Haskell Framework for autonomous vehicles

This package contains:

• 1 library called IMC;
• and 3 + 1 executables:
  • For message generation as Haskell data types:
    • extractIMC
  • For vehicle control:
    • To follow a given target:
      • subscribe
      • followSys
    • To perform a given task:
      • followForm

The library is used by the vehicle control executables and is intended to be the main contribution of this package. It is structured as:

• IMC
  • Control
    • BehaviorTree
    • Subscribe
    • Utils
  • Maneuvers
    • FollowRef
  • Base
  • Messages
  • Network

The library comes with a set of messages pre-included, but you can customize it as you need. To (re)generate messages, check the executable extractIMC, by running for example:

$ cabal run extractIMC -- -?

Usage

As with any cabal package:

• To build:

$ cabal build

• To load the library into GHCi:

$ cabal repl

• Check the help of the executables with, for example:

$ cabal run followSys -- -?

• Profiling: First, create a file called "cabal.project.local" and insert the following line:

profiling: True

Then, run your program with:

cabal run --enable-profiling <executable> -- <arguments and options> +RTS -p