Commit 9429dcb3 authored by Arun Das's avatar Arun Das
Browse files

Merge branch '242-106-feature/id-param_xml4gui_gtest-AlgoRoutCtrl' into 'develop' 

Components XML files for opGUI - Gtest for component Algorithm_RouteControl

See merge request !241
parents e1ced3fa 4511cd47

cmake/HelperMacros.cmake

+17 −8
Original line number Diff line number Diff line 
################################################################################

# Copyright (c) 2020-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)

#               2020 HLRS, University of Stuttgart

#               2024 Volkswagen AG								  

#

# This program and the accompanying materials are made available under the

# terms of the Eclipse Public License 2.0 which is available at
@@ -80,7 +81,7 @@ endif() 
#                         [HEADERS <headerfiles>]

#                         [INCDIRS <include-directories>]

#                         [LIBRARIES <libraries>]

#                         [UIS <qt_uis>]

#                         [GUIXML <guixmlfiles>]

#                         [FOLDER <category>]

#                         [COMPONENT <sim|core|bin|module>])

#
@@ -91,7 +92,7 @@ endif() 
#                         [HEADERS <headerfiles>]

#                         [INCDIRS <include-directories>]

#                         [LIBRARIES <libraries>]

#                         [UIS <qt_uis>]

#                         [GUIXML <guixmlfiles>]

#                         [FOLDER <category>]

#                         [COMPONENT <sim|core|bin|module>])

#
@@ -101,7 +102,7 @@ endif() 
#                         [HEADERS <headerfiles>]

#                         [INCDIRS <include-directories>]

#                         [LIBRARIES <libraries>]

#                         [UIS <qt_uis>]

#                         [GUIXML <guixmlfiles>]

#                         [DEFAULT_MAIN]

#                         [SIMCORE_DEPS <dependencies>]

#                         [RESOURCES <directories>]
@@ -113,7 +114,7 @@ endif() 
# LINKAGE        Specifies static or shared linkage for library targets

# SOURCES        Source files

# HEADERS        Header files

# UIS            Qt UI files

# GUIXML         xml files for GUI system editor

# INCDIRS        Additional private include directories

# LIBRARIES      Additional libraries to link

# DEFAULT_MAIN   Links a simple main() implementation for running GTest
@@ -135,7 +136,7 @@ endif() 
#    - Target property DEBUG_POSTFIX is set to CMAKE_DEBUG_POSTFIX

##

function(add_openpass_target)

  cmake_parse_arguments(PARSED_ARG "DEFAULT_MAIN" "NAME;TYPE;LINKAGE" "HEADERS;SOURCES;INCDIRS;LIBRARIES;UIS;SIMCORE_DEPS;RESOURCES;FOLDER;COMPONENT" ${ARGN})

  cmake_parse_arguments(PARSED_ARG "DEFAULT_MAIN" "NAME;TYPE;LINKAGE" "HEADERS;SOURCES;INCDIRS;LIBRARIES;GUIXML;SIMCORE_DEPS;RESOURCES;FOLDER;COMPONENT" ${ARGN})



  if(TARGET ${PARSED_ARG_NAME})

    message(STATUS "Target '${PARSED_ARG_NAME}' already defined. Skipping.")
@@ -165,7 +166,7 @@ function(add_openpass_target) 
        string(TOUPPER "${PARSED_ARG_LINKAGE}" PARSED_ARG_LINKAGE)

      endif()



      add_library(${PARSED_ARG_NAME} ${PARSED_ARG_LINKAGE} ${PARSED_ARG_HEADERS} ${PARSED_ARG_SOURCES} ${PARSED_ARG_UIS})

      add_library(${PARSED_ARG_NAME} ${PARSED_ARG_LINKAGE} ${PARSED_ARG_HEADERS} ${PARSED_ARG_SOURCES})

      set_target_properties(${PARSED_ARG_NAME} PROPERTIES INSTALL_RPATH "\$ORIGIN:\$ORIGIN/../${SUBDIR_LIB_EXTERNAL}:\$ORIGIN/../../${SUBDIR_LIB_EXTERNAL}:\$ORIGIN/../${SUBDIR_LIB_COMMON}:\$ORIGIN/../../${SUBDIR_LIB_COMMON}")



      if("${PARSED_ARG_LINKAGE}" STREQUAL "SHARED")
@@ -193,7 +194,7 @@ function(add_openpass_target) 
        message(WARNING "LINKAGE parameter isn't used by target type 'executable'")

      endif()



      add_executable(${PARSED_ARG_NAME} ${PARSED_ARG_HEADERS} ${PARSED_ARG_SOURCES} ${PARSED_ARG_UIS})

      add_executable(${PARSED_ARG_NAME} ${PARSED_ARG_HEADERS} ${PARSED_ARG_SOURCES})

      set_target_properties(${PARSED_ARG_NAME} PROPERTIES INSTALL_RPATH "\$ORIGIN/${SUBDIR_LIB_EXTERNAL}:\$ORIGIN/${SUBDIR_LIB_COMMON}")

      install(TARGETS ${PARSED_ARG_NAME} RUNTIME DESTINATION "${DESTDIR}")

      add_to_global_target_list(exe_target_list ${PARSED_ARG_NAME})
@@ -223,7 +224,7 @@ function(add_openpass_target) 
        )

      endif()



      add_executable(${PARSED_ARG_NAME} EXCLUDE_FROM_ALL ${PARSED_ARG_HEADERS} ${PARSED_ARG_SOURCES} ${PARSED_ARG_UIS})

      add_executable(${PARSED_ARG_NAME} EXCLUDE_FROM_ALL ${PARSED_ARG_HEADERS} ${PARSED_ARG_SOURCES})



      target_include_directories(${PARSED_ARG_NAME} PRIVATE

        ${MANTLE_TEST_INCLUDE_DIR}
@@ -441,6 +442,14 @@ function(add_openpass_target) 
        message(WARNING "RESOURCES only used for 'test' openpass targets")

      endif()

    endif()



    if(DEFINED PARSED_ARG_GUIXML)

      if("${PARSED_ARG_TYPE}" STREQUAL "library")

        foreach(XML IN LISTS PARSED_ARG_GUIXML)

          install(FILES ${XML} DESTINATION "${SUBDIR_XML_COMPONENTS}")

      endforeach()

      endif()

    endif()

  endif()

endfunction()

sim/contrib/examples/Configurations/ADAS_Static_AEB_PreventingCollisionWithObstacle/Agent_AEB.xml

+5 −7
Original line number Diff line number Diff line
@@ -266,28 +266,28 @@ 
        <parameters>

          <parameter>

            <!--parameter's title: CollisionDetectionLongitudinalBoundary-->

            <id>0</id>

            <id>CollisionDetectionLongitudinalBoundary</id>

            <type>double</type>

            <unit>m</unit>

            <value>4</value>

          </parameter>

          <parameter>

            <!--parameter's title: CollisionDetectionLateralBoundary-->

            <id>1</id>

            <id>CollisionDetectionLateralBoundary</id>

            <type>double</type>

            <unit>m</unit>

            <value>1.5</value>

          </parameter>

          <parameter>

            <!--parameter's title: TTC-->

            <id>2</id>

            <id>TTC</id>

            <type>double</type>

            <unit>s</unit>

            <value>1.5</value>

          </parameter>

          <parameter>

            <!--parameter's title: Acceleration-->

            <id>3</id>

            <id>Acceleration</id>

            <type>double</type>

            <unit>m/s^2</unit>

            <value>-8</value>
@@ -364,9 +364,7 @@ 
		  <type>double</type>

		  <!-- <title>Latency</title> -->

		  <unit>s</unit>

		  <value>

		   0

		  </value>

		  <value>0</value>

		 </parameter>

          <parameter>

            <!--parameter's title: OpeningAngleH-->

sim/contrib/examples/Configurations/PCM/Agent_Follow.xml

+43 −57
Original line number Diff line number Diff line
@@ -17,63 +17,49 @@ 
        <parameters>

          <parameter>

            <!--parameter's title: Driver aggressiveness-->

            <id>0</id>

            <id>DrivingAggressiveness</id>

            <type>double</type>

            <unit></unit>

            <value>1</value>

          </parameter>

          <parameter>

            <!--parameter's title: Max. engine power-->

            <id>1</id>

            <type>double</type>

            <unit>W</unit>

            <value>200000</value>

          </parameter>

          <parameter>

            <!--parameter's title: Min. brake torque-->

            <id>2</id>

            <type>double</type>

            <unit>Nm</unit>

            <value>-10000</value>

          </parameter>

          <parameter>

            <!--parameter's title: Kp of the pedals PID control-->

            <id>3</id>

            <id>PedalsKp</id>

            <type>double</type>

            <unit></unit>

            <value>15</value>

          </parameter>

          <parameter>

            <!--parameter's title: Ki of the pedals PID control-->

            <id>4</id>

            <id>PedalsKi</id>

            <type>double</type>

            <unit></unit>

            <value>-70</value>

          </parameter>

          <parameter>

            <!--parameter's title: Kd of the pedals PID control-->

            <id>5</id>

            <id>PedalsKd</id>

            <type>double</type>

            <unit></unit>

            <value>0.0</value>

          </parameter>

          <parameter>

            <!--parameter's title: Kp of the steering PID control-->

            <id>6</id>

            <id>SteeringKp</id>

            <type>double</type>

            <unit></unit>

            <value>-18</value>

          </parameter>

          <parameter>

            <!--parameter's title: Ki of the steering PID control-->

            <id>7</id>

            <id>SteeringKi</id>

            <type>double</type>

            <unit></unit>

            <value>-0.6</value>

          </parameter>

          <parameter>

            <!--parameter's title: Kd of the steering PID control-->

            <id>8</id>

            <id>SteeringKd</id>

            <type>double</type>

            <unit></unit>

            <value>0.0</value>
@@ -97,28 +83,28 @@ 
        <parameters>

          <parameter>

            <!--parameter's title: FrontAxlePercentage-->

            <id>0</id>

            <id>FrontAxlePercentage</id>

            <type>double</type>

            <unit/>

            <value>0.6</value>

          </parameter>

          <parameter>

            <!--parameter's title: BrakeDecelerationInclineRate-->

            <id>1</id>

            <id>BrakeDecelerationInclineRate</id>

            <type>double</type>

            <unit>m/s^3</unit>

            <value>70</value>

          </parameter>

          <parameter>

            <!--parameter's title: BrakeDecelerationDeclineRate-->

            <id>2</id>

            <id>BrakeDecelerationDeclineRate</id>

            <type>double</type>

            <unit>m/s^3</unit>

            <value>70</value>

          </parameter>

          <parameter>

            <!--parameter's title: BrakeResponseTimeMs-->

            <id>3</id>

            <id>BrakeResponseTimeMs</id>

            <type>double</type>

            <unit>ms</unit>

            <value>0</value>
@@ -142,14 +128,14 @@ 
        <parameters>

          <parameter>

            <!--parameter's title: TypeDrivetrain-->

            <id>1</id>

            <id>TypeDrivetrain</id>

            <type>string</type>

            <unit/>

            <value>FWD</value>

          </parameter>

          <parameter>

            <!--parameter's title: FrontRatioAWD-->

            <id>2</id>

            <id>FrontRatioAWD</id>

            <type>double</type>

            <unit/>

            <value>0.5</value>
@@ -173,21 +159,21 @@ 
        <parameters>

          <parameter>

            <!--parameter's title: Tire's toe-->

            <id>0</id>

            <id>Toe</id>

            <type>doubleVector</type>

            <unit/>

            <value>0.0,0.0</value>

          </parameter>

		  <parameter>

            <!--parameter's title: Elasticity-->

            <id>1</id>

            <id>Elasticity</id>

            <type>doubleVector</type>

            <unit/>

            <value>20000</value>

          </parameter>

		  <parameter>

            <!--parameter's title: Overall caster-->

            <id>2</id>

            <id>Caster</id>

            <type>doubleVector</type>

            <unit/>

            <value>0.05</value>
@@ -211,168 +197,168 @@ 
        <parameters>

          <parameter>

            <!--parameter's title: Tire's long. max. mu at reference Force -->

            <id>1</id>

            <id>MuTireMaxXFRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>1.1,1.1</value>

          </parameter>

          <parameter>

            <!--parameter's title: Tire's long. max. mu at 2*reference Force -->

            <id>2</id>

            <id>MuTireMaxX2FRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>1.1,1.1</value>

          </parameter>

          <parameter>

            <!--parameter's title: Tire's long. slide mu at reference Force-->

            <id>3</id>

            <id>MuTireSlideXFRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>1.0,1.0</value>

          </parameter>

          <parameter>

            <!--parameter's title: Tire's long. slide mu at 2*reference Force-->

            <id>4</id>

            <id>MuTireSlideX2FRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>1.0,1.0</value>

          </parameter>

          <parameter>

            <!--parameter's title: Tire's long. max slip at reference Force-->

            <id>5</id>

            <id>SlipTireMaxXFRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>0.21,0.21</value>

          </parameter>

          <parameter>

            <!--parameter's title: Tire's long. max slip at 2*reference Force-->

            <id>6</id>

            <id>SlipTireMaxX2FRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>0.21,0.21</value>

          </parameter>

          <parameter>

            <!--parameter's title: Tire's long. slide slip at reference Force-->

            <id>7</id>

            <id>SlipTireSlideXFRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>0.5,0.5</value>

          </parameter>

          <parameter>

            <!--parameter's title: Tire's long. slide slip at 2*reference Force-->

            <id>8</id>

            <id>SlipTireSlideX2FRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>0.5,0.5</value>

          </parameter>

          <parameter>

            <!--parameter's title: Initial long inclination at reference Force-->

            <id>9</id>

            <id>F0pXFRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>15,15</value>

          </parameter>

          <parameter>

            <!--parameter's title: Initial long inclination at 2*reference Force-->

            <id>10</id>

            <id>F0pX2FRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>15,15</value>

          </parameter>

          <parameter>

            <!--parameter's title: Tire's lat. max. mu at reference Force-->

            <id>11</id>

            <id>MuTireMaxYFRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>1.1,1.1</value>

          </parameter>

          <parameter>

            <!--parameter's title: Tire's lat. max. mu at 2*reference Force-->

            <id>12</id>

            <id>MuTireMaxY2FRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>1.1,1.1</value>

          </parameter>

          <parameter>

            <!--parameter's title: Tire's lat. slide mu at reference Force-->

            <id>13</id>

            <id>MuTireSlideYFRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>1,1</value>

          </parameter>

          <parameter>

            <!--parameter's title: Tire's lat. slide mu at 2*reference Force-->

            <id>14</id>

            <id>MuTireSlideY2FRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>1,1</value>

          </parameter>

          <parameter>

            <!--parameter's title: Tire's lat. max slip at reference Force-->

            <id>15</id>

            <id>SlipTireMaxYFRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>0.21,0.21</value>

          </parameter>

          <parameter>

            <!--parameter's title: Tire's lat. max slip at 2*reference Force-->

            <id>16</id>

            <id>SlipTireMaxY2FRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>0.21,0.21</value>

          </parameter>

          <parameter>

            <!--parameter's title: Tire's lat. slide slip at reference Force-->

            <id>17</id>

            <id>SlipTireSlideYFRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>0.5,0.5</value>

          </parameter>

          <parameter>

            <!--parameter's title: Tire's lat. slide slip at 2*reference Force-->

            <id>18</id>

            <id>SlipTireSlideY2FRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>0.5,0.5</value>

          </parameter>

          <parameter>

            <!--parameter's title: Initial lat. inclination at reference Force-->

            <id>19</id>

            <id>F0pYFRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>15,15</value>

          </parameter>

          <parameter>

            <!--parameter's title: Initial lat. inclination at 2*reference Force-->

            <id>20</id>

            <id>F0pY2FRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>15,15</value>

          </parameter>

          <parameter>

            <!--parameter's title: Vertical reference Force-->

            <id>21</id>

            <id>FRef</id>

            <type>doubleVector</type>

            <unit/>

            <value>1,1</value>

          </parameter>

          <parameter>

            <!--parameter's title: Vertical reference Force Normalized-->

            <id>22</id>

            <id>FRefNormalized</id>

            <type>boolVector</type>

            <unit/>

            <value>1,1</value>

          </parameter>

          <parameter>

            <!--parameter's title: Inertia-->

            <id>23</id>

            <id>Inertia</id>

            <type>doubleVector</type>

            <unit>kgm²</unit>

            <value>2,2</value>

          </parameter>

          <parameter>

            <!--parameter's title: Pneumatic trail-->

            <id>24</id>

            <id>PneumaticTrail</id>

            <type>doubleVector</type>

            <unit>m</unit>

            <value>0.03,0.03</value>
@@ -412,14 +398,14 @@ 
        <parameters>

          <parameter>

            <!--parameter's title: Spring coefficient-->

            <id>0</id>

            <id>SpringCoefficient</id>

            <type>doubleVector</type>

            <unit/>

            <value>1600000,1600000</value>

          </parameter>

          <parameter>

            <!--parameter's title: Damper coefficient-->

            <id>1</id>

            <id>DamperCoefficient</id>

            <type>doubleVector</type>

            <unit/>

            <value>18000,18000</value>
@@ -443,7 +429,7 @@ 
		<parameters>

		 <parameter>

		  <!--parameter's title: penetrationTime_ms-->

		  <id>0</id>

		  <id>penetrationTime</id>

		  <type>int</type>

		  <unit>ms</unit>

		  <value>30</value>

sim/contrib/examples/Configurations/StaticAgentCollision/SystemConfig.xml

+56 −42

File changed.

Preview size limit exceeded, changes collapsed.

sim/src/components/Action_BrakeSystem/Action_BrakeSystem.xml

0 → 100644
+65 −0
Original line number Diff line number Diff line 
<?xml version="1.0" encoding="UTF-8"?>

<component>

  <type>Action</type>

  <title>Action_BrakeSystem</title>

  <library>Action_BrakeSystem</library>  

  <schedule>

    <offset>0</offset>

    <cycle>1</cycle>

    <response>0</response>

  </schedule>

  <parameters>

	  <parameter>

      <id>FrontAxlePercentage</id>

      <type>double</type>

		  <title>FrontAxlePercentage</title>

      <unit/>

      <value>0.6</value>

    </parameter>

	  <parameter>

      <id>BrakeDecelerationInclineRate</id>

      <type>double</type>

		  <title>BrakeDecelerationInclineRate</title>

      <unit>m/s^3</unit>

      <value>70</value>

    </parameter>

    <parameter>

      <id>BrakeDecelerationDeclineRate</id>

      <type>double</type>

		  <title>BrakeDecelerationDeclineRate</title>

      <unit>m/s^3</unit>

      <value>70</value>

    </parameter>

	  <parameter>

      <id>BrakeResponseTimeMs</id>

      <type>double</type>

		  <title>BrakeResponseTimeMs</title>

      <unit>ms</unit>

      <value>25</value>

    </parameter>

  </parameters>

  <inputs>

    <input>

      <id>0</id>

      <type>bool</type>

      <title>Request Prefill</title>

      <unit></unit>

      <cardinality>1</cardinality>

    </input>

	<input>

      <id>1</id>

      <type>LongitudinalSignal</type>

      <title>Longitudinal Control</title>

      <unit></unit>

      <cardinality>1</cardinality>

    </input>

  </inputs>

  <outputs>

    <output>

      <id>0</id>

      <type>doubleVector</type>

      <title>Tire Brake Torque</title>

      <unit></unit>

    </output>

  </outputs>

</component>

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