Automatically generate sensorconfigs from gazebo.xacro files

Varianten/AdapterFIDEROS/resources/input/.project

-<?xml version="1.0" encoding="UTF-8"?>
-<projectDescription>
-	<name>turtlebots</name>
-	<comment></comment>
-	<projects>
-	</projects>
-	<buildSpec>
-		<buildCommand>
-			<name>de.ovgu.featureide.core.extensibleFeatureProjectBuilder</name>
-			<arguments>
-				<dictionary>
-					<key>build</key>
-					<value>src</value>
-				</dictionary>
-				<dictionary>
-					<key>composer</key>
-					<value>de.ovgu.featureide.composer.ahead</value>
-				</dictionary>
-				<dictionary>
-					<key>equations</key>
-					<value>configs</value>
-				</dictionary>
-				<dictionary>
-					<key>source</key>
-					<value>features</value>
-				</dictionary>
-			</arguments>
-		</buildCommand>
-		<buildCommand>
-			<name>org.eclipse.jdt.core.javabuilder</name>
-			<arguments>
-			</arguments>
-		</buildCommand>
-	</buildSpec>
-	<natures>
-		<nature>org.eclipse.jdt.core.javanature</nature>
-		<nature>de.ovgu.featureide.core.featureProjectNature</nature>
-	</natures>
-</projectDescription>

src/var/FeatureModelConfigurator/configs/test.xml → src/var/FeatureModelConfigurator/configs/config.xml

@@ -14,4 +14,17 @@
 	<feature automatic="unselected" name="imu"/>
 	<feature automatic="unselected" name="lds_lfcd_sensor"/>
 	<feature automatic="unselected" name="realsense_R200"/>
+	<feature automatic="unselected" name="Pi_Camera___turtlebot3_burger_for_autorace"/>
+	<feature automatic="unselected" name="Pi_Camera___turtlebot3_waffle_pi"/>
+	<feature automatic="unselected" name="head_rplidar_sensor___turtlebot3_burgertest1"/>
+	<feature automatic="unselected" name="imu___turtlebot3_burger"/>
+	<feature automatic="unselected" name="imu___turtlebot3_burger_for_autorace"/>
+	<feature automatic="unselected" name="imu___turtlebot3_burgertest1"/>
+	<feature automatic="unselected" name="imu___turtlebot3_waffle"/>
+	<feature automatic="unselected" name="imu___turtlebot3_waffle_pi"/>
+	<feature automatic="unselected" name="lds_lfcd_sensor___turtlebot3_burger"/>
+	<feature automatic="unselected" name="lds_lfcd_sensor___turtlebot3_burger_for_autorace"/>
+	<feature automatic="unselected" name="lds_lfcd_sensor___turtlebot3_waffle"/>
+	<feature automatic="unselected" name="lds_lfcd_sensor___turtlebot3_waffle_pi"/>
+	<feature automatic="unselected" name="realsense_R200___turtlebot3_waffle"/>
 </configuration>

src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java

@@ -52,7 +52,7 @@ public class Adapter extends XMLHelper {
 			String out_gxPath = getConfigVal(adapterConfig, "output/gazebo_xacro", "path");
 			String out_uxPath = getConfigVal(adapterConfig, "output/urdf_xacro", "path");
 			String out_bnPath = getConfigVal(adapterConfig, "output/botname", "path");
-
+			
 			String in_fmName = getConfigVal(adapterConfig, "input/featuremodel", "name");
 			String in_gxName = "";
 			String in_uxName = "";
@@ -60,6 +60,9 @@ public class Adapter extends XMLHelper {
 			String out_uxName = getConfigVal(adapterConfig, "output/urdf_xacro", "name");
 			String out_bnName = getConfigVal(adapterConfig, "output/botname", "name");
 			
+			String scAutoPath = in_scPath+"autogenerated/";
+			String scOtherPath = in_scPath+"other/";
+			
 			String unwantedPrefix = getConfigVal(adapterConfig, "output/botname", "remove_prefix");
 			String unwantedSuffix = getConfigVal(adapterConfig, "output/botname", "remove_suffix");
 			
@@ -88,22 +91,44 @@ public class Adapter extends XMLHelper {
 				case "Custom":
 					List<Attribute> sensorList = xQueryAttributes(featureModel, "//sensor/@name");
 					
-					List<String> scList = getFileNames(in_scPath);
+					List<String> scAutoList = getFileNames(scAutoPath);
+					List<String> scOtherList = getFileNames(scOtherPath);
+					List<String> scList = new ArrayList<String>();
+					scList.addAll(scAutoList);
+					scList.addAll(scOtherList);
+					
+//					for(Attribute sensor : sensorList) {
+//						boolean inDirectory = false;
+//						for(String fileName : scList) {
+//							if(fileName.equals(sensor.getValue()+SC_ENDING)) {
+//								inDirectory = true;
+//							}
+//						}
+//						if(!inDirectory) {
+//							System.err.println("Cannot handle \'"+sensor.getValue()+"\': No input file known.");
+//							System.exit(-1);
+//						}
+//					}
+					
 					for(Attribute sensor : sensorList) {
-						boolean inDirectory = false;
-						for(String fileName : scList) {
-							if(fileName.equals(sensor.getValue()+SC_ENDING)) {
-								inDirectory = true;
-							}
-						}
-						if(!inDirectory) {
+						String fileName = sensor.getValue()+SC_ENDING;
+						List<String> fileMatches= findFile(fileName, in_scPath);
+						
+						if(fileMatches.isEmpty()) {
 							System.err.println("Cannot handle \'"+sensor.getValue()+"\': No input file known.");
 							System.exit(-1);
 						}
-					}
-					
-					for(Attribute sensor : sensorList) {
-						sensorConfigList.add(readXml(in_scPath+sensor.getValue()+SC_ENDING)); 
+						
+						if(fileMatches.size()==1) {
+							sensorConfigList.add(readXml(fileMatches.get(0)));
+						}
+						else {
+							System.err.println("Cannot handle \'"+sensor.getValue()+"\': Multiple input files found:");
+							for(String match : fileMatches) {
+								System.err.println("\'"+match+"\'");
+							}
+							System.exit(-1);
+						}
 					}
 					break;
 				default:

src/var/FeatureModelConfigurator/features/ConfiguratorMain/XMLHelper.java

@@ -83,6 +83,80 @@ public class XMLHelper {
 		return directoryNames;
 	}
 	
+	/**
+	 * Check whether the given directory exists and if not, create it.
+	 * 
+	 * @param path		Path to directory as String
+	 * @return false if directory denoted by path does not exist and could not be created; true otherwise
+	 */
+	public static boolean checkDirectory(String path) {
+		File directory = new File(path);
+		if(!directory.exists()) {
+			boolean created = directory.mkdir();
+			if(!created) {
+				System.err.println("Error: Directory \'"+directory.getPath()+"\' does not exist and could not be created.");
+				return false;
+			}
+		}
+		
+		return true;
+	}
+	
+	/**
+	 * Recursively delete a directory and its contents.
+	 * 
+	 * @param path		Path to directory as String
+	 */
+	public static void deleteDirectory(String path) {
+		File element = new File(path);
+		File[] content = element.listFiles();
+		if(content != null) {
+			for(File file : content) {
+				deleteDirectory(file.getPath());
+			}
+		}
+		if(!element.delete()) {
+			System.err.println("Error: Could not delete file/ directory: \'"+element.getPath()+"\'.");
+		}
+	}
+	
+	/**
+	 * Finds a file by recursive search in the directory given by path.
+	 * 
+	 * @param name		Name of the file including file ending as String
+	 * @param path		Path to directory to be searched as String
+	 * @return path to all file matches as List<String> (e.g. .../sensorconfig/other/imu.xml)
+	 */
+	public static List<String> findFile(String name, String path) {
+		List<String> accumulator = new ArrayList<String>();
+		
+		return findFile(name, path, accumulator);
+	}
+	
+	/**
+	 * Executes file search for findFile(String name, String path).
+	 * 
+	 * @param name		Name of the file including file ending as String
+	 * @param path		Path to directory to be searched as String
+	 * @param result	Accumulator for all file matches as List<String>
+	 * @return path to all file matches as list<String> (e.g. .../sensorconfig/other/imu.xml)
+	 */
+	private static List<String> findFile(String name, String path, List<String> result) {
+		File element = new File(path);
+		File[] content = element.listFiles();
+		if(content != null) {
+			for(File file : content) {
+				List<String> subResult = findFile(name, path+"/"+file.getName(), result);
+				result.addAll(subResult); 
+			}
+		}
+		if(element.getName().equals(name)) {
+			result.add(element.getName());
+		}
+		
+		return result;
+	}
+	
 	/**
 	 * Executes given XPath expression for elements with JDOM Document as source.
 	 * 

src/var/FeatureModelConfigurator/features/Pi_Camera___turtlebot3_burger_for_autorace/Configurator.jak

+/**
+ * TODO description
+ */
+public refines class Configurator {
+	public void save() {
+		Super().addToModuleList("Pi_Camera___turtlebot3_burger_for_autorace");
+		Super().save();
+	}
+}
\ No newline at end of file

src/var/FeatureModelConfigurator/features/Pi_Camera___turtlebot3_waffle_pi/Configurator.jak

+/**
+ * TODO description
+ */
+public refines class Configurator {
+	public void save() {
+		Super().addToModuleList("Pi_Camera___turtlebot3_waffle_pi");
+		Super().save();
+	}
+}
\ No newline at end of file

src/var/FeatureModelConfigurator/features/head_rplidar_sensor___turtlebot3_burgertest1/Configurator.jak

+/**
+ * TODO description
+ */
+public refines class Configurator {
+	public void save() {
+		Super().addToModuleList("head_rplidar_sensor___turtlebot3_burgertest1");
+		Super().save();
+	}
+}
\ No newline at end of file

src/var/FeatureModelConfigurator/features/imu___turtlebot3_burger/Configurator.jak

+/**
+ * TODO description
+ */
+public refines class Configurator {
+	public void save() {
+		Super().addToModuleList("imu___turtlebot3_burger");
+		Super().save();
+	}
+}
\ No newline at end of file

src/var/FeatureModelConfigurator/features/imu___turtlebot3_burger_for_autorace/Configurator.jak

+/**
+ * TODO description
+ */
+public refines class Configurator {
+	public void save() {
+		Super().addToModuleList("imu___turtlebot3_burger_for_autorace");
+		Super().save();
+	}
+}
\ No newline at end of file

src/var/FeatureModelConfigurator/features/imu___turtlebot3_burgertest1/Configurator.jak

+/**
+ * TODO description
+ */
+public refines class Configurator {
+	public void save() {
+		Super().addToModuleList("imu___turtlebot3_burgertest1");
+		Super().save();
+	}
+}
\ No newline at end of file

src/var/FeatureModelConfigurator/features/imu___turtlebot3_waffle/Configurator.jak

+/**
+ * TODO description
+ */
+public refines class Configurator {
+	public void save() {
+		Super().addToModuleList("imu___turtlebot3_waffle");
+		Super().save();
+	}
+}
\ No newline at end of file

src/var/FeatureModelConfigurator/features/imu___turtlebot3_waffle_pi/Configurator.jak

+/**
+ * TODO description
+ */
+public refines class Configurator {
+	public void save() {
+		Super().addToModuleList("imu___turtlebot3_waffle_pi");
+		Super().save();
+	}
+}
\ No newline at end of file

src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_burger/Configurator.jak

+/**
+ * TODO description
+ */
+public refines class Configurator {
+	public void save() {
+		Super().addToModuleList("lds_lfcd_sensor___turtlebot3_burger");
+		Super().save();
+	}
+}
\ No newline at end of file

src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_burger_for_autorace/Configurator.jak

+/**
+ * TODO description
+ */
+public refines class Configurator {
+	public void save() {
+		Super().addToModuleList("lds_lfcd_sensor___turtlebot3_burger_for_autorace");
+		Super().save();
+	}
+}
\ No newline at end of file

src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_waffle/Configurator.jak

+/**
+ * TODO description
+ */
+public refines class Configurator {
+	public void save() {
+		Super().addToModuleList("lds_lfcd_sensor___turtlebot3_waffle");
+		Super().save();
+	}
+}
\ No newline at end of file

src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_waffle_pi/Configurator.jak

+/**
+ * TODO description
+ */
+public refines class Configurator {
+	public void save() {
+		Super().addToModuleList("lds_lfcd_sensor___turtlebot3_waffle_pi");
+		Super().save();
+	}
+}
\ No newline at end of file

src/var/FeatureModelConfigurator/features/realsense_R200___turtlebot3_waffle/Configurator.jak

+/**
+ * TODO description
+ */
+public refines class Configurator {
+	public void save() {
+		Super().addToModuleList("realsense_R200___turtlebot3_waffle");
+		Super().save();
+	}
+}
\ No newline at end of file

src/var/FeatureModelConfigurator/model.xml

@@ -27,6 +27,19 @@
           <feature name="imu" />
           <feature name="lds_lfcd_sensor" />
           <feature name="realsense_R200" />
+          <feature name="Pi_Camera___turtlebot3_burger_for_autorace" />
+          <feature name="Pi_Camera___turtlebot3_waffle_pi" />
+          <feature name="head_rplidar_sensor___turtlebot3_burgertest1" />
+          <feature name="imu___turtlebot3_burger" />
+          <feature name="imu___turtlebot3_burger_for_autorace" />
+          <feature name="imu___turtlebot3_burgertest1" />
+          <feature name="imu___turtlebot3_waffle" />
+          <feature name="imu___turtlebot3_waffle_pi" />
+          <feature name="lds_lfcd_sensor___turtlebot3_burger" />
+          <feature name="lds_lfcd_sensor___turtlebot3_burger_for_autorace" />
+          <feature name="lds_lfcd_sensor___turtlebot3_waffle" />
+          <feature name="lds_lfcd_sensor___turtlebot3_waffle_pi" />
+          <feature name="realsense_R200___turtlebot3_waffle" />
         </and>
       </alt>
     </and>

src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/Pi_Camera___turtlebot3_burger_for_autorace.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<configuration>
+  <gazebo reference="camera_rgb_frame">
+    <sensor type="camera" name="Pi Camera">
+      <always_on>true</always_on>
+      <visualize>false</visualize>
+      <camera>
+        <horizontal_fov>1.085595</horizontal_fov>
+        <image>
+          <width>320</width>
+          <height>240</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.03</near>
+          <far>100</far>
+        </clip>
+      </camera>
+      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>30.0</updateRate>
+        <cameraName>camera</cameraName>
+        <frameName>camera_rgb_optical_frame</frameName>
+        <imageTopicName>image</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+</configuration>

src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/Pi_Camera___turtlebot3_waffle_pi.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<configuration>
+  <gazebo reference="camera_rgb_frame">
+    <sensor type="camera" name="Pi Camera">
+      <always_on>true</always_on>
+      <visualize>false</visualize>
+      <camera>
+        <horizontal_fov>1.085595</horizontal_fov>
+        <image>
+          <width>640</width>
+          <height>480</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.03</near>
+          <far>100</far>
+        </clip>
+      </camera>
+      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>30.0</updateRate>
+        <cameraName>camera</cameraName>
+        <frameName>camera_rgb_optical_frame</frameName>
+        <imageTopicName>rgb/image_raw</imageTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+</configuration>