diff --git a/Varianten/AdapterFIDEROS/resources/input/model.xml b/Varianten/AdapterFIDEROS/resources/input/model.xml
index 86ffb18dfd70ff8b3d9ddc68f6f8bd50a49a7091..8ceda5a07b9259b913513195aeac96de7d60e6c6 100644
--- a/Varianten/AdapterFIDEROS/resources/input/model.xml
+++ b/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>
diff --git a/Varianten/AdapterFIDEROS/resources/input/model_old.xml b/Varianten/AdapterFIDEROS/resources/input/model_old.xml
new file mode 100644
index 0000000000000000000000000000000000000000..86ffb18dfd70ff8b3d9ddc68f6f8bd50a49a7091
--- /dev/null
+++ b/Varianten/AdapterFIDEROS/resources/input/model_old.xml
@@ -0,0 +1,37 @@
+<?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>
diff --git a/Varianten/AdapterFIDEROS/resources/input/sensorconfig.xml b/Varianten/AdapterFIDEROS/resources/input/sensorconfig.xml
index 4bb7afbe70eea0b88ca3b40489014fc55a7a4fbc..940d688f6e21a385f546ab51f3c628388f51035a 100644
--- a/Varianten/AdapterFIDEROS/resources/input/sensorconfig.xml
+++ b/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>
diff --git a/Varianten/AdapterFIDEROS/resources/output/turtlebot3_burger.gazebo.xacro b/Varianten/AdapterFIDEROS/resources/output/turtlebot3_burger.gazebo.xacro
index fa705c3812371f5c3511c419f8a9bf7ea7c74273..db59909444c0a2b3ca9406381ba40019ba288296 100644
--- a/Varianten/AdapterFIDEROS/resources/output/turtlebot3_burger.gazebo.xacro
+++ b/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>
diff --git a/Varianten/AdapterFIDEROS/src/Adapter.java b/Varianten/AdapterFIDEROS/src/Adapter.java
index 38c46eea599be840467f081ad56da8e44e25024a..20e7dd67147f65e377669cd1e66b041a43cd8f3b 100644
--- a/Varianten/AdapterFIDEROS/src/Adapter.java
+++ b/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();