From 7785d5fdf183951b15c806397c61e18f999a9523 Mon Sep 17 00:00:00 2001
From: marvin <marvin@marvin-TERRA-MOBILE-1529H>
Date: Wed, 29 Jan 2020 23:38:54 +0100
Subject: [PATCH] gitignore change
---
.../FeatureModelConfigurator/src/.gitignore | 5 +
.../FeatureModelConfigurator/src/Adapter.java | 280 ++++++++++++++++++
.../src/Configurator.java | 160 ++++++++++
3 files changed, 445 insertions(+)
create mode 100644 Varianten/FeatureModelConfigurator/src/.gitignore
create mode 100644 Varianten/FeatureModelConfigurator/src/Adapter.java
create mode 100644 Varianten/FeatureModelConfigurator/src/Configurator.java
diff --git a/Varianten/FeatureModelConfigurator/src/.gitignore b/Varianten/FeatureModelConfigurator/src/.gitignore
new file mode 100644
index 0000000..7e3573c
--- /dev/null
+++ b/Varianten/FeatureModelConfigurator/src/.gitignore
@@ -0,0 +1,5 @@
+#Woher kommt das??
+#/Adapter.java
+#/Configurator.jak
+#/.gitignore
+#/Configurator.java
diff --git a/Varianten/FeatureModelConfigurator/src/Adapter.java b/Varianten/FeatureModelConfigurator/src/Adapter.java
new file mode 100644
index 0000000..360929d
--- /dev/null
+++ b/Varianten/FeatureModelConfigurator/src/Adapter.java
@@ -0,0 +1,280 @@
+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);
+ }
+
+ /**
+ * 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.out.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;
+ }
+ }
+ }
+ return false;
+ }
+
+ /**
+ * @param args
+ */
+ public static void main(String[] args) {
+ try {
+ //TODO##### Input ###############################
+ Document featureModel = readXml("resources/output/featuremodel.xml");
+ Document sensorConfig = readXml("resources/input/sensorconfig.xml");
+ Document gazeboModel = null;
+
+ //CustomBot not supported for now
+ List<Attribute> botList = xQueryAttributes(featureModel, "//module[@types='TurtleBot']/@name");
+ String botName = "";
+ String fileName = "";
+
+ switch(botList.size()) {
+ case 0:
+ System.out.println("Invalid input: No bot selected");
+ System.exit(-1);
+ break;
+ case 1:
+ botName = botList.get(0).getValue();
+ break;
+ default:
+ System.out.println("Invalid input: Multiple bots selected");
+ System.exit(-1);
+ }
+ switch(botName) {
+ case "Burger":
+ fileName = "turtlebot3_burger.gazebo.xacro";
+ break;
+ case "Waffle":
+ fileName = "turtlebot3_waffle.gazebo.xacro";
+ break;
+ case "WafflePi":
+ fileName = "turtlebot3_waffle_pi.gazebo.xacro";
+ break;
+ default:
+ System.out.println("Cannot handle \'"+botName+"\': No input file known.");
+ System.exit(-1);
+ }
+ gazeboModel = readXml("resources/input/turtlebot3-master/turtlebot3_description/urdf/"+fileName);
+ //###############################################
+
+
+ //TODO##### Operate on .gazebo.xacro ############
+ List<Element> cSensorList = xQueryElements(sensorConfig, "//sensor");
+ List<Element> gSensorList = xQueryElements(gazeboModel, "//sensor");
+
+ if(cSensorList.isEmpty()) {
+ System.out.println("No new sensor values in sensorconfig.xml");
+ System.exit(-1);
+ }
+ if(gSensorList.isEmpty()) {
+ System.out.println("No sensors found in "+fileName);
+ System.exit(-1);
+ }
+
+ for(Element cSensor : cSensorList) {
+ for(Element gSensor : gSensorList) {
+ if(equalTag(cSensor, gSensor)) {
+ replace(cSensor.getChildren(),gSensor.getChildren());
+ }
+ }
+ }
+
+ //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);
+ //###############################################
+
+
+ //######### Output result #######################
+ saveAsXml(gazeboModel, "resources/output/"+fileName);
+ //###############################################
+
+
+ //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());
+
+ } catch (JDOMException | IOException e) {
+ e.printStackTrace();
+ }
+ }
+}
diff --git a/Varianten/FeatureModelConfigurator/src/Configurator.java b/Varianten/FeatureModelConfigurator/src/Configurator.java
new file mode 100644
index 0000000..770a885
--- /dev/null
+++ b/Varianten/FeatureModelConfigurator/src/Configurator.java
@@ -0,0 +1,160 @@
+
+import java.util.List;
+import java.util.ArrayList;
+import java.io.IOException;
+
+import org.jdom2.Document;
+import org.jdom2.Element;
+import org.jdom2.JDOMException;
+
+
+
+/**
+ * Main class for the car configurator.
+ * Is refined by modules, which add selected components to component list.
+ * This class has to save a file containing the configuration
+ * and launch the test seletion application afterwards.
+ *
+ *
+ * Naming conventions:
+ * m_: Member variable
+ * s: String
+ * n: Integer number (int, long,...)
+ * f: Floating point number (float, double,...)
+ * o: Object
+ * a: Collection (List, Array,...)
+ *
+ */
+
+abstract class Configurator$$ConfiguratorMain {
+ //module list
+ private List m_aModuleList;
+ //output path
+ private String m_sOutputPath = "resources/output/featuremodel.xml";
+ //TODO: set this
+ //path for test case selector, which has to be launched from this application
+ private String m_sTestCaseSelectorPath;
+ //path to the feature model xml
+ private String m_sFeatureModelPath = "model.xml";
+ //document representation of the feature model
+ private Document m_oFeatureModelDoc;
+ //representation of a single module with all of its types
+ class Module {
+ String sModuleName;
+ ArrayList aModuleTypes;
+ }
+
+
+ public static void main(String[] args) {
+ new Configurator().save();
+ }
+
+ public void save() {
+ //create empty xml
+ Element oStruct = new Element("specification");
+ Document oDoc = new Document(oStruct);
+
+ //if the module list was initialized
+ if(m_aModuleList!=null) {
+ for(int i=0; i<m_aModuleList.size(); i++) {
+ //Add module and tag to Document
+ Element oModuleElement = new Element("module");
+ //Add name
+ Module oModule = (Module)m_aModuleList.get(i);
+ oModuleElement.setAttribute("name", oModule.sModuleName);
+ //Create type String
+ ArrayList<String> aTypes = oModule.aModuleTypes;
+ String sTypesString = "";
+ //concat String
+ for(int j=0; j<aTypes.size(); j++) {
+ sTypesString += aTypes.get(j);
+ //add comma if it's not the last Type
+ if(j<aTypes.size()-1)
+ sTypesString += ", ";
+ }
+ oModuleElement.setAttribute("types", sTypesString);
+ oStruct.addContent(oModuleElement);
+ }
+ }
+
+ //generate xml String and save it to a file
+ try {
+ Adapter.saveAsXml(oDoc, m_sOutputPath);
+ }
+ catch (Exception oEx) {
+ System.out.println(oEx);
+ return;
+ }
+
+ //create and launch Adapter
+ new Adapter();
+ }
+
+ //get all parents of a given module from the Feature Model file
+ private Module GetModuleParents(String sModuleName) throws IOException, JDOMException {
+ Module oModule = new Module();
+ //set name
+ oModule.sModuleName = sModuleName;
+ //init Doc if not done
+ if(m_oFeatureModelDoc==null) {
+ m_oFeatureModelDoc = Adapter.readXml(m_sFeatureModelPath);
+ System.out.println(m_oFeatureModelDoc.toString());
+ }
+ //get element
+ String sQuery = "//*[@name= '"+sModuleName+"']";
+ List<Element> aModules = Adapter.xQueryElements(m_oFeatureModelDoc, sQuery);
+ Element oModuleElement;
+ try {
+ oModuleElement = aModules.get(0);
+ }
+ catch (Exception oEx) {
+ System.out.println(oEx.toString() + "\nList empty for query "+ sQuery);
+ return null;
+ }
+ //get all anchestors
+ Element oParent = oModuleElement.getParentElement();
+ ArrayList<String> aTypes = new ArrayList();
+ //itterate through parents of module
+ while(true) {
+ String sElementName = oParent.getAttribute("name").getValue();
+ //break if we reach the Main class, as there are no types further up
+ if(sElementName.equals("ConfiguratorMain")) {
+ break;
+ }
+ aTypes.add(sElementName);
+ //iterate further trough List
+ oModuleElement = oParent;
+ oParent = oModuleElement.getParentElement();
+ }
+ oModule.aModuleTypes = aTypes;
+ return oModule;
+ }
+
+ //add a module name and module type to the feature list. Init list, if not already done
+ public void addToModuleList(String sModuleName) {
+ //init List, if not already done
+ if(m_aModuleList==null) {
+ m_aModuleList = new ArrayList();
+ }
+ //get the module types
+ Module oModule;
+ try {
+ oModule = GetModuleParents(sModuleName);
+ }
+ catch (Exception oEx) {
+ System.out.print(oEx);
+ return;
+ }
+ m_aModuleList.add(oModule);
+ }
+}
+
+/**
+ * TODO description
+ */
+public class Configurator extends Configurator$$ConfiguratorMain {
+ public void save() {
+ super.addToModuleList("Waffle");
+ super.save();
+ }
+}
\ No newline at end of file
--
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