - mvn clean install -s settings.xml
-  except:
-  - master
-  
-
-
+  
\ No newline at end of file

install/scenarios/straight2.json

@@ -9,7 +9,7 @@
     "cars": [
         {
             "name": "car1",
-            "physics_model": "modelica",
+            "physics_model": "masspoint",
             "start_coords": [50.8354390, 5.88133850],
             "target_coords": [50.8355156, 5.8813333],
             "autopilot": {
@@ -21,7 +21,8 @@
                 "cache_IL1": "262144,4,4",
                 "cache_L2": "2097152,6,6",
                 "cache_L3": "12582912,40,40",
-                "no_time": true
+                "no_time": true,
+                "no_emulation": true
             }
         }
     ]

pom.xml

@@ -37,7 +37,7 @@
         <montisim.controller.version>1.0.3</montisim.controller.version>
         <montisim.server.version>1.0.7</montisim.server.version>
         <montisim.hardware_emulator.version>1.0.0</montisim.hardware_emulator.version>
-        <montisim.simulation.version>2.0.1</montisim.simulation.version>
+        <montisim.simulation.version>2.0.2</montisim.simulation.version>
         
         
         <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
@@ -257,6 +257,16 @@
             <version>1.6.1</version>
         </dependency>
         
+        <dependency>
+            <groupId>org.jogamp.gluegen</groupId>
+            <artifactId>gluegen-rt-main</artifactId>
+            <version>2.3.2</version>
+          </dependency>
+          <dependency>
+            <groupId>org.jogamp.jogl</groupId>
+            <artifactId>jogl-all-main</artifactId>
+            <version>2.3.2</version>
+          </dependency>
         
     </dependencies>
     
@@ -301,6 +311,9 @@
                                 </transformer>
                             </transformers>
                             <outputFile>${project.basedir}/install/${project.name}.jar</outputFile>
+                            <descriptors>
+                                <descriptor>src/main/assembly/application.xml</descriptor>
+                            </descriptors>
                         </configuration>
                     </execution>
                 </executions>
@@ -316,6 +329,7 @@
                     <target>${java.version}</target>
                 </configuration>
             </plugin>
+            
             <plugin>
                 <artifactId>maven-surefire-plugin</artifactId>
                 <version>2.22.1</version>
@@ -351,7 +365,27 @@
                     </execution>
                 </executions>
             </plugin>
-            
+            <plugin>
+                <groupId>org.codehaus.mojo</groupId>
+                <artifactId>exec-maven-plugin</artifactId>
+                <version>1.3.2</version>
+                <executions>
+                    <execution>
+                        <goals>
+                            <goal>exec</goal>
+                        </goals>
+                    </execution>
+                </executions>
+                <configuration> 
+                    <executable>java</executable>
+                    <arguments>
+                        <argument>-classpath</argument> 
+                        <classpath />
+                        <argument>de.rwth.monticore.EmbeddedMontiArc.simulators.basic_simulator.App</argument>  
+                    </arguments>
+                    <workingDirectory>${project.basedir}/install</workingDirectory>           
+                </configuration>
+            </plugin>
         </plugins>
     </build>
     

src/main/assembly/assembly.xml

+<!--
+
+
+    ******************************************************************************
+     MontiCAR Modeling Family, www.se-rwth.de
+     Copyright (c) 2017, Software Engineering Group at RWTH Aachen,
+     All rights reserved.
+
+     This project is free software; you can redistribute it and/or
+     modify it under the terms of the GNU Lesser General Public
+     License as published by the Free Software Foundation; either
+     version 3.0 of the License, or (at your option) any later version.
+     This library is distributed in the hope that it will be useful,
+     but WITHOUT ANY WARRANTY; without even the implied warranty of
+     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+     Lesser General Public License for more details.
+
+     You should have received a copy of the GNU Lesser General Public
+     License along with this project. If not, see <http://www.gnu.org/licenses/>.
+    *******************************************************************************
+
+-->
+<assembly
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xmlns="http://maven.apache.org/plugins/maven-assembly-plugin/assembly/1.1.0"
+  xsi:schemaLocation="http://maven.apache.org/plugins/maven-assembly-plugin/assembly/1.1.0 http://maven.apache.org/xsd/assembly-1.1.0.xsd">
+
+  <id>with-dependencies</id>
+  <includeBaseDirectory>false</includeBaseDirectory>
+
+  <formats>
+    <format>jar</format>
+  </formats>
+
+  <dependencySets>
+
+    <!-- Unpack everything that isn't a JOGL or GlueGen library -->
+    <dependencySet>
+      <outputDirectory>/</outputDirectory>
+      <useProjectArtifact>true</useProjectArtifact>
+      <scope>runtime</scope>
+      <unpack>true</unpack>
+      <unpackOptions>
+        <excludes>
+          <exclude>libgluegen-rt*</exclude>
+          <exclude>libjogl_desktop.*</exclude>
+          <exclude>libnativewindow_awt.*</exclude>
+          <exclude>libnativewindow_macosx.*</exclude>
+          <exclude>libnativewindow_x11.*</exclude>
+          <exclude>libnewt.*</exclude>
+        </excludes>
+      </unpackOptions>
+    </dependencySet>
+
+    <!-- Place the natives for the popular platforms into the correct place -->
+    <!-- in the resulting jar file. -->
+
+    <dependencySet>
+      <outputDirectory>/natives/linux-amd64/</outputDirectory>
+      <useProjectArtifact>true</useProjectArtifact>
+      <scope>runtime</scope>
+      <unpack>true</unpack>
+      <includes>
+        <include>org.jogamp.gluegen:gluegen-rt:jar:natives-linux-amd64</include>
+        <include>org.jogamp.jogl:jogl-all:jar:natives-linux-amd64</include>
+      </includes>
+      <unpackOptions>
+        <includes><include>*.so</include></includes>
+      </unpackOptions>
+    </dependencySet>
+
+    <dependencySet>
+      <outputDirectory>/natives/linux-i586/</outputDirectory>
+      <useProjectArtifact>true</useProjectArtifact>
+      <scope>runtime</scope>
+      <unpack>true</unpack>
+      <includes>
+        <include>org.jogamp.gluegen:gluegen-rt:jar:natives-linux-i586</include>
+        <include>org.jogamp.jogl:jogl-all:jar:natives-linux-i586</include>
+      </includes>
+      <unpackOptions>
+        <includes><include>*.so</include></includes>
+      </unpackOptions>
+    </dependencySet>
+
+    <dependencySet>
+      <outputDirectory>/natives/windows-amd64/</outputDirectory>
+      <useProjectArtifact>true</useProjectArtifact>
+      <scope>runtime</scope>
+      <unpack>true</unpack>
+      <includes>
+        <include>org.jogamp.gluegen:gluegen-rt:jar:natives-windows-amd64</include>
+        <include>org.jogamp.jogl:jogl-all:jar:natives-windows-amd64</include>
+      </includes>
+      <unpackOptions>
+        <includes><include>*.dll</include></includes>
+      </unpackOptions>
+    </dependencySet>
+
+    <dependencySet>
+      <outputDirectory>/natives/windows-i586/</outputDirectory>
+      <useProjectArtifact>true</useProjectArtifact>
+      <scope>runtime</scope>
+      <unpack>true</unpack>
+      <includes>
+        <include>org.jogamp.gluegen:gluegen-rt:jar:natives-windows-i586</include>
+        <include>org.jogamp.jogl:jogl-all:jar:natives-windows-i586</include>
+      </includes>
+      <unpackOptions>
+        <includes><include>*.dll</include></includes>
+      </unpackOptions>
+    </dependencySet>
+
+    <dependencySet>
+      <outputDirectory>/natives/macosx-universal/</outputDirectory>
+      <useProjectArtifact>true</useProjectArtifact>
+      <scope>runtime</scope>
+      <unpack>true</unpack>
+      <includes>
+        <include>org.jogamp.gluegen:gluegen-rt:jar:natives-macosx-universal</include>
+        <include>org.jogamp.jogl:jogl-all:jar:natives-macosx-universal</include>
+      </includes>
+      <unpackOptions>
+        <includes><include>*.jnilib</include></includes>
+      </unpackOptions>
+    </dependencySet>
+  </dependencySets>
+</assembly>
\ No newline at end of file

src/main/java/de/rwth/monticore/EmbeddedMontiArc/simulators/basic_simulator/gui/DefaultVis.java

@@ -22,6 +22,11 @@ package de.rwth.monticore.EmbeddedMontiArc.simulators.basic_simulator.gui;
 
 import javax.swing.*;
 
+import com.jogamp.opengl.GLCapabilities;
+import com.jogamp.opengl.GLProfile;
+
+import opengltest.OpenGLPanel;
+
 public class DefaultVis extends SimVis {
     public DefaultVis(){
         setLayout(new BoxLayout(this, BoxLayout.Y_AXIS));
@@ -29,6 +34,11 @@ public class DefaultVis extends SimVis {
         add_text("Select one of the scenarios to start a simulation.");
         add_text("Visualize the available maps. (Coming)");
         add_text("Watch completed simulations in the results. (Coming)");
+        
+        /* System.out.println("Creating OpenGL context.");
+        GLProfile glprofile = GLProfile.getDefault();
+        GLCapabilities glcapabilities = new GLCapabilities( glprofile );
+        add(new OpenGLPanel(glcapabilities)); */
     }
 
     private void add_text(String text){

src/main/java/framework/Semantic.java

+/**
+ *
+ * ******************************************************************************
+ *  MontiCAR Modeling Family, www.se-rwth.de
+ *  Copyright (c) 2017, Software Engineering Group at RWTH Aachen,
+ *  All rights reserved.
+ *
+ *  This project is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation; either
+ *  version 3.0 of the License, or (at your option) any later version.
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this project. If not, see <http://www.gnu.org/licenses/>.
+ * *******************************************************************************
+ */
+package framework;
+
+abstract public class Semantic {
+
+    public interface Attr {
+
+        int POSITION = 0;
+        int COLOR = 1;
+        int NORMAL = 2;
+        int TEXCOORD = 3;
+        int DRAW_ID = 4;
+    }
+
+    public interface Buffer {
+
+        int STATIC = 0;
+        int DYNAMIC = 1;
+    }
+
+    public interface Frag {
+
+        int COLOR = 0;
+        int RED = 0;
+        int GREEN = 1;
+        int BLUE = 2;
+        int ALPHA = 0;
+    }
+
+    public interface Image {
+
+        int DIFFUSE = 0;
+        int PICKING = 1;
+    }
+
+    public interface Object {
+
+        int VAO = 0;
+        int VBO = 1;
+        int IBO = 2;
+        int TEXTURE = 3;
+        int SAMPLER = 4;
+        int SIZE = 5;
+    }
+
+    public interface Renderbuffer {
+
+        int DEPTH = 0;
+        int COLOR0 = 1;
+    }
+
+    public interface Sampler {
+
+        int DIFFUSE = 0;
+        int POSITION = 4;
+        int TEXCOORD = 5;
+        int COLOR = 6;
+    }
+
+    public interface Storage {
+
+        int VERTEX = 0;
+    }
+
+    public interface Uniform {
+
+        int MATERIAL = 0;
+        int TRANSFORM0 = 1;
+        int TRANSFORM1 = 2;
+        int INDIRECTION = 3;
+        int GLOBAL_MATRICES = 4;
+        int CONSTANT = 0;
+        int PER_FRAME = 1;
+        int PER_PASS = 2;
+        int LIGHT = 3;
+    }
+
+    public interface Vert {
+
+        int POSITION = 0;
+        int COLOR = 3;
+        int TEXCOORD = 4;
+        int INSTANCE = 7;
+    }
+
+    public interface Stream {
+
+        int A = 0;
+        int B = 1;
+    }
+}
\ No newline at end of file

src/main/java/opengltest/OpenGLPanel.java

+/**
+ *
+ * ******************************************************************************
+ *  MontiCAR Modeling Family, www.se-rwth.de
+ *  Copyright (c) 2017, Software Engineering Group at RWTH Aachen,
+ *  All rights reserved.
+ *
+ *  This project is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation; either
+ *  version 3.0 of the License, or (at your option) any later version.
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this project. If not, see <http://www.gnu.org/licenses/>.
+ * *******************************************************************************
+ */
+package opengltest;
+
+import com.jogamp.opengl.*;
+import com.jogamp.opengl.awt.GLCanvas;
+import com.jogamp.opengl.math.FloatUtil;
+import com.jogamp.opengl.util.Animator;
+import com.jogamp.opengl.util.GLBuffers;
+import com.jogamp.opengl.util.glsl.ShaderCode;
+import com.jogamp.opengl.util.glsl.ShaderProgram;
+import framework.Semantic;
+
+import java.nio.ByteBuffer;
+import java.nio.FloatBuffer;
+import java.nio.IntBuffer;
+import java.nio.ShortBuffer;
+
+import static com.jogamp.opengl.GL.GL_TRIANGLES;
+import static com.jogamp.opengl.GL.GL_UNSIGNED_SHORT;
+import static com.jogamp.opengl.GL2ES3.*;
+import static com.jogamp.opengl.GL2ES3.GL_UNIFORM_BUFFER;
+import static com.jogamp.opengl.GL4.GL_MAP_COHERENT_BIT;
+import static com.jogamp.opengl.GL4.GL_MAP_PERSISTENT_BIT;
+
+public class OpenGLPanel extends GLCanvas implements GLEventListener {
+
+
+    private static Animator animator;
+
+    private float[] vertexData = {
+            -1, -1, 1, 0, 0,
+            +0, +2, 0, 0, 1,
+            +1, -1, 0, 1, 0};
+
+    private short[] elementData = {0, 2, 1};
+
+    private interface Buffer {
+
+        int VERTEX = 0;
+        int ELEMENT = 1;
+        int GLOBAL_MATRICES = 2;
+        int MODEL_MATRIX = 3;
+        int MAX = 4;
+    }
+
+    private IntBuffer bufferName = GLBuffers.newDirectIntBuffer(Buffer.MAX);
+    private IntBuffer vertexArrayName = GLBuffers.newDirectIntBuffer(1);
+
+    private FloatBuffer clearColor = GLBuffers.newDirectFloatBuffer(4);
+    private FloatBuffer clearDepth = GLBuffers.newDirectFloatBuffer(1);
+
+    private FloatBuffer matBuffer = GLBuffers.newDirectFloatBuffer(16);
+
+    private ByteBuffer globalMatricesPointer, modelMatrixPointer;
+    private Program program;
+
+    private long start;
+
+
+
+    public OpenGLPanel(GLCapabilities glcapabilities){
+        super(glcapabilities);
+        addGLEventListener(this);
+
+        animator = new Animator(this);
+        animator.start();
+    }
+
+    @Override
+    public void init(GLAutoDrawable drawable) {
+
+        GL4 gl = drawable.getGL().getGL4();
+
+        initDebug(gl);
+
+        initBuffers(gl);
+
+        initVertexArray(gl);
+
+        program = new Program(gl, "shaders/gl4", "hello-triangle", "hello-triangle");
+
+        gl.glEnable(GL_DEPTH_TEST);
+
+        start = System.currentTimeMillis();
+    }
+
+    private void initDebug(GL4 gl) {
+
+        getContext().addGLDebugListener(new GLDebugListener() {
+            @Override
+            public void messageSent(GLDebugMessage event) {
+                System.out.println(event);
+            }
+        });
+
+        gl.glDebugMessageControl(
+                GL_DONT_CARE,
+                GL_DONT_CARE,
+                GL_DONT_CARE,
+                0,
+                null,
+                false);
+
+        gl.glDebugMessageControl(
+                GL_DONT_CARE,
+                GL_DONT_CARE,
+                GL_DEBUG_SEVERITY_HIGH,
+                0,
+                null,
+                true);
+
+        gl.glDebugMessageControl(
+                GL_DONT_CARE,
+                GL_DONT_CARE,
+                GL_DEBUG_SEVERITY_MEDIUM,
+                0,
+                null,
+                true);
+    }
+
+    private void initBuffers(GL4 gl) {
+
+        FloatBuffer vertexBuffer = GLBuffers.newDirectFloatBuffer(vertexData);
+        ShortBuffer elementBuffer = GLBuffers.newDirectShortBuffer(elementData);
+
+        gl.glCreateBuffers(Buffer.MAX, bufferName);
+
+
+        gl.glBindBuffer(GL_ARRAY_BUFFER, bufferName.get(Buffer.VERTEX));
+        gl.glBufferStorage(GL_ARRAY_BUFFER, vertexBuffer.capacity() * Float.BYTES, vertexBuffer, 0);
+        gl.glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+        gl.glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, bufferName.get(Buffer.ELEMENT));
+        gl.glBufferStorage(GL_ELEMENT_ARRAY_BUFFER, elementBuffer.capacity() * Short.BYTES, elementBuffer, 0);
+        gl.glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+
+
+        IntBuffer uniformBufferOffset = GLBuffers.newDirectIntBuffer(1);
+        gl.glGetIntegerv(GL_UNIFORM_BUFFER_OFFSET_ALIGNMENT, uniformBufferOffset);
+        int globalBlockSize = Math.max(16 * 4 * 2, uniformBufferOffset.get(0));
+        int modelBlockSize = Math.max(16 * 4, uniformBufferOffset.get(0));
+
+        gl.glBindBuffer(GL_UNIFORM_BUFFER, bufferName.get(Buffer.GLOBAL_MATRICES));
+        gl.glBufferStorage(GL_UNIFORM_BUFFER, globalBlockSize, null, GL_MAP_WRITE_BIT | GL_MAP_PERSISTENT_BIT | GL_MAP_COHERENT_BIT);
+        gl.glBindBuffer(GL_UNIFORM_BUFFER, 0);
+
+        gl.glBindBuffer(GL_UNIFORM_BUFFER, bufferName.get(Buffer.MODEL_MATRIX));
+        gl.glBufferStorage(GL_UNIFORM_BUFFER, modelBlockSize, null, GL_MAP_WRITE_BIT | GL_MAP_PERSISTENT_BIT | GL_MAP_COHERENT_BIT);
+        gl.glBindBuffer(GL_UNIFORM_BUFFER, 0);
+
+
+        // map the transform buffers and keep them mapped
+        globalMatricesPointer = gl.glMapNamedBufferRange(
+                bufferName.get(Buffer.GLOBAL_MATRICES),
+                0,
+                16 * 4 * 2,
+                GL_MAP_WRITE_BIT | GL_MAP_PERSISTENT_BIT | GL_MAP_COHERENT_BIT | GL_MAP_INVALIDATE_BUFFER_BIT); // flags
+
+        modelMatrixPointer = gl.glMapNamedBufferRange(
+                bufferName.get(Buffer.MODEL_MATRIX),
+                0,
+                16 * 4,
+                GL_MAP_WRITE_BIT | GL_MAP_PERSISTENT_BIT | GL_MAP_COHERENT_BIT | GL_MAP_INVALIDATE_BUFFER_BIT);
+    }
+
+    private void initVertexArray(GL4 gl) {
+
+        gl.glCreateVertexArrays(1, vertexArrayName);
+
+        gl.glVertexArrayAttribBinding(vertexArrayName.get(0), Semantic.Attr.POSITION, Semantic.Stream.A);
+        gl.glVertexArrayAttribBinding(vertexArrayName.get(0), Semantic.Attr.COLOR, Semantic.Stream.A);
+
+        gl.glVertexArrayAttribFormat(vertexArrayName.get(0), Semantic.Attr.POSITION, 2, GL_FLOAT, false, 0);
+        gl.glVertexArrayAttribFormat(vertexArrayName.get(0), Semantic.Attr.COLOR, 3, GL_FLOAT, false, 2 * 4);
+
+        gl.glEnableVertexArrayAttrib(vertexArrayName.get(0), Semantic.Attr.POSITION);
+        gl.glEnableVertexArrayAttrib(vertexArrayName.get(0), Semantic.Attr.COLOR);
+