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import java.io.*;
import java.util.*;
import org.jdom2.*;
import org.jdom2.filter.Filters;
import org.jdom2.input.SAXBuilder;
import org.jdom2.output.XMLOutputter;
import org.jdom2.xpath.*;
/**
* Takes a featuremodel.xml file generated using FeatureModelConfigurator and a given
* ROS/ Gazebo .gazebo.xacro file.
* The .gazebo.xacro file is modified to support the features specified in the
* featuremodel.xml file.
*/
public class Adapter {
/**
* Reads an .xml file from file path and returns a JDOM document.
*
* @param src The .xml file path
* @return JDOM document
* @throws JDOMException
* @throws IOException
*/
public static Document readXml(String src) throws JDOMException, IOException {
File file = new File(src);
SAXBuilder saxBuilder = new SAXBuilder();
Document doc = saxBuilder.build(file);
return doc;
}
/**
* Saves the given Document as XML to the given path.
*
* @param oDoc The JDOM document
* @param sPath The output path
* @throws IOException
*/
public static void saveAsXml(Document oDoc, String sPath) throws IOException {
FileOutputStream dest = new FileOutputStream(sPath);
XMLOutputter xmlOutput = new XMLOutputter();
xmlOutput.output(oDoc, dest);
}
/**
* Takes a gives directory path and lists all files directly in it.
* (Does not visit sub-directories recursively)
*
* @param path Path to the directory
* @return ArrayList with all file names
*/
public static ArrayList<String> getFileNames(String path) {
ArrayList<String> fileNames = new ArrayList<String>();
File directory = new File(path);
File[] contentList = directory.listFiles();
for (File file : contentList) {
if (file.isFile()) fileNames.add(file.getName());
}
return fileNames;
}
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/**
* Executes given XPath expression for elements with JDOM Document as source.
*
* @param doc The JDOM Document
* @param xPath XPath expression
* @return List with all elements found or empty list if no match found
*/
public static List<Element> xQueryElements(Document doc, String xPath) {
XPathFactory xFactory = XPathFactory.instance();
XPathExpression<Element> expr = xFactory.compile(xPath, Filters.element());
List<Element> result = expr.evaluate(doc);
return result;
}
/**
* Executes given XPath expression for elements with Element as source.
*
* @param elem The Element
* @param xPath XPath expression
* @return List with all elements found or empty list if no match found
*/
public static List<Element> xQueryElements(Element elem, String xPath) {
XPathFactory xFactory = XPathFactory.instance();
XPathExpression<Element> expr = xFactory.compile(xPath, Filters.element());
List<Element> result = expr.evaluate(elem);
return result;
}
/**
* Executes given XPath expression for attributes.
*
* @param doc The JDOM Document
* @param xPath XPath expression
* @return List with all attributes found or empty list if no match found
*/
public static List<Attribute> xQueryAttributes(Document doc, String xPath) {
XPathFactory xFactory = XPathFactory.instance();
XPathExpression<Attribute> expr = xFactory.compile(xPath, Filters.attribute());
List<Attribute> result = expr.evaluate(doc);
return result;
}
/**
* Searches a document for the first occurrence of an xml tag.
*
* @param doc The JDOM Document
* @param elementName Name of the xml tag
* @return First element found or NULL if no match found
*/
public static Element searchFirstElement(Document doc, String elementName) {
//XPath index starts with 1; [] has a higher precedence than //
List<Element> query= xQueryElements(doc, "(//"+elementName+")[1]");
if(query.isEmpty()) return null;
return query.get(0);
}
/**
* Searches a document for all occurrences of an xml tag.
*
* @param doc The JDOM Document
* @param elementName Name of the xml tag
* @return List with all elements found or empty list if no match found
*/
public static List<Element> searchAllElements(Document doc, String elementName) {
return xQueryElements(doc, "//"+elementName);
}
/**
* Checks whether two elements have an equal xml tag.
* (Name of the xml tag and all attributes including their order must be equal)
*
* @param element1 Element1
* @param element2 Element2
* @return true if of equal tag or false if not
*/
public static boolean equalTag(Element element1, Element element2) {
List<Attribute> attributeList1 = element1.getAttributes();
List<Attribute> attributeList2 = element2.getAttributes();
if(!element1.getName().equals(element2.getName())) return false;
if(attributeList1.size()!=attributeList2.size()) return false;
for(int i=0; i<attributeList1.size(); i++) {
if(!attributeList1.get(i).getName().equals(attributeList2.get(i).getName())) return false;
if(!attributeList1.get(i).getValue().equals(attributeList2.get(i).getValue())) return false;
}
return true;
}
/**
* Recursive replacement of all text values in destElements with their corresponding
* new ones from srcElements.
* (srcElements and destElements must be matching tags!)
*
* TODO maybe add tags that are in srcElements but not yet in destElements
*
* @param srcElements Element list with new values
* @param destElements Element list with values to be replaced
* @return true if reached deepest Element or false if not
*/
public static boolean replace(List<Element> srcElements, List<Element> destElements) {
if(srcElements.isEmpty()&&destElements.isEmpty()) return true;
if(srcElements.isEmpty()^destElements.isEmpty()) {
System.err.println("Error during value replacement: Sensor xml trees have mismatching deph (maybe tags with no value)");
System.exit(-1);
}
for(Element src : srcElements) {
for(Element dest : destElements) {
if(equalTag(src, dest)) {
boolean deadEnd = replace(src.getChildren(), dest.getChildren());
if(deadEnd) dest.setText(src.getText());
break;
}
}
}
* Obtains an attribute value of the input/ output entries specified in adapterconfig.xml.
* @param entry String formed as "{input or output}/{entity}"
* @param val Attribute name as string
private static String getConfigVal(Document doc, String str, String val) {
List<Attribute> valList = xQueryAttributes(doc, "//"+str+"/@"+val);
if(valList.size()!=1) {
System.err.println("Error while reading input/ output "+val+" value from adapterconfig.xml");
return valList.get(0).getValue();
/**
* @param args
*/
public static void main(String[] args) {
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// System.out.println("Adapter started.");
//
// try {
// //TODO##### Input ###############################
// Document adapterConfig = readXml("./adapterconfig.xml");
//
// String in_fmPath = getConfigVal(adapterConfig, "input/featuremodel", "path");
// String in_scPath = getConfigVal(adapterConfig, "input/sensorconfig", "path");
// String in_gmPath = getConfigVal(adapterConfig, "input/gazebomodel", "path");
// String out_gmPath = getConfigVal(adapterConfig, "output/gazebomodel", "path");
// String out_bnPath = getConfigVal(adapterConfig, "output/botname", "path");
// String in_fmName = getConfigVal(adapterConfig, "input/featuremodel", "name");
// String in_scName = "";
// String in_gmName = "";
// String out_gmName = getConfigVal(adapterConfig, "output/gazebomodel", "name");
// String out_bnName = getConfigVal(adapterConfig, "output/botname", "name");
//
// Document featureModel = readXml(in_fmPath+in_fmName);
// List<Document> sensorConfig = new ArrayList<>();
// Document gazeboModel = null;
//
// //Get the selected mode (either NO_CHANGE or Custom)
// //TODO
// String mode = "";
// List<Attribute> modeList = xQueryAttributes(featureModel, "TODO get NO_CHANGE/ Custom parameter");
// if(modeList.size()==1) {
// mode = modeList.get(0).getValue();
// }
// else {
// System.err.println("Invalid input in \'"+in_fmName+"\': NO_CHANGE/ Custom parameter could not be parsed");
// System.exit(-1);
// }
//
// //Get all selected sensorconfig files
// //TODO
// switch(mode) {
// case "NO_CHANGE":
// break;
// case "Custom":
// List<Attribute> sensorList = xQueryAttributes(featureModel, "TODO get all selected sensor parameters");
// ////TODO oder weglassen
//// List<String> scList = getFileNames(in_scPath);
//// boolean inDirectory = true;
//// for(Attribute sensor : sensorList) {
//// for(String fileName : scList) {
//// if(!fileName.equals(sensor.getValue()+".xml")) inDirectory = false;
//// }
//// }
//// if(!inDirectory) {
//// System.err.println("");
//// System.exit(-1);
//// }
// ////
// for(Attribute sensor : sensorList) {
// sensorConfig.add(readXml(in_scPath+sensor.getValue()+".xml"));
// }
// break;
// default:
// System.err.println("Error: Unmatched case");
// System.exit(-1);
// }
//
// //Get selected .gazebo.xacro file
// //TODO
// //TODO generalize botList (remove "TurtleBot")
// //List<Attribute> botList = xQueryAttributes(featureModel, "//module[@types='TurtleBot']/@name");
// String botName = "";
// List<Attribute> botList = xQueryAttributes(featureModel, "TODO get name of the bot");
// if(botList.size()==1) {
// botName = botList.get(0).getValue();
// }
// else {
// System.err.println("Invalid input in "+in_fmName+": No or multiple bots selected");
// System.exit(-1);
// }
//
// in_gmName = botName+".gazebo.xacro";
//
// List<String> gmList = getFileNames(in_gmPath);
// boolean inDirectory = false;
// for(String fileName : gmList) {
// if(fileName.equals(in_gmName)) inDirectory = true;
// }
// if(!inDirectory) {
// System.err.println("Cannot handle \'"+botName+"\': No input file known.");
// System.exit(-1);
// }
//
// gazeboModel = readXml(in_gmPath+in_gmName);
// //###############################################
//
//
// //TODO##### Operate on .gazebo.xacro ############ NOCH NICHT UEBERARBEITET
// List<Element> cSensorList = xQueryElements(sensorConfig, "//sensor");
// List<Element> gSensorList = xQueryElements(gazeboModel, "//sensor");
// boolean match = false;
//
// if(cSensorList.isEmpty()) {
// System.out.println("No new sensor values in "+in_scName);
// System.exit(-1);
// }
// if(gSensorList.isEmpty()) {
// System.out.println("No sensors found in "+in_gmName);
// System.exit(-1);
// }
//
// for(Element cSensor : cSensorList) {
// for(Element gSensor : gSensorList) {
// if(equalTag(cSensor, gSensor)) {
// replace(cSensor.getChildren(), gSensor.getChildren());
// match = true;
// }
// }
// }
//
// if(!match) System.out.println("No matching sensors could be found in "+in_scName+" and "+in_gmName);
// //###############################################
//
//
// //######### Output result #######################
// saveAsXml(gazeboModel, out_gmPath+out_gmName);
//
// BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(out_bnPath+out_bnName));
// bufferedWriter.write(botName);
// bufferedWriter.close();
// //###############################################
// }
// catch (JDOMException | IOException e) {
// e.printStackTrace();
// }
System.out.println("Adapter finished.");
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//Example dump
//hard-coded and only for demo purposes
//List<Element> cSensorList = xQueryElements(sensorConfig, "//sensor[@type='ray' and @name='lds_lfcd_sensor']");
//Element cSensor = cSensorList.get(0);
//
//List<Element> gSensorList = xQueryElements(gazeboModel, "//sensor[@type='ray' and @name='lds_lfcd_sensor']");
//Element gSensor = gSensorList.get(0);
//
//String new_min = cSensor.getChild("range").getChild("min").getText();
//String new_max = cSensor.getChild("range").getChild("max").getText();
//
//gSensor.getChild("ray").getChild("range").getChild("min").setText(new_min);
//gSensor.getChild("ray").getChild("range").getChild("max").setText(new_max);
//XPathExamples
//XPathFactory xFactory = XPathFactory.instance();
//XPathExpression<Element> xExpr = xFactory.compile("robot/gazebo/sensor/ray/range/min", Filters.element());
//Element test = xExpr.evaluateFirst(gazeboModel);
//List<Element> test2 = searchAllElements(gazeboModel, "min");
//List<Element> test3 = searchAllElements(gazeboModel, "max");
//Element test4 = searchFirstElement(gazeboModel, "plugin");
//List<Attribute> test5 = xQueryAttributes(gazeboModel, "(//plugin)[1]/@*");
//
//if(test != null) xmlOutput.output(test, System.out);
//System.out.println("\n");
//xmlOutput.output(test2, System.out);
//System.out.println("\n");
//xmlOutput.output(test3, System.out);
//System.out.println("\n");
//if(test4 != null) xmlOutput.output(test4, System.out);
//System.out.println("\n");
//for(Attribute a : test5) System.out.println(a.getName()+"="+a.getValue());