Commit e176d71f authored by Jean Meurice's avatar Jean Meurice
Browse files

Merge branch 'sim_dev' into 'master'

New Autopilot Communication

See merge request !7
parents 52a67e9f c8354b64
Pipeline #495161 passed with stage
in 59 seconds
......@@ -10,6 +10,7 @@
*.pyc
*.DS_Store
install/hardware_emulator_lib.dll
install/hardware_emulator_lib.so
install/basic-simulator.jar
dependency-reduced-pom.xml
.vscode/
......
......@@ -68,10 +68,10 @@
{
"type": "computer",
"name": "Computer",
"software_name": "cppautopilotzigzag",
"software_name": "zigzag_autopilot_lib",
"backend": {
"type": "emu",
"os": "auto"
"os": "linux"
},
"time_model": {
"type": "models",
......@@ -83,7 +83,8 @@
{"type": "shared", "level": 2, "size": 2097152, "read_ticks": 6, "write_ticks": 6},
{"type": "shared", "level": 3, "size": 12582912, "read_ticks": 40, "write_ticks": 40}
]
}
},
"json_data_exchange": false
}
]
}
......
{
"name": "EMAM_emu",
"name": "cppautopilot",
"map_name": "aachen",
"cars": [
{
"name": "EMAMTestVehicle",
"name": "TestVehicle",
"start_pos": [ 0, 0 ],
"task": {
"goals": [
......@@ -67,10 +67,11 @@
{ "type": "navigation" },
{
"type": "computer",
"software_name": "TestEMAMAP",
"name": "Computer",
"software_name": "zigzag_autopilot_lib",
"backend": {
"type": "emu",
"os": "auto"
"os": "windows"
},
"time_model": {
"type": "models",
......@@ -82,7 +83,8 @@
{"type": "shared", "level": 2, "size": 2097152, "read_ticks": 6, "write_ticks": 6},
{"type": "shared", "level": 3, "size": 12582912, "read_ticks": 40, "write_ticks": 40}
]
}
},
"json_data_exchange": false
}
]
}
......
......@@ -69,13 +69,14 @@
{
"type": "computer",
"name": "Computer",
"software_name": "cppautopilotzigzag",
"software_name": "zigzag_autopilot_lib",
"backend": {
"type": "direct"
},
"time_model": {
"type": "constant"
},
"json_data_exchange": false,
"cycle_duration": [0,10000000]
}
]
......
......@@ -71,13 +71,13 @@
"backend": {
"type": "tcp",
"host": "::1",
"port": 4567,
"ref_id": 16384
"port": 4567
},
"time_model": {
"type": "measured"
},
"cycle_duration": [0,10000000]
"cycle_duration": [0,10000000],
"json_data_exchange": false
}
]
}
......
{
"name": "TC-1.1.1",
"map_name": "aachen",
"modules": [
{
"type": "simple_network",
"transmission_time": [0, 100000000]
}
],
"cars": [
{
"name": "Vehicle1",
"start_pos": [ -443, -170 ],
"task": {
"goals": [
{
"type": "path",
"ltl_operator": "eventually",
"path": [ [-81, -150.32] ],
"range": 5
}
]
},
"components": [
{
"type": "constant_bus",
"connected_to": [
"SteeringActuator",
"BrakingActuator",
"GasActuator",
"TrueVelocitySensor",
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"SimpleCommunicationGateway",
"Computer",
"Lidar",
"SpeedLimit"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
"physical_value_name": "steering",
"change_rate": 100.0,
"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": "speed_limit" },
{ "type": "lidar" },
{ "type": "simple_communication_gateway" },
{
"type": "computer",
"name": "Computer",
"software_name": "ema_autopilot_lib",
"backend": {
"type": "emu",
"os": "linux"
},
"time_model": {
"type": "constant"
},
"cycle_duration": [0,10000000],
"json_data_exchange": false,
"debug_flags": ["p_unsupported_syscalls"]
}
]
}
]
}
{
"name": "TC-1.1.1",
"map_name": "aachen",
"modules": [
{
"type": "simple_network",
"transmission_time": [0, 100000000]
}
],
"cars": [
{
"name": "Vehicle1",
"start_pos": [ -443, -170 ],
"task": {
"goals": [
{
"type": "path",
"ltl_operator": "eventually",
"path": [ [-81, -150.32] ],
"range": 5
}
]
},
"components": [
{
"type": "constant_bus",
"connected_to": [
"SteeringActuator",
"BrakingActuator",
"GasActuator",
"TrueVelocitySensor",
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"SimpleCommunicationGateway",
"Computer",
"Lidar",
"SpeedLimit"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
"physical_value_name": "steering",
"change_rate": 100.0,
"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": "speed_limit" },
{ "type": "lidar" },
{ "type": "simple_communication_gateway" },
{
"type": "computer",
"name": "Computer",
"software_name": "ema_autopilot_lib",
"backend": {
"type": "emu",
"os": "windows"
},
"time_model": {
"type": "constant"
},
"cycle_duration": [0,10000000],
"json_data_exchange": false,
"debug_flags": ["p_unsupported_syscalls"]
}
]
}
]
}
{
"name": "EMADL_native",
"name": "TC-1.1.1",
"map_name": "aachen",
"modules": [
{
"type": "simple_network",
"transmission_time": [0, 100000000]
}
],
"cars": [
{
"name": "EMADLTestVehicle",
"start_pos": [ 0, 0 ],
"name": "Vehicle1",
"start_pos": [ -443, -170 ],
"task": {
"goals": [
{
"type": "path",
"ltl_operator": "eventually",
"path": [ [-63.83, -171.96] ],
"path": [ [-81, -150.32] ],
"range": 5
}
]
......@@ -26,14 +32,17 @@
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"Computer"
"SimpleCommunicationGateway",
"Computer",
"Lidar",
"SpeedLimit"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
"physical_value_name": "steering",
"change_rate": 60.0,
"change_rate": 100.0,
"sensor": { "type": "sensor" }
},
{
......@@ -65,19 +74,23 @@
"physical_value_name": "true_compass"
},
{ "type": "navigation" },
{ "type": "speed_limit" },
{ "type": "lidar" },
{ "type": "simple_communication_gateway" },
{
"type": "computer",
"name": "Computer",
"software_name": "TestEMADLAP",
"software_name": "ema_autopilot_lib",
"backend": {
"type": "direct"
},
"time_model": {
"type": "constant"
},
"cycle_duration": [0,10000000]
"cycle_duration": [0,100000000],
"json_data_exchange": false
}
]
}
]
}
\ No newline at end of file
}
{
"name": "EMAM_native",
"name": "TC-1.1.1",
"map_name": "aachen",
"modules": [
{
"type": "simple_network",
"transmission_time": [0, 100000000]
}
],
"cars": [
{
"name": "EMAMTestVehicle",
"start_pos": [ 0, 0 ],
"name": "Vehicle1",
"start_pos": [ -443, -170 ],
"task": {
"goals": [
{
"type": "path",
"ltl_operator": "eventually",
"path": [ [-63.83, -171.96] ],
"path": [ [-81, -150.32] ],
"range": 5
}
]
......@@ -26,14 +32,17 @@
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"Computer"
"SimpleCommunicationGateway",
"Computer",
"Lidar",
"SpeedLimit"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
"physical_value_name": "steering",
"change_rate": 60.0,
"change_rate": 100.0,
"sensor": { "type": "sensor" }
},
{
......@@ -65,19 +74,24 @@
"physical_value_name": "true_compass"
},
{ "type": "navigation" },
{ "type": "speed_limit" },
{ "type": "lidar" },
{ "type": "simple_communication_gateway" },
{
"type": "computer",
"name": "Computer",
"software_name": "TestEMAMAP",
"backend": {
"type": "direct"
"type": "tcp",
"host": "::1",
"port": 4567
},
"time_model": {
"type": "instant"
"type": "constant"
},
"cycle_duration": [0,10000000]
"cycle_duration": [0,100000000],
"json_data_exchange": false
}
]
}
]
}
\ No newline at end of file
}
{
"name": "TC-1.1.1",
"map_name": "aachen",
"modules": [
{
"type": "simple_network",
"transmission_time": [0, 100000000]
}
],
"cars": [
{
"name": "Vehicle1",
"start_pos": [ -443, -170 ],
"task": {
"goals": [
{
"type": "path",
"ltl_operator": "eventually",
"path": [ [-81, -150.32] ],
"range": 5
}
]
},
"components": [
{
"type": "constant_bus",
"connected_to": [
"SteeringActuator",
"BrakingActuator",
"GasActuator",
"TrueVelocitySensor",
"TruePositionSensor",
"TrueCompassSensor",
"Navigation",
"SimpleCommunicationGateway",
"Computer",
"Lidar",
"SpeedLimit"
]
},
{
"type": "actuator",
"name": "SteeringActuator",
"physical_value_name": "steering",
"change_rate": 100.0,
"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": "speed_limit" },
{ "type": "lidar" },
{ "type": "simple_communication_gateway" },
{
"type": "computer",
"name": "Computer",
"software_name": "ema_test_ap",
"backend": {
"type": "emu",
"os": "auto"
},
"time_model": {
"type": "constant"
},
"cycle_duration": [0,10000000],
"json_data_exchange": false,
"debug_flags": ["p_unsupported_syscalls", "p_syscalls"]
}
]
}
]
}
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