From 6dbdc9b7d8e9a58ca4ba1958400bd148b8b80870 Mon Sep 17 00:00:00 2001
From: marvin <marvin@marvin-TERRA-MOBILE-1529H>
Date: Tue, 3 Mar 2020 22:51:34 +0100
Subject: [PATCH] Automatically remove turtlebot3_ prefix from botname in
botname.txt
---
build/sim/botname.txt | 2 +-
.../FeatureModelConfigurator/adapter.config | 3 ++-
.../features/ConfiguratorMain/Adapter.java | 23 ++++++++++++++++++-
.../FeatureModelConfigurator/src/Adapter.java | 23 ++++++++++++++++++-
.../src/Adapter.java | 23 ++++++++++++++++++-
.../src/ModelSetup.java | 2 ++
6 files changed, 71 insertions(+), 5 deletions(-)
diff --git a/build/sim/botname.txt b/build/sim/botname.txt
index b49bf69..07bb313 100644
--- a/build/sim/botname.txt
+++ b/build/sim/botname.txt
@@ -1 +1 @@
-turtlebot3_waffle
\ No newline at end of file
+waffle
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/adapter.config b/src/var/FeatureModelConfigurator/adapter.config
index fd4b431..1f2e62f 100644
--- a/src/var/FeatureModelConfigurator/adapter.config
+++ b/src/var/FeatureModelConfigurator/adapter.config
@@ -21,6 +21,7 @@
<!-- Path to and name of the generated .urdf.xacro file. -->
<urdf_xacro type="file" name="bot.urdf.xacro" path="./../../../build/sim/" />
<!-- Path to and name of the file stating the selected bots name. -->
- <botname type="file" name="botname.txt" path="./../../../build/sim/" />
+ <!-- Define prefix/ postfix to be removed from the bots name to be compatible with testmanager.sh. -->
+ <botname type="file" name="botname.txt" path="./../../../build/sim/" remove_prefix="turtlebot3_" remove_suffix=""/>
</output>
</adapter>
diff --git a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java
index c20ebb4..53b3ac0 100644
--- a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java
+++ b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java
@@ -44,6 +44,7 @@ public class Adapter extends XMLHelper {
//######### Input ###############################
Document adapterConfig = readXml("./adapter.config");
+ //Get adapter.config values.
String in_fmPath = getConfigVal(adapterConfig, "input/featuremodel", "path");
String in_scPath = getConfigVal(adapterConfig, "input/sensorconfig", "path");
String in_gxPath = getConfigVal(adapterConfig, "input/gazebo_xacro", "path");
@@ -59,6 +60,10 @@ public class Adapter extends XMLHelper {
String out_uxName = getConfigVal(adapterConfig, "output/urdf_xacro", "name");
String out_bnName = getConfigVal(adapterConfig, "output/botname", "name");
+ String unwantedPrefix = getConfigVal(adapterConfig, "output/botname", "remove_prefix");
+ String unwantedSuffix = getConfigVal(adapterConfig, "output/botname", "remove_suffix");
+
+ //Declare Documents.
Document featureModel = readXml(in_fmPath+in_fmName);
List<Document> sensorConfigList = new ArrayList<Document>();
Document gazeboModel = null;
@@ -229,12 +234,28 @@ public class Adapter extends XMLHelper {
//######### Output result #######################
+ //Output model files.
saveAsXml(gazeboModel, out_gxPath+out_gxName);
saveAsXml(urdfModel, out_uxPath+out_uxName);
+ //Output botname.
+ String alteredBotName = botName;
+ if(alteredBotName.startsWith(unwantedPrefix)) {
+ alteredBotName = alteredBotName.substring(unwantedPrefix.length(), alteredBotName.length());
+ }
+ else {
+ System.out.println("Warning: Prefix \'"+unwantedPrefix+" could not be removed from bot name.");
+ }
+ if(alteredBotName.endsWith(unwantedSuffix)) {
+ alteredBotName = alteredBotName.substring(0, alteredBotName.length() - unwantedSuffix.length());
+ }
+ else {
+ System.out.println("Warning: Prefix \'"+unwantedSuffix+" could not be removed from bot name.");
+ }
+
BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(out_bnPath+out_bnName));
- bufferedWriter.write(botName);
+ bufferedWriter.write(alteredBotName);
bufferedWriter.close();
//###############################################
}
diff --git a/src/var/FeatureModelConfigurator/src/Adapter.java b/src/var/FeatureModelConfigurator/src/Adapter.java
index c20ebb4..53b3ac0 100644
--- a/src/var/FeatureModelConfigurator/src/Adapter.java
+++ b/src/var/FeatureModelConfigurator/src/Adapter.java
@@ -44,6 +44,7 @@ public class Adapter extends XMLHelper {
//######### Input ###############################
Document adapterConfig = readXml("./adapter.config");
+ //Get adapter.config values.
String in_fmPath = getConfigVal(adapterConfig, "input/featuremodel", "path");
String in_scPath = getConfigVal(adapterConfig, "input/sensorconfig", "path");
String in_gxPath = getConfigVal(adapterConfig, "input/gazebo_xacro", "path");
@@ -59,6 +60,10 @@ public class Adapter extends XMLHelper {
String out_uxName = getConfigVal(adapterConfig, "output/urdf_xacro", "name");
String out_bnName = getConfigVal(adapterConfig, "output/botname", "name");
+ String unwantedPrefix = getConfigVal(adapterConfig, "output/botname", "remove_prefix");
+ String unwantedSuffix = getConfigVal(adapterConfig, "output/botname", "remove_suffix");
+
+ //Declare Documents.
Document featureModel = readXml(in_fmPath+in_fmName);
List<Document> sensorConfigList = new ArrayList<Document>();
Document gazeboModel = null;
@@ -229,12 +234,28 @@ public class Adapter extends XMLHelper {
//######### Output result #######################
+ //Output model files.
saveAsXml(gazeboModel, out_gxPath+out_gxName);
saveAsXml(urdfModel, out_uxPath+out_uxName);
+ //Output botname.
+ String alteredBotName = botName;
+ if(alteredBotName.startsWith(unwantedPrefix)) {
+ alteredBotName = alteredBotName.substring(unwantedPrefix.length(), alteredBotName.length());
+ }
+ else {
+ System.out.println("Warning: Prefix \'"+unwantedPrefix+" could not be removed from bot name.");
+ }
+ if(alteredBotName.endsWith(unwantedSuffix)) {
+ alteredBotName = alteredBotName.substring(0, alteredBotName.length() - unwantedSuffix.length());
+ }
+ else {
+ System.out.println("Warning: Prefix \'"+unwantedSuffix+" could not be removed from bot name.");
+ }
+
BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(out_bnPath+out_bnName));
- bufferedWriter.write(botName);
+ bufferedWriter.write(alteredBotName);
bufferedWriter.close();
//###############################################
}
diff --git a/src/var/FeatureModelImplGenerator/src/Adapter.java b/src/var/FeatureModelImplGenerator/src/Adapter.java
index c20ebb4..53b3ac0 100644
--- a/src/var/FeatureModelImplGenerator/src/Adapter.java
+++ b/src/var/FeatureModelImplGenerator/src/Adapter.java
@@ -44,6 +44,7 @@ public class Adapter extends XMLHelper {
//######### Input ###############################
Document adapterConfig = readXml("./adapter.config");
+ //Get adapter.config values.
String in_fmPath = getConfigVal(adapterConfig, "input/featuremodel", "path");
String in_scPath = getConfigVal(adapterConfig, "input/sensorconfig", "path");
String in_gxPath = getConfigVal(adapterConfig, "input/gazebo_xacro", "path");
@@ -59,6 +60,10 @@ public class Adapter extends XMLHelper {
String out_uxName = getConfigVal(adapterConfig, "output/urdf_xacro", "name");
String out_bnName = getConfigVal(adapterConfig, "output/botname", "name");
+ String unwantedPrefix = getConfigVal(adapterConfig, "output/botname", "remove_prefix");
+ String unwantedSuffix = getConfigVal(adapterConfig, "output/botname", "remove_suffix");
+
+ //Declare Documents.
Document featureModel = readXml(in_fmPath+in_fmName);
List<Document> sensorConfigList = new ArrayList<Document>();
Document gazeboModel = null;
@@ -229,12 +234,28 @@ public class Adapter extends XMLHelper {
//######### Output result #######################
+ //Output model files.
saveAsXml(gazeboModel, out_gxPath+out_gxName);
saveAsXml(urdfModel, out_uxPath+out_uxName);
+ //Output botname.
+ String alteredBotName = botName;
+ if(alteredBotName.startsWith(unwantedPrefix)) {
+ alteredBotName = alteredBotName.substring(unwantedPrefix.length(), alteredBotName.length());
+ }
+ else {
+ System.out.println("Warning: Prefix \'"+unwantedPrefix+" could not be removed from bot name.");
+ }
+ if(alteredBotName.endsWith(unwantedSuffix)) {
+ alteredBotName = alteredBotName.substring(0, alteredBotName.length() - unwantedSuffix.length());
+ }
+ else {
+ System.out.println("Warning: Prefix \'"+unwantedSuffix+" could not be removed from bot name.");
+ }
+
BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(out_bnPath+out_bnName));
- bufferedWriter.write(botName);
+ bufferedWriter.write(alteredBotName);
bufferedWriter.close();
//###############################################
}
diff --git a/src/var/FeatureModelImplGenerator/src/ModelSetup.java b/src/var/FeatureModelImplGenerator/src/ModelSetup.java
index f6189b7..9cab695 100644
--- a/src/var/FeatureModelImplGenerator/src/ModelSetup.java
+++ b/src/var/FeatureModelImplGenerator/src/ModelSetup.java
@@ -42,6 +42,7 @@ public class ModelSetup extends XMLHelper{
//######### Input ###############################
Document ModelSetupConfig = readXml("./modelsetup.config");
+ //Get modelsetup.config values.
String in_mPath = getConfigVal(ModelSetupConfig, "input/model", "path");
String in_scPath = getConfigVal(ModelSetupConfig, "input/sensorconfig", "path");
String in_gxPath = getConfigVal(ModelSetupConfig, "input/gazebo_xacro", "path");
@@ -49,6 +50,7 @@ public class ModelSetup extends XMLHelper{
String in_mName = getConfigVal(ModelSetupConfig, "input/model", "name");
String out_mName = getConfigVal(ModelSetupConfig, "output/model", "name");
+ //Declare Document.
Document model = readXml(in_mPath+in_mName);
//Get sensorconfig- and gazebomodel file names.
--
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