abstract monitoring + enforcement examples

examples/SpeedControlModule/modelDetection/wp42/controllerB/compile.sh

+BIP_PATH=/home/siemens/bip
+echo "Compiling bip example..."
+source compile_run_bip.sh -c controllerB Compound
+mv output/build/system .
+cd output
+echo "Generating .so file ..."
+g++ Deploy/Deploy.cpp  controllerB/src/controllerB/* ../ext-cpp/utilities.cpp -I controllerB/include  -I ../ext-cpp/  -I $BIP2_ENGINE_GENERIC_DIR -I $BIP2_ENGINE_SPECIFIC_DIR  -shared -o libProject.so -Wl,--whole-archive -L $BIP_PATH/distribution/build/bip-full/BIP-reference-engine-*/lib/static -lengine -Wl,--no-whole-archive -fPIC
+mv libProject.so ../
+echo "Created!"
\ No newline at end of file

examples/SpeedControlModule/modelDetection/wp42/controllerB/compile_run_bip.sh

+#!/bin/bash
+echo $BIP2_ENGINE_LIB_DIR
+
+NPROC=$(nproc)
+
+if [[ ( -n "$1" ) && ( "$1" == '-'* ) ]] 
+then
+sss=1
+else
+echo "Misses arg1: specify what to do!"
+exit 1
+fi
+
+
+
+if [ -n "$2" ] 
+then
+strPack="$2"
+else
+#echo "Misses arg2: package directory! Default value: Package"
+strPack="Package"
+fi
+
+
+
+if [ -n "$3" ] 
+then
+strComp="$3()"
+else
+#echo "Misses arg3: root instance name! Default value: Compound()"
+strComp="Compound()"
+fi
+
+
+if [[ "$1" == *['c']* ]]
+then
+echo "Compiling ..."
+rm -fr output/
+mkdir -p output
+ls
+echo "=========================================="
+echo "==============   BIPCompile ===================="
+echo "=========================================="
+bipc.sh -I . -p $strPack -d "$strComp" --gencpp-output-dir output --gencpp-ld-l rt  --gencpp-cc-I $PWD/ext-cpp  --gencpp-follow-used-packages 
+mkdir -p output/build
+cd output/build
+pwd
+echo "=========================================="
+echo "==============    CMAKE     ====================="
+echo "=========================================="
+cmake ..
+
+echo "=========================================="
+echo "==============    CodeGen   ===================="
+echo "=========================================="
+make -j$NPROC
+pwd
+rm -f ../../system
+cp  ./system ../..
+cd ../..
+fi
+
+
+
+

examples/SpeedControlModule/modelDetection/wp42/controllerB/controllerB.bip

+@cpp(src="ext-cpp/utilities.cpp",include="utilities.hpp")
+package controllerB
+
+	extern function printf(string, float)
+	extern function printf(string)
+	extern function float speed_factor(float)
+
+	port type floatPort (float d)   
+	port type silent ()
+
+
+	connector type rendezVous (floatPort p1, floatPort p2)
+		define p1 p2
+		on p1 p2 down {p2.d = p1.d;}
+	end
+
+	connector type noChange (silent p1, silent p2, silent p3)
+		define p1 p2 p3
+	end
+
+	atom type Brake ()
+		data float deltaSpeed
+		export port silent tick()
+		port floatPort brake(deltaSpeed)
+		export port floatPort changeSpeed(deltaSpeed)
+
+		place Idle, Action
+		initial to Idle
+		on tick from Idle to Idle
+		on brake from Idle to Action provided (deltaSpeed < 0) do {printf("\033[01;31m Braking system enabled: %f \033[0m\n", deltaSpeed);}
+		on changeSpeed from Action to Idle do { deltaSpeed = 0; }
+
+		priority brakeCommand tick < brake
+	end
+
+	atom type Throttle ()
+		data float deltaSpeed
+		export port silent tick()
+		port floatPort throttle(deltaSpeed)
+		export port floatPort changeSpeed(deltaSpeed)
+
+		place Idle, Action
+		initial to Idle
+		on tick from Idle to Idle
+		on throttle from Idle to Action provided (deltaSpeed > 0) do {printf("\033[01;32m Throttle system enabled: %f \033[0m\n", deltaSpeed);}
+		on changeSpeed from Action to Idle do { deltaSpeed = 0; }
+
+		priority throttleCommand tick < throttle
+	end
+
+	atom type SpeedSensor()
+		data float speed
+		data float deltaSpeed
+		export port silent tick()
+		export port floatPort changeSpeed(deltaSpeed)
+
+		place Idle
+		initial to Idle
+		on tick from Idle to Idle do {
+			//speed = speed - 0.01;
+		}
+		on changeSpeed from Idle to Idle do { 
+				speed = speed + speed_factor(deltaSpeed)*deltaSpeed;
+		}				
+			
+	end
+ 
+	compound type Compound ()
+		
+		component Brake brake()
+		component Throttle throttle()
+		component SpeedSensor speedSensor()
+		
+
+		connector rendezVous throttleAction(throttle.changeSpeed, speedSensor.changeSpeed)
+		connector rendezVous brakeAction(brake.changeSpeed, speedSensor.changeSpeed)
+		connector noChange noChange(brake.tick, throttle.tick,speedSensor.tick)
+	end
+
+ 
+end

examples/SpeedControlModule/modelDetection/wp42/controllerB/ext-cpp/Inference.py

+import os
+import sys
+import cv2
+import numpy as np
+import onnxruntime
+#import pyautogui
+CLASSES = [100, 120, 20, 30, 40, 15, 50, 60, 70, 80]
+def preprocess(img, input_size, swap=(2, 0, 1)):
+    if len(img.shape) == 3:
+        padded_img = np.ones((input_size[0], input_size[1], 3), dtype=np.uint8) * 114
+    else:
+        padded_img = np.ones(input_size, dtype=np.uint8) * 114
+
+    r = min(input_size[0] / img.shape[0], input_size[1] / img.shape[1])
+    resized_img = cv2.resize(
+        img,
+        (int(img.shape[1] * r), int(img.shape[0] * r)),
+        interpolation=cv2.INTER_LINEAR,
+    ).astype(np.uint8)
+    padded_img[: int(img.shape[0] * r), : int(img.shape[1] * r)] = resized_img
+
+    padded_img = padded_img.transpose(swap)
+    padded_img = np.ascontiguousarray(padded_img, dtype=np.float32)
+    return padded_img, r
+
+def nms(boxes, scores, nms_thr):
+    """Single class NMS implemented in Numpy."""
+    x1 = boxes[:, 0]
+    y1 = boxes[:, 1]
+    x2 = boxes[:, 2]
+    y2 = boxes[:, 3]
+
+    areas = (x2 - x1 + 1) * (y2 - y1 + 1)
+    order = scores.argsort()[::-1]
+
+    keep = []
+    while order.size > 0:
+        i = order[0]
+        keep.append(i)
+        xx1 = np.maximum(x1[i], x1[order[1:]])
+        yy1 = np.maximum(y1[i], y1[order[1:]])
+        xx2 = np.minimum(x2[i], x2[order[1:]])
+        yy2 = np.minimum(y2[i], y2[order[1:]])
+
+        w = np.maximum(0.0, xx2 - xx1 + 1)
+        h = np.maximum(0.0, yy2 - yy1 + 1)
+        inter = w * h
+        ovr = inter / (areas[i] + areas[order[1:]] - inter)
+
+        inds = np.where(ovr <= nms_thr)[0]
+        order = order[inds + 1]
+
+    return keep
+
+def multiclass_nms(boxes, scores, nms_thr, score_thr, class_agnostic=True):
+    """Multiclass NMS implemented in Numpy"""
+    if class_agnostic:
+        nms_method = multiclass_nms_class_agnostic
+    else:
+        nms_method = multiclass_nms_class_aware
+    return nms_method(boxes, scores, nms_thr, score_thr)
+
+
+def multiclass_nms_class_aware(boxes, scores, nms_thr, score_thr):
+    """Multiclass NMS implemented in Numpy. Class-aware version."""
+    final_dets = []
+    num_classes = scores.shape[1]
+    for cls_ind in range(num_classes):
+        cls_scores = scores[:, cls_ind]
+        valid_score_mask = cls_scores > score_thr
+        if valid_score_mask.sum() == 0:
+            continue
+        else:
+            valid_scores = cls_scores[valid_score_mask]
+            valid_boxes = boxes[valid_score_mask]
+            keep = nms(valid_boxes, valid_scores, nms_thr)
+            if len(keep) > 0:
+                cls_inds = np.ones((len(keep), 1)) * cls_ind
+                dets = np.concatenate(
+                    [valid_boxes[keep], valid_scores[keep, None], cls_inds], 1
+                )
+                final_dets.append(dets)
+    if len(final_dets) == 0:
+        return None
+    return np.concatenate(final_dets, 0)
+
+
+def multiclass_nms_class_agnostic(boxes, scores, nms_thr, score_thr):
+    """Multiclass NMS implemented in Numpy. Class-agnostic version."""
+    cls_inds = scores.argmax(1)
+    cls_scores = scores[np.arange(len(cls_inds)), cls_inds]
+
+    valid_score_mask = cls_scores > score_thr
+    if valid_score_mask.sum() == 0:
+        return None
+    valid_scores = cls_scores[valid_score_mask]
+    valid_boxes = boxes[valid_score_mask]
+    valid_cls_inds = cls_inds[valid_score_mask]
+    keep = nms(valid_boxes, valid_scores, nms_thr)
+    if keep:
+        dets = np.concatenate(
+            [valid_boxes[keep], valid_scores[keep, None], valid_cls_inds[keep, None]], 1
+        )
+    return dets
+    
+def demo_postprocess(outputs, img_size, p6=False):
+
+    grids = []
+    expanded_strides = []
+
+    if not p6:
+        strides = [8, 16, 32]
+    else:
+        strides = [8, 16, 32, 64]
+
+    hsizes = [img_size[0] // stride for stride in strides]
+    wsizes = [img_size[1] // stride for stride in strides]
+
+    for hsize, wsize, stride in zip(hsizes, wsizes, strides):
+        xv, yv = np.meshgrid(np.arange(wsize), np.arange(hsize))
+        grid = np.stack((xv, yv), 2).reshape(1, -1, 2)
+        grids.append(grid)
+        shape = grid.shape[:2]
+        expanded_strides.append(np.full((*shape, 1), stride))
+
+    grids = np.concatenate(grids, 1)
+    expanded_strides = np.concatenate(expanded_strides, 1)
+    outputs[..., :2] = (outputs[..., :2] + grids) * expanded_strides
+    outputs[..., 2:4] = np.exp(outputs[..., 2:4]) * expanded_strides
+
+    return outputs
+
+#img = pyautogui.screenshot(region = [1, 66, 800, 700])
+#origin_img = cv2.cvtColor(np.array(img), cv2.COLOR_BGR2RGB)
+
+origin_img = cv2.imread(sys.argv[2])
+
+img, ratio = preprocess(origin_img, [640, 640])
+
+session = onnxruntime.InferenceSession(sys.argv[1])
+
+ort_inputs = {session.get_inputs()[0].name: img[None, :, :, :]}
+output = session.run(None, ort_inputs)
+predictions = demo_postprocess(output[0], [640, 640])[0]
+
+boxes = predictions[:, :4]
+scores = predictions[:, 4:5] * predictions[:, 5:]
+
+boxes_xyxy = np.ones_like(boxes)
+boxes_xyxy[:, 0] = boxes[:, 0] - boxes[:, 2]/2.
+boxes_xyxy[:, 1] = boxes[:, 1] - boxes[:, 3]/2.
+boxes_xyxy[:, 2] = boxes[:, 0] + boxes[:, 2]/2.
+boxes_xyxy[:, 3] = boxes[:, 1] + boxes[:, 3]/2.
+boxes_xyxy /= ratio
+dets = multiclass_nms(boxes_xyxy, scores, nms_thr=0.45, score_thr=0.1)
+if dets is not None:
+    final_boxes, final_scores, final_cls_inds = dets[:, :4], dets[:, 4], dets[:, 5]
+    cls_ind = int(final_cls_inds[0])
+    score = final_scores[0]
+    if score > 0.9:
+      print(CLASSES[cls_ind])

examples/SpeedControlModule/modelDetection/wp42/controllerB/ext-cpp/utilities.cpp

+#include"utilities.hpp"
+
+
+float speed_factor(float deltaSpeed) {
+
+    return deltaSpeed > 0 ? 0.99 : 1.02;
+}
\ No newline at end of file

examples/SpeedControlModule/modelDetection/wp42/controllerB/ext-cpp/utilities.hpp

+#ifndef _Utilities
+#define _Utilities
+
+#include <stdio.h>
+#include <string>
+#include <vector>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/wait.h>
+#include <math.h>
+#include <cstdlib>
+#include <iostream>
+#include <sstream>
+#include <sys/time.h>
+#include <limits> 
+#include <fstream>
+#include <cstring>
+#include <unistd.h>
+
+using namespace std;
+
+float speed_factor(float);
+
+#endif

examples/SpeedControlModule/modelDetection/wp42/controllerB/output/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8)
+# 2.8.3 has "CMAKE_CURRENT_LIST_DIR" variable. We have 2.8.2 deployed, 
+# so using "CMAKE_SOURCE_DIR" instead.
+set(GEN_ROOT ${CMAKE_SOURCE_DIR})
+
+# Select flags.
+SET(CMAKE_CXX_FLAGS "-Wall -std=c++0x ")
+SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -std=c++0x ")
+SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG -std=c++0x ")
+SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g -std=c++0x ")
+SET(CMAKE_EXE_LINKER_FLAGS "")
+
+SET(CMAKE_CXX_FLAGS_PROFILING "-O0 -g -pg")
+SET(CMAKE_EXE_LINKER_FLAGS_PROFILING "-pg ")
+
+# if none provided elsewhere, defaults to
+# values from environment variables
+IF(NOT BIP2_ENGINE_GENERIC_DIR)
+  SET(BIP2_ENGINE_GENERIC_DIR $ENV{BIP2_ENGINE_GENERIC_DIR})
+ENDIF()
+
+IF(NOT BIP2_ENGINE_SPECIFIC_DIR)
+  SET(BIP2_ENGINE_SPECIFIC_DIR $ENV{BIP2_ENGINE_SPECIFIC_DIR})
+ENDIF()
+
+IF(NOT BIP2_ENGINE_LIB_DIR)
+  SET(BIP2_ENGINE_LIB_DIR $ENV{BIP2_ENGINE_LIB_DIR})
+ENDIF()
+
+include_directories(${BIP2_ENGINE_GENERIC_DIR})
+include_directories(${BIP2_ENGINE_SPECIFIC_DIR})
+
+# user include dir
+include_directories(/home/siemens/bip/examples/SpeedControlModule/modelDetection/wp42/controllerB/ext-cpp)
+
+# For package controllerB
+include_directories(${GEN_ROOT}/controllerB/include)
+
+add_subdirectory(${GEN_ROOT}/controllerB)
+
+set(CUSTOM_LIB_DIRS )
+
+# Following only for building from instances.
+find_library(libengine_path engine ${BIP2_ENGINE_LIB_DIR} ${CUSTOM_LIB_DIRS})
+
+# user lib
+find_library(RT_path rt PATHS ${CUSTOM_LIB_DIRS})
+
+set(USER_EXTRA_SRC)
+
+set(USR_EXTRA_OBJ)
+
+add_executable(system
+  ${GEN_ROOT}/Deploy/Deploy.cpp
+  ${USER_EXTRA_SRC}
+  ${USER_EXTRA_OBJ})
+
+target_link_libraries(system 
+  pack__controllerB ${libengine_path}
+  ${RT_path}
+)

examples/SpeedControlModule/modelDetection/wp42/controllerB/output/Deploy/Deploy.cpp

+#include "Deploy.hpp"
+
+#include <Launcher.hpp>
+
+/*
+ * The "static" includes (the one we use inconditionnaly)
+ */
+
+int main(int argc, char **argv) {
+    int ret = EXIT_SUCCESS;
+
+    // deploy the system corresponding to the root component
+    Component &component = *deploy(argc, argv);
+
+    // create an engine launcher
+    Launcher launcher(argc, argv, component);
+
+    // initialize the launcher (components, etc.)
+    ret = launcher.initialize();
+
+    // run the engine
+    if (ret == EXIT_SUCCESS) {
+      ret = launcher.launch();
+    }
+
+    return ret;
+}
+
+Component* deploy(int argc __attribute__((unused)), char **argv __attribute__((unused))){
+    // Top is Comp__ROOT
+
+
+
+
+    staticallocated::port__ROOT__brake__tick.addInternalPort(staticallocated::iport__ROOT__brake__tick);
+
+    staticallocated::port__ROOT__brake__changeSpeed.addInternalPort(staticallocated::iport__ROOT__brake__changeSpeed);
+
+    // Runtime init for Atom: Comp__ROOT__brake
+    // staticallocated::Comp__ROOT__brake
+
+
+
+
+
+    staticallocated::port__ROOT__throttle__tick.addInternalPort(staticallocated::iport__ROOT__throttle__tick);
+
+    staticallocated::port__ROOT__throttle__changeSpeed.addInternalPort(staticallocated::iport__ROOT__throttle__changeSpeed);
+
+    // Runtime init for Atom: Comp__ROOT__throttle
+    // staticallocated::Comp__ROOT__throttle
+
+
+
+
+    staticallocated::port__ROOT__speedSensor__tick.addInternalPort(staticallocated::iport__ROOT__speedSensor__tick);
+
+    staticallocated::port__ROOT__speedSensor__changeSpeed.addInternalPort(staticallocated::iport__ROOT__speedSensor__changeSpeed);
+
+    // Runtime init for Atom: Comp__ROOT__speedSensor
+    // staticallocated::Comp__ROOT__speedSensor
+
+
+
+
+
+
+
+
+
+
+
+
+    // Runtime init for Compound: Comp__ROOT
+    // staticallocated::Comp__ROOT
+
+    // Finished: Comp__ROOT
+    return &(staticallocated::Comp__ROOT);
+}
+
+bool isSerializeEnabled() {
+    return false;
+}
+
+void serialize(char **cbuf __attribute__((unused)), size_t *clen __attribute__((unused))){
+    assert(false);
+}
+
+void deserialize(const char *buf __attribute__((unused)), size_t len __attribute__((unused))){
+    assert(false);
+}

examples/SpeedControlModule/modelDetection/wp42/controllerB/output/Deploy/Deploy.hpp

+// here we should have includes for all used types
+// from all packages.
+#include "DeployTypes.hpp"
+
+Component* deploy(int argc, char **argv);
+bool isSerializeEnabled();
+void serialize(char **buf, size_t *len);
+void deserialize(const char *buf, size_t len);
+
+namespace staticallocated{
+
+    // data param for Comp__ROOT./
+    
+
+    AtomIPort__controllerB__silent iport__ROOT__brake__tick("tick");
+
+    AtomIPort__controllerB__floatPort iport__ROOT__brake__brake("brake");
+
+    AtomIPort__controllerB__floatPort iport__ROOT__brake__changeSpeed("changeSpeed");
+
+    AtomEPort__controllerB__silent port__ROOT__brake__tick("tick", false);
+
+    AtomEPort__controllerB__floatPort port__ROOT__brake__changeSpeed("changeSpeed", false);
+
+    // static init for Atom: Comp__ROOT__brake
+    
+
+    AT__controllerB__Brake Comp__ROOT__brake(
+     "brake"
+     , iport__ROOT__brake__tick, iport__ROOT__brake__brake, iport__ROOT__brake__changeSpeed
+     
+     , port__ROOT__brake__tick, port__ROOT__brake__changeSpeed
+     
+     
+    );
+
+
+    AtomIPort__controllerB__silent iport__ROOT__throttle__tick("tick");
+
+    AtomIPort__controllerB__floatPort iport__ROOT__throttle__throttle("throttle");
+
+    AtomIPort__controllerB__floatPort iport__ROOT__throttle__changeSpeed("changeSpeed");
+
+    AtomEPort__controllerB__silent port__ROOT__throttle__tick("tick", false);
+
+    AtomEPort__controllerB__floatPort port__ROOT__throttle__changeSpeed("changeSpeed", false);
+
+    // static init for Atom: Comp__ROOT__throttle
+    
+
+    AT__controllerB__Throttle Comp__ROOT__throttle(
+     "throttle"
+     , iport__ROOT__throttle__tick, iport__ROOT__throttle__throttle, iport__ROOT__throttle__changeSpeed
+     
+     , port__ROOT__throttle__tick, port__ROOT__throttle__changeSpeed
+     
+     
+    );
+
+
+    AtomIPort__controllerB__silent iport__ROOT__speedSensor__tick("tick");
+
+    AtomIPort__controllerB__floatPort iport__ROOT__speedSensor__changeSpeed("changeSpeed");
+
+    AtomEPort__controllerB__silent port__ROOT__speedSensor__tick("tick", false);
+
+    AtomEPort__controllerB__floatPort port__ROOT__speedSensor__changeSpeed("changeSpeed", false);
+
+    // static init for Atom: Comp__ROOT__speedSensor
+    
+
+    AT__controllerB__SpeedSensor Comp__ROOT__speedSensor(
+     "speedSensor"
+     , iport__ROOT__speedSensor__tick, iport__ROOT__speedSensor__changeSpeed
+     
+     , port__ROOT__speedSensor__tick, port__ROOT__speedSensor__changeSpeed
+     
+     
+    );
+
+
+    QPR__controllerB__floatPort ref__ROOT__throttleAction__p1(port__ROOT__throttle__changeSpeed, false);
+
+    QPR__controllerB__floatPort ref__ROOT__throttleAction__p2(port__ROOT__speedSensor__changeSpeed, false);
+
+    ConnT__controllerB__rendezVous Conn__ROOT__throttleAction(
+        "throttleAction",
+        ref__ROOT__throttleAction__p1, ref__ROOT__throttleAction__p2
+        
+        );
+
+    QPR__controllerB__floatPort ref__ROOT__brakeAction__p1(port__ROOT__brake__changeSpeed, false);
+
+    QPR__controllerB__floatPort ref__ROOT__brakeAction__p2(port__ROOT__speedSensor__changeSpeed, false);
+
+    ConnT__controllerB__rendezVous Conn__ROOT__brakeAction(
+        "brakeAction",
+        ref__ROOT__brakeAction__p1, ref__ROOT__brakeAction__p2
+        
+        );
+
+    QPR__controllerB__silent ref__ROOT__noChange__p1(port__ROOT__brake__tick, false);
+
+    QPR__controllerB__silent ref__ROOT__noChange__p2(port__ROOT__throttle__tick, false);
+
+    QPR__controllerB__silent ref__ROOT__noChange__p3(port__ROOT__speedSensor__tick, false);
+
+    ConnT__controllerB__noChange Conn__ROOT__noChange(
+        "noChange",
+        ref__ROOT__noChange__p1, ref__ROOT__noChange__p2, ref__ROOT__noChange__p3
+        
+        );
+
+    // static init for Compound: Comp__ROOT
+
+    CT__controllerB__Compound Comp__ROOT(
+      "ROOT"
+     , Comp__ROOT__brake, Comp__ROOT__throttle, Comp__ROOT__speedSensor
+     
+     , Conn__ROOT__throttleAction, Conn__ROOT__brakeAction, Conn__ROOT__noChange
+     
+     
+     
+     
+    );
+
+
+// End of namespace.
+};

examples/SpeedControlModule/modelDetection/wp42/controllerB/output/Deploy/DeployTypes.hpp

+// All Types used in deployed system
+
+#include <controllerB/CT__controllerB__Compound.hpp>
+
+#include <controllerB/AT__controllerB__Brake.hpp>
+
+#include <controllerB/AtomIPort__controllerB__silent.hpp>
+
+#include <controllerB/AtomIPort__controllerB__floatPort.hpp>
+
+#include <controllerB/AtomIPort__controllerB__floatPort.hpp>
+
+#include <controllerB/AtomEPort__controllerB__silent.hpp>
+
+#include <controllerB/AtomEPort__controllerB__floatPort.hpp>
+
+#include <controllerB/AT__controllerB__Throttle.hpp>
+
+#include <controllerB/AtomIPort__controllerB__silent.hpp>
+
+#include <controllerB/AtomIPort__controllerB__floatPort.hpp>
+
+#include <controllerB/AtomIPort__controllerB__floatPort.hpp>
+
+#include <controllerB/AtomEPort__controllerB__silent.hpp>
+
+#include <controllerB/AtomEPort__controllerB__floatPort.hpp>
+
+#include <controllerB/AT__controllerB__SpeedSensor.hpp>
+
+#include <controllerB/AtomIPort__controllerB__silent.hpp>
+
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+
+#include <controllerB/AtomEPort__controllerB__floatPort.hpp>
+
+#include <controllerB/QPR__controllerB__floatPort.hpp>
+
+#include <controllerB/QPR__controllerB__floatPort.hpp>
+
+#include <controllerB/ConnT__controllerB__rendezVous.hpp>
+
+#include <controllerB/QPR__controllerB__floatPort.hpp>
+
+#include <controllerB/QPR__controllerB__floatPort.hpp>
+
+#include <controllerB/ConnT__controllerB__rendezVous.hpp>
+
+#include <controllerB/QPR__controllerB__silent.hpp>
+
+#include <controllerB/QPR__controllerB__silent.hpp>
+
+#include <controllerB/QPR__controllerB__silent.hpp>
+
+#include <controllerB/ConnT__controllerB__noChange.hpp>

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+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/usr/local")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
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+

examples/SpeedControlModule/modelDetection/wp42/controllerB/output/controllerB/CMakeLists.txt

+#start
+cmake_minimum_required(VERSION 2.8)
+
+##set(ATOM_FILES)
+##set(COMPOUND_FILES)
+set(PORT_FILES)
+set(TYPE_FILES)
+##set(CONNECTOR_FILES)
+
+set(EXTRA_SRC)
+set(EXTRA_OBJ)
+
+# user include dir
+include_directories(/home/siemens/bip/examples/SpeedControlModule/modelDetection/wp42/controllerB/ext-cpp)
+
+# for @cpp(src="...") extra files
+list(APPEND EXTRA_SRC /home/siemens/bip/examples/SpeedControlModule/modelDetection/wp42/controllerB/./ext-cpp/utilities.cpp)
+
+
+
+# /home/siemens/bip/examples/SpeedControlModule/modelDetection/wp42/controllerB/controllerB.bip:21:1
+list(APPEND TYPE_FILES include/controllerB/AT__controllerB__Brake.hpp src/controllerB/AT__controllerB__Brake.cpp)
+
+
+# /home/siemens/bip/examples/SpeedControlModule/modelDetection/wp42/controllerB/controllerB.bip:36:1
+list(APPEND TYPE_FILES include/controllerB/AT__controllerB__Throttle.hpp src/controllerB/AT__controllerB__Throttle.cpp)
+
+
+# /home/siemens/bip/examples/SpeedControlModule/modelDetection/wp42/controllerB/controllerB.bip:51:1
+list(APPEND TYPE_FILES include/controllerB/AT__controllerB__SpeedSensor.hpp src/controllerB/AT__controllerB__SpeedSensor.cpp)
+
+
+# /home/siemens/bip/examples/SpeedControlModule/modelDetection/wp42/controllerB/controllerB.bip:68:1
+list(APPEND TYPE_FILES include/controllerB/CT__controllerB__Compound.hpp src/controllerB/CT__controllerB__Compound.cpp)
+
+
+# /home/siemens/bip/examples/SpeedControlModule/modelDetection/wp42/controllerB/controllerB.bip:12:1
+list(APPEND TYPE_FILES include/controllerB/ConnT__controllerB__rendezVous.hpp src/controllerB/ConnT__controllerB__rendezVous.cpp)
+
+
+list (APPEND PORT_FILES src/controllerB/Inter__controllerB__rendezVous.cpp 
+                        include/controllerB/Inter__controllerB__rendezVous.hpp)
+
+list (APPEND PORT_FILES src/controllerB/InterV__controllerB__rendezVous.cpp 
+                        include/controllerB/InterV__controllerB__rendezVous.hpp)
+
+# /home/siemens/bip/examples/SpeedControlModule/modelDetection/wp42/controllerB/controllerB.bip:17:1
+list(APPEND TYPE_FILES include/controllerB/ConnT__controllerB__noChange.hpp src/controllerB/ConnT__controllerB__noChange.cpp)
+
+
+list (APPEND PORT_FILES src/controllerB/Inter__controllerB__noChange.cpp 
+                        include/controllerB/Inter__controllerB__noChange.hpp)
+
+list (APPEND PORT_FILES src/controllerB/InterV__controllerB__noChange.cpp 
+                        include/controllerB/InterV__controllerB__noChange.hpp)
+
+# /home/siemens/bip/examples/SpeedControlModule/modelDetection/wp42/controllerB/controllerB.bip:8:1
+list(APPEND TYPE_FILES include/controllerB/PT__controllerB__floatPort.hpp src/controllerB/PT__controllerB__floatPort.cpp)
+
+
+list (APPEND PORT_FILES src/controllerB/ConnPort__controllerB__floatPort.cpp
+                        include/controllerB/ConnPort__controllerB__floatPort.hpp)
+
+list (APPEND PORT_FILES src/controllerB/CpndEPort__controllerB__floatPort.cpp 
+                        include/controllerB/CpndEPort__controllerB__floatPort.hpp)
+
+list (APPEND PORT_FILES src/controllerB/AtomEPort__controllerB__floatPort.cpp 
+                        include/controllerB/AtomEPort__controllerB__floatPort.hpp)
+
+list (APPEND PORT_FILES src/controllerB/AtomIPort__controllerB__floatPort.cpp
+                        include/controllerB/AtomIPort__controllerB__floatPort.hpp)
+
+list (APPEND PORT_FILES src/controllerB/AtomExternalPort__controllerB__floatPort.cpp
+                        include/controllerB/AtomExternalPort__controllerB__floatPort.hpp)
+
+list (APPEND PORT_FILES src/controllerB/PV__controllerB__floatPort.cpp
+                        include/controllerB/PV__controllerB__floatPort.hpp)
+
+list (APPEND PORT_FILES src/controllerB/QPR__controllerB__floatPort.cpp
+                        include/controllerB/QPR__controllerB__floatPort.hpp)
+
+# /home/siemens/bip/examples/SpeedControlModule/modelDetection/wp42/controllerB/controllerB.bip:9:1
+list(APPEND TYPE_FILES include/controllerB/PT__controllerB__silent.hpp src/controllerB/PT__controllerB__silent.cpp)
+
+
+list (APPEND PORT_FILES src/controllerB/ConnPort__controllerB__silent.cpp
+                        include/controllerB/ConnPort__controllerB__silent.hpp)
+
+list (APPEND PORT_FILES src/controllerB/CpndEPort__controllerB__silent.cpp 
+                        include/controllerB/CpndEPort__controllerB__silent.hpp)
+
+list (APPEND PORT_FILES src/controllerB/AtomEPort__controllerB__silent.cpp 
+                        include/controllerB/AtomEPort__controllerB__silent.hpp)
+
+list (APPEND PORT_FILES src/controllerB/AtomIPort__controllerB__silent.cpp
+                        include/controllerB/AtomIPort__controllerB__silent.hpp)
+
+list (APPEND PORT_FILES src/controllerB/AtomExternalPort__controllerB__silent.cpp
+                        include/controllerB/AtomExternalPort__controllerB__silent.hpp)
+
+list (APPEND PORT_FILES src/controllerB/PV__controllerB__silent.cpp
+                        include/controllerB/PV__controllerB__silent.hpp)
+
+list (APPEND PORT_FILES src/controllerB/QPR__controllerB__silent.cpp
+                        include/controllerB/QPR__controllerB__silent.hpp)
+
+include_directories("include")
+add_library(pack__controllerB 
+                      ${TYPE_FILES}
+                      ${PORT_FILES}
+                      ${EXTRA_SRC}
+                      ${EXTRA_OBJ})

examples/SpeedControlModule/modelDetection/wp42/controllerB/output/controllerB/include/controllerB.hpp

+#ifndef CONTROLLERB_HPP_
+#define CONTROLLERB_HPP_
+
+#include <string>
+
+
+#endif // CONTROLLERB_HPP_

examples/SpeedControlModule/modelDetection/wp42/controllerB/output/controllerB/include/controllerB/AT__controllerB__Brake.hpp

+#ifndef CONTROLLERB_AT____CONTROLLERB____BRAKE_HPP_
+#define CONTROLLERB_AT____CONTROLLERB____BRAKE_HPP_
+
+// /home/siemens/bip/examples/SpeedControlModule/modelDetection/wp42/controllerB/controllerB.bip:21:1
+// include package "master" header
+#include <controllerB.hpp>
+
+#include <Atom.hpp>
+
+// User include given in @cpp annotation
+#include <utilities.hpp>
+
+#include <controllerB/AtomIPort__controllerB__silent.hpp>
+#include <controllerB/AtomIPort__controllerB__floatPort.hpp>
+
+
+#include <controllerB/AtomEPort__controllerB__silent.hpp>
+#include <controllerB/AtomEPort__controllerB__floatPort.hpp>
+
+#include <controllerB/PV__controllerB__floatPort.hpp>
+#include <controllerB/PV__controllerB__silent.hpp>
+
+
+
+class AT__controllerB__Brake : public Atom {
+private:
+   // internal ports & associated port values
+    AtomIPort__controllerB__silent &_iport_decl__tick;
+    PV__controllerB__silent _iport_decl_pv__tick;
+    AtomIPort__controllerB__floatPort &_iport_decl__brake;
+    PV__controllerB__floatPort _iport_decl_pv__brake;
+    AtomIPort__controllerB__floatPort &_iport_decl__changeSpeed;
+    PV__controllerB__floatPort _iport_decl_pv__changeSpeed;
+
+    // exported ports
+    AtomEPort__controllerB__silent &_eport_decl__tick;
+    AtomEPort__controllerB__floatPort &_eport_decl__changeSpeed;
+public:
+    AT__controllerB__Brake(const string &name , AtomIPort__controllerB__silent &_iport_decl__tick, AtomIPort__controllerB__floatPort &_iport_decl__brake, AtomIPort__controllerB__floatPort &_iport_decl__changeSpeed
+                             
+                             , AtomEPort__controllerB__silent &_eport_decl__tick, AtomEPort__controllerB__floatPort &_eport_decl__changeSpeed
+                             
+                             );
+    virtual ~AT__controllerB__Brake();
+
+    virtual BipError& execute(PortValue &portValue);
+    virtual BipError& execute(AtomExternalPort &portValue);
+    virtual BipError& initialize();
+    virtual string toString() const;
+
+protected:
+    BipError& update();
+
+    BipError& executeInternalTransitions();
+    BipError& checkInvariants();
+
+    const static size_t bvector_size = 2/(8*sizeof(int))+((2%(8*sizeof(int))) > 0 ? 1 : 0);
+    int __statesbv[ bvector_size ];
+
+    // component data declarations
+    double _id__deltaSpeed;
+
+    // enabledness of transitions
+    bool _transguard__1;
+    bool _transguard__2;
+    bool _transguard__3;
+
+    // guards of priorities
+    bool _prioguard__brakeCommand;
+
+    // enabledness of priorities
+    bool _prioenabled__brakeCommand;
+
+    // enabledness of priority paths
+    bool _priopathenabled__1;
+
+    // index of the latest executed transition
+    int __previous;
+
+    bool atIdle() const;
+    bool toIdle();
+    bool fromIdle();
+    bool atAction() const;
+    bool toAction();
+    bool fromAction();
+};
+
+#endif // CONTROLLERB_AT____CONTROLLERB____BRAKE_HPP_

examples/SpeedControlModule/modelDetection/wp42/controllerB/output/controllerB/include/controllerB/AtomExternalPort__controllerB__floatPort.hpp

+#ifndef INCLUDE_CONTROLLERB_ATOMEXTERNALPORT____CONTROLLERB____FLOATPORT_HPP_
+#define INCLUDE_CONTROLLERB_ATOMEXTERNALPORT____CONTROLLERB____FLOATPORT_HPP_
+
+#include <AtomExternalPort.hpp>
+
+#include <controllerB/PT__controllerB__floatPort.hpp>
+
+class AtomExternalPort__controllerB__floatPort : public AtomExternalPort {
+public:
+    AtomExternalPort__controllerB__floatPort(const string &name, const EventConsumptionPolicy &policy);
+    virtual ~AtomExternalPort__controllerB__floatPort();
+
+    virtual void initialize() { }
+    virtual bool hasEvent() const { return false; }
+    virtual void popEvent() { }
+    virtual void purgeEvents() { }
+
+    virtual double &lastEvent_get_d() { return m_d; }
+
+protected:
+    double m_d;
+
+private:
+};
+
+#endif // INCLUDE_CONTROLLERB_ATOMEXTERNALPORT____CONTROLLERB____FLOATPORT_HPP_

examples/SpeedControlModule/modelDetection/wp42/controllerB/output/controllerB/include/controllerB/AtomExternalPort__controllerB__silent.hpp

+#ifndef INCLUDE_CONTROLLERB_ATOMEXTERNALPORT____CONTROLLERB____SILENT_HPP_
+#define INCLUDE_CONTROLLERB_ATOMEXTERNALPORT____CONTROLLERB____SILENT_HPP_
+
+#include <AtomExternalPort.hpp>
+
+#include <controllerB/PT__controllerB__silent.hpp>
+
+class AtomExternalPort__controllerB__silent : public AtomExternalPort {
+public:
+    AtomExternalPort__controllerB__silent(const string &name, const EventConsumptionPolicy &policy);
+    virtual ~AtomExternalPort__controllerB__silent();
+
+    virtual void initialize() { }
+    virtual bool hasEvent() const { return false; }
+    virtual void popEvent() { }
+    virtual void purgeEvents() { }
+
+
+protected:
+
+private:
+};
+
+#endif // INCLUDE_CONTROLLERB_ATOMEXTERNALPORT____CONTROLLERB____SILENT_HPP_

examples/SpeedControlModule/modelDetection/wp42/controllerB/output/controllerB/include/controllerB/ConnPort__controllerB__floatPort.hpp

+#ifndef INCLUDE_CONTROLLERB_CONNPORT____CONTROLLERB____FLOATPORT_HPP_
+#define INCLUDE_CONTROLLERB_CONNPORT____CONTROLLERB____FLOATPORT_HPP_
+
+#include <ConnectorExportPort.hpp>
+
+#include <controllerB/PT__controllerB__floatPort.hpp>
+
+class ConnPort__controllerB__floatPort : public virtual Port,
+                public ConnectorExportPort,
+                public PT__controllerB__floatPort {
+public:
+    ConnPort__controllerB__floatPort(const string &name);
+    virtual ~ConnPort__controllerB__floatPort();
+}; 
+
+#endif // INCLUDE_CONTROLLERB_CONNPORT____CONTROLLERB____FLOATPORT_HPP_