automated comparison of sensor values

Varianten/AdapterFIDEROS/resources/input/model.xml

@@ -11,27 +11,24 @@
 	</properties>
 	<struct>
 		<and abstract="true" mandatory="true" name="CarConfigurator">
-			<alt mandatory="true" name="ConfiguratorMain">
+			<and mandatory="true" name="ConfiguratorMain">
 				<alt abstract="true" name="TurtleBot">
 					<feature name="Burger"/>
 					<feature name="Waffle"/>
 					<feature name="WafflePi"/>
-				</alt>
-				<and abstract="true" name="CustomBot">
-					<alt abstract="true" name="Camera">
-						<feature name="Cam1"/>
-						<feature name="Cam2"/>
-					</alt>
-					<and abstract="true" name="NonOpticalSensor">
-						<graphics key="collapsed" value="false"/>
-						<alt abstract="true" mandatory="true" name="Radar">
+					<and abstract="true" name="CustomBot">
+						<and abstract="true" name="RangeFinder">
 							<graphics key="collapsed" value="false"/>
-							<feature name="Radar1"/>
-							<feature name="Radar2"/>
-						</alt>
+							<alt abstract="true" mandatory="true" name="TwoDRF">
+								<graphics key="collapsed" value="false"/>
+								<feature name="Sensor1"/>
+								<feature name="Sensor2"/>
+								<feature name="CustomTwoDRF"/>
+							</alt>
+						</and>
 					</and>
-				</and>
-			</alt>
+				</alt>
+			</and>
 		</and>
 	</struct>
 </featureModel>

Varianten/AdapterFIDEROS/resources/input/model_old.xml

+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<featureModel>
+	<properties>
+		<graphics key="showhiddenfeatures" value="true"/>
+		<graphics key="legendautolayout" value="true"/>
+		<graphics key="showshortnames" value="false"/>
+		<graphics key="layout" value="horizontal"/>
+		<graphics key="showcollapsedconstraints" value="true"/>
+		<graphics key="legendhidden" value="false"/>
+		<graphics key="layoutalgorithm" value="1"/>
+	</properties>
+	<struct>
+		<and abstract="true" mandatory="true" name="CarConfigurator">
+			<alt mandatory="true" name="ConfiguratorMain">
+				<alt abstract="true" name="TurtleBot">
+					<feature name="Burger"/>
+					<feature name="Waffle"/>
+					<feature name="WafflePi"/>
+				</alt>
+				<and abstract="true" name="CustomBot">
+					<alt abstract="true" name="Camera">
+						<feature name="Cam1"/>
+						<feature name="Cam2"/>
+					</alt>
+					<and abstract="true" name="NonOpticalSensor">
+						<graphics key="collapsed" value="false"/>
+						<alt abstract="true" mandatory="true" name="Radar">
+							<graphics key="collapsed" value="false"/>
+							<feature name="Radar1"/>
+							<feature name="Radar2"/>
+						</alt>
+					</and>
+				</and>
+			</alt>
+		</and>
+	</struct>
+</featureModel>

Varianten/AdapterFIDEROS/resources/input/sensorconfig.xml

@@ -5,5 +5,8 @@
 			<min>0.3</min>
 			<max>5.2</max>
 		</range>
+		<noise>
+			<stddev>0.09</stddev>
+		</noise>
 	</sensor>
 </configuration>

Varianten/AdapterFIDEROS/resources/output/turtlebot3_burger.gazebo.xacro

@@ -115,8 +115,8 @@
           </horizontal>
         </scan>
         <range>
-          <min>0.3</min>
-          <max>5.2</max>
+          <min>0.120</min>
+          <max>3.5</max>
           <resolution>0.015</resolution>
         </range>
         <noise>

Varianten/AdapterFIDEROS/src/Adapter.java

@@ -89,6 +89,23 @@ public class Adapter {
 		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.equals(attributeList2)) return false;
+		return true;
+	}
+	
 	/**
 	 * @param args
 	 */
@@ -135,19 +152,38 @@ public class Adapter {
 			
 			
 			//TODO##### Operate on .gazebo.xacro ############
+			List<Element> cSensorList = xQueryElements(sensorConfig, "//sensor");	
+			List<Element> gSensorList = xQueryElements(gazeboModel, "//sensor");
 			
-			//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);
+			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);
+			}
 			
-			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();
+			for(Element cSensor : cSensorList) {
+				for(Element gSensor : gSensorList) {
+					if(equalTag(cSensor, gSensor)) {
+						//TODO automatischer Abgleich aller cSensor-Informationen mit gSensor und Wertersetzung
+					}
+				}
+			}
 			
-			gSensor.getChild("ray").getChild("range").getChild("min").setText(new_min);
-			gSensor.getChild("ray").getChild("range").getChild("max").setText(new_max);
+			//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);
 			//###############################################
 			
 			
@@ -160,23 +196,23 @@ 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]/@*");
-			
-			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());
+//			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();