From 38b3bea23d5e378cb41fb6ab6ed7c66a781730de Mon Sep 17 00:00:00 2001
From: marvin <marvin@marvin-TERRA-MOBILE-1529H>
Date: Thu, 19 Dec 2019 01:29:05 +0100
Subject: [PATCH] Case-based input selection
---
Varianten/AdapterFIDEROS/src/Adapter.java | 52 ++++++++++++++++++-----
1 file changed, 41 insertions(+), 11 deletions(-)
diff --git a/Varianten/AdapterFIDEROS/src/Adapter.java b/Varianten/AdapterFIDEROS/src/Adapter.java
index 78d0733..a3fce3a 100644
--- a/Varianten/AdapterFIDEROS/src/Adapter.java
+++ b/Varianten/AdapterFIDEROS/src/Adapter.java
@@ -94,20 +94,50 @@ public class Adapter {
*/
public static void main(String[] args) {
try {
- Document FeatureModel = readXml("resources/input/featuremodel.xml");
- Document GazeboModel = readXml("resources/input/turtlebot3-master/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro");
+ Document featureModel = readXml("resources/input/featuremodel.xml");
+ Document sensorConfig = readXml("resources/input/sensorconfig.xml");
+ Document gazeboModel = null;
//TODO
//######### Operate on featuremodel.xml #########
- Element fmRoot = FeatureModel.getRootElement();
- List<Element> modules = fmRoot.getChildren("module");
+ //CustomBot not supported for now
+ List<Attribute> botList = xQueryAttributes(featureModel, "//module[@types='TurtleBot']/@name");
+
+ String botName = "";
+ switch(botList.size()) {
+ case 0:
+ System.out.println("Invalid input: No bot selected\n");
+ System.exit(-1);
+ break;
+ case 1:
+ botName = botList.get(0).getValue();
+ break;
+ default:
+ System.out.println("Invalid input: multiple bots selected\n");
+ System.exit(-1);
+
+ }
+ switch(botName) {
+ case "Burger":
+ gazeboModel = readXml("resources/input/turtlebot3-master/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro");
+ break;
+ case "Waffle":
+ gazeboModel = readXml("resources/input/turtlebot3-master/turtlebot3_description/urdf/turtlebot3_waffle.gazebo.xacro");
+ break;
+ case "WafflePi":
+ gazeboModel = readXml("resources/input/turtlebot3-master/turtlebot3_description/urdf/turtlebot3_waffle_pi.gazebo.xacro");
+ break;
+ default:
+ System.out.println("Cannot handle \'"+botName+"\': No input file known.\n");
+ System.exit(-1);
+ }
//###############################################
//TODO
//######### Operate on .gazebo.xacro ############
- Element gmRoot = GazeboModel.getRootElement();
+ Element gmRoot = gazeboModel.getRootElement();
//###############################################
@@ -117,7 +147,7 @@ public class Adapter {
//TODO
//######### Output result #######################
- xmlOutput.output(GazeboModel, dest);
+ xmlOutput.output(gazeboModel, dest);
//###############################################
@@ -125,11 +155,11 @@ public class Adapter {
//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]/@*");
+ 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");
--
GitLab