diff --git a/Varianten/AdapterFIDEROS/resources/input/.project b/Varianten/AdapterFIDEROS/resources/input/.project
deleted file mode 100644
index 51c04125a58701cd79e952c69e1c90f23aa39ee7..0000000000000000000000000000000000000000
--- a/Varianten/AdapterFIDEROS/resources/input/.project
+++ /dev/null
@@ -1,39 +0,0 @@
-<?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>
diff --git a/src/var/FeatureModelConfigurator/configs/config.xml b/src/var/FeatureModelConfigurator/configs/config.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d12aa2324d08dba19c6a138868dacb765a25b59e
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/configs/config.xml
@@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<configuration>
+ <feature automatic="selected" name="ConfiguratorMain"/>
+ <feature automatic="selected" name="Templates"/>
+ <feature automatic="unselected" name="turtlebot3_burger"/>
+ <feature automatic="unselected" name="turtlebot3_burger_for_autorace"/>
+ <feature automatic="unselected" name="turtlebot3_burgertest1"/>
+ <feature manual="selected" name="turtlebot3_waffle"/>
+ <feature automatic="unselected" name="turtlebot3_waffle_pi"/>
+ <feature automatic="selected" name="Sensors"/>
+ <feature manual="selected" name="NO_CHANGE"/>
+ <feature automatic="unselected" name="Custom"/>
+ <feature automatic="unselected" name="Pi_Camera"/>
+ <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>
diff --git a/src/var/FeatureModelConfigurator/configs/test.xml b/src/var/FeatureModelConfigurator/configs/test.xml
deleted file mode 100644
index 2346818cebe5c92c872f1136b7c1060e2f9d3646..0000000000000000000000000000000000000000
--- a/src/var/FeatureModelConfigurator/configs/test.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<configuration>
- <feature automatic="selected" name="ConfiguratorMain"/>
- <feature automatic="selected" name="Templates"/>
- <feature automatic="unselected" name="turtlebot3_burger"/>
- <feature automatic="unselected" name="turtlebot3_burger_for_autorace"/>
- <feature automatic="unselected" name="turtlebot3_burgertest1"/>
- <feature manual="selected" name="turtlebot3_waffle"/>
- <feature automatic="unselected" name="turtlebot3_waffle_pi"/>
- <feature automatic="selected" name="Sensors"/>
- <feature manual="selected" name="NO_CHANGE"/>
- <feature automatic="unselected" name="Custom"/>
- <feature automatic="unselected" name="Pi_Camera"/>
- <feature automatic="unselected" name="imu"/>
- <feature automatic="unselected" name="lds_lfcd_sensor"/>
- <feature automatic="unselected" name="realsense_R200"/>
-</configuration>
diff --git a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java
index 79b93235dc2da251b83332dbaf4874b1531a8dcc..c535d1ad4a9cf07c17492b6f78935f87598491e5 100644
--- a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Adapter.java
+++ b/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:
diff --git a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/XMLHelper.java b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/XMLHelper.java
index 3a1030ba7bc31b32d8a1b0874a934e5ff6803631..588c9b03c628d00683abeb51572c6445b3676783 100644
--- a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/XMLHelper.java
+++ b/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.
*
diff --git a/src/var/FeatureModelConfigurator/features/Pi_Camera___turtlebot3_burger_for_autorace/Configurator.jak b/src/var/FeatureModelConfigurator/features/Pi_Camera___turtlebot3_burger_for_autorace/Configurator.jak
new file mode 100644
index 0000000000000000000000000000000000000000..e47de5e282964728ee19f47974d114af5f48fb5b
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/Pi_Camera___turtlebot3_burger_for_autorace/Configurator.jak
@@ -0,0 +1,9 @@
+/**
+ * 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
diff --git a/src/var/FeatureModelConfigurator/features/Pi_Camera___turtlebot3_waffle_pi/Configurator.jak b/src/var/FeatureModelConfigurator/features/Pi_Camera___turtlebot3_waffle_pi/Configurator.jak
new file mode 100644
index 0000000000000000000000000000000000000000..d496ca86eb7438580f24986c534dd56b02a0dbf8
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/Pi_Camera___turtlebot3_waffle_pi/Configurator.jak
@@ -0,0 +1,9 @@
+/**
+ * TODO description
+ */
+public refines class Configurator {
+ public void save() {
+ Super().addToModuleList("Pi_Camera___turtlebot3_waffle_pi");
+ Super().save();
+ }
+}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/features/head_rplidar_sensor___turtlebot3_burgertest1/Configurator.jak b/src/var/FeatureModelConfigurator/features/head_rplidar_sensor___turtlebot3_burgertest1/Configurator.jak
new file mode 100644
index 0000000000000000000000000000000000000000..1d5d4a5d7378b7c7a91de4e25c9313c43e73367c
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/head_rplidar_sensor___turtlebot3_burgertest1/Configurator.jak
@@ -0,0 +1,9 @@
+/**
+ * TODO description
+ */
+public refines class Configurator {
+ public void save() {
+ Super().addToModuleList("head_rplidar_sensor___turtlebot3_burgertest1");
+ Super().save();
+ }
+}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/features/imu___turtlebot3_burger/Configurator.jak b/src/var/FeatureModelConfigurator/features/imu___turtlebot3_burger/Configurator.jak
new file mode 100644
index 0000000000000000000000000000000000000000..9b71da33b40344a9535fe4e84fc3d276d29a347c
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/imu___turtlebot3_burger/Configurator.jak
@@ -0,0 +1,9 @@
+/**
+ * TODO description
+ */
+public refines class Configurator {
+ public void save() {
+ Super().addToModuleList("imu___turtlebot3_burger");
+ Super().save();
+ }
+}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/features/imu___turtlebot3_burger_for_autorace/Configurator.jak b/src/var/FeatureModelConfigurator/features/imu___turtlebot3_burger_for_autorace/Configurator.jak
new file mode 100644
index 0000000000000000000000000000000000000000..f9bb2e58f615c8b27c2334f6f34740c007abc622
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/imu___turtlebot3_burger_for_autorace/Configurator.jak
@@ -0,0 +1,9 @@
+/**
+ * TODO description
+ */
+public refines class Configurator {
+ public void save() {
+ Super().addToModuleList("imu___turtlebot3_burger_for_autorace");
+ Super().save();
+ }
+}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/features/imu___turtlebot3_burgertest1/Configurator.jak b/src/var/FeatureModelConfigurator/features/imu___turtlebot3_burgertest1/Configurator.jak
new file mode 100644
index 0000000000000000000000000000000000000000..634c601f1ac3551866911045c8208a31afc32281
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/imu___turtlebot3_burgertest1/Configurator.jak
@@ -0,0 +1,9 @@
+/**
+ * TODO description
+ */
+public refines class Configurator {
+ public void save() {
+ Super().addToModuleList("imu___turtlebot3_burgertest1");
+ Super().save();
+ }
+}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/features/imu___turtlebot3_waffle/Configurator.jak b/src/var/FeatureModelConfigurator/features/imu___turtlebot3_waffle/Configurator.jak
new file mode 100644
index 0000000000000000000000000000000000000000..22954e595f0c34dfee1f4b3986c73b99a57f5858
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/imu___turtlebot3_waffle/Configurator.jak
@@ -0,0 +1,9 @@
+/**
+ * TODO description
+ */
+public refines class Configurator {
+ public void save() {
+ Super().addToModuleList("imu___turtlebot3_waffle");
+ Super().save();
+ }
+}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/features/imu___turtlebot3_waffle_pi/Configurator.jak b/src/var/FeatureModelConfigurator/features/imu___turtlebot3_waffle_pi/Configurator.jak
new file mode 100644
index 0000000000000000000000000000000000000000..4fbd791a2c1bfc422030cb717d2333ac16de68a4
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/imu___turtlebot3_waffle_pi/Configurator.jak
@@ -0,0 +1,9 @@
+/**
+ * TODO description
+ */
+public refines class Configurator {
+ public void save() {
+ Super().addToModuleList("imu___turtlebot3_waffle_pi");
+ Super().save();
+ }
+}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_burger/Configurator.jak b/src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_burger/Configurator.jak
new file mode 100644
index 0000000000000000000000000000000000000000..8d44c3c9efca9df3712060f68d4e9c1e635a0b97
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_burger/Configurator.jak
@@ -0,0 +1,9 @@
+/**
+ * TODO description
+ */
+public refines class Configurator {
+ public void save() {
+ Super().addToModuleList("lds_lfcd_sensor___turtlebot3_burger");
+ Super().save();
+ }
+}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_burger_for_autorace/Configurator.jak b/src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_burger_for_autorace/Configurator.jak
new file mode 100644
index 0000000000000000000000000000000000000000..7b76968e53d62cf6492628dfea04ae7664b896ab
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_burger_for_autorace/Configurator.jak
@@ -0,0 +1,9 @@
+/**
+ * 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
diff --git a/src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_waffle/Configurator.jak b/src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_waffle/Configurator.jak
new file mode 100644
index 0000000000000000000000000000000000000000..dfc19c2add5d5f3af9d0a0fe30739664967c1b0c
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_waffle/Configurator.jak
@@ -0,0 +1,9 @@
+/**
+ * TODO description
+ */
+public refines class Configurator {
+ public void save() {
+ Super().addToModuleList("lds_lfcd_sensor___turtlebot3_waffle");
+ Super().save();
+ }
+}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_waffle_pi/Configurator.jak b/src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_waffle_pi/Configurator.jak
new file mode 100644
index 0000000000000000000000000000000000000000..3ab85a4b1558be1dcaf7b805e5a109f4b3928109
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/lds_lfcd_sensor___turtlebot3_waffle_pi/Configurator.jak
@@ -0,0 +1,9 @@
+/**
+ * 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
diff --git a/src/var/FeatureModelConfigurator/features/realsense_R200___turtlebot3_waffle/Configurator.jak b/src/var/FeatureModelConfigurator/features/realsense_R200___turtlebot3_waffle/Configurator.jak
new file mode 100644
index 0000000000000000000000000000000000000000..9013a074b44c09ae405f0d21fe30b9ed4e406f33
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/features/realsense_R200___turtlebot3_waffle/Configurator.jak
@@ -0,0 +1,9 @@
+/**
+ * TODO description
+ */
+public refines class Configurator {
+ public void save() {
+ Super().addToModuleList("realsense_R200___turtlebot3_waffle");
+ Super().save();
+ }
+}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/model.xml b/src/var/FeatureModelConfigurator/model.xml
index c63c0f7ad9eabc37b6861f39d44e72942f0d8580..73ef3642b20f4977ba6d8a105d9ced93ab92a35b 100644
--- a/src/var/FeatureModelConfigurator/model.xml
+++ b/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>
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/Pi_Camera___turtlebot3_burger_for_autorace.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/Pi_Camera___turtlebot3_burger_for_autorace.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a1d8f9b7cf4e750ae338d34ede753c4fabcaa482
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/Pi_Camera___turtlebot3_burger_for_autorace.xml
@@ -0,0 +1,35 @@
+<?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>
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/Pi_Camera___turtlebot3_waffle_pi.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/Pi_Camera___turtlebot3_waffle_pi.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6db0669c7a51a7a643854eb5101336af41388133
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/Pi_Camera___turtlebot3_waffle_pi.xml
@@ -0,0 +1,35 @@
+<?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>
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/head_rplidar_sensor___turtlebot3_burgertest1.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/head_rplidar_sensor___turtlebot3_burgertest1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..24581912fb04a0caaf0ed6433996b94dfb41fb49
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/head_rplidar_sensor___turtlebot3_burgertest1.xml
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configuration>
+ <gazebo reference="base_scan">
+ <material>Gazebo/FlatBlack</material>
+ <sensor type="gpu_ray" name="head_rplidar_sensor">
+ <pose>0 0 0.06 0 0 0</pose>
+ <visualize>false</visualize>
+ <update_rate>40</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>720</samples>
+ <resolution>1</resolution>
+ <min_angle>-3.14159265</min_angle>
+ <max_angle>3.14159265</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.2</min>
+ <max>30.0</max>
+ <resolution>0.01</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="gazebo_ros_head_rplidar_controller" filename="libgazebo_ros_gpu_laser.so">
+ <topicName>scan</topicName>
+ <frameName>laser</frameName>
+ </plugin>
+ </sensor>
+ </gazebo>
+</configuration>
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/imu___turtlebot3_burger.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/imu___turtlebot3_burger.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3143fdd9905a2bac84972e319cec7a36549b2c6b
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/imu___turtlebot3_burger.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configuration>
+ <gazebo reference="imu_link">
+ <sensor type="imu" name="imu">
+ <always_on>true</always_on>
+ <visualize>false</visualize>
+ </sensor>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+</configuration>
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/imu___turtlebot3_burger_for_autorace.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/imu___turtlebot3_burger_for_autorace.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3143fdd9905a2bac84972e319cec7a36549b2c6b
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/imu___turtlebot3_burger_for_autorace.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configuration>
+ <gazebo reference="imu_link">
+ <sensor type="imu" name="imu">
+ <always_on>true</always_on>
+ <visualize>false</visualize>
+ </sensor>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+</configuration>
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/imu___turtlebot3_burgertest1.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/imu___turtlebot3_burgertest1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3143fdd9905a2bac84972e319cec7a36549b2c6b
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/imu___turtlebot3_burgertest1.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configuration>
+ <gazebo reference="imu_link">
+ <sensor type="imu" name="imu">
+ <always_on>true</always_on>
+ <visualize>false</visualize>
+ </sensor>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+</configuration>
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/imu___turtlebot3_waffle.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/imu___turtlebot3_waffle.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7689837e2fd17f6479c5087e569cd95359f3cbee
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/imu___turtlebot3_waffle.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configuration>
+ <gazebo reference="imu_link">
+ <sensor type="imu" name="imu">
+ <always_on>true</always_on>
+ <visualize>false</visualize>
+ </sensor>
+ <material>Gazebo/Grey</material>
+ </gazebo>
+</configuration>
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/imu___turtlebot3_waffle_pi.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/imu___turtlebot3_waffle_pi.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7689837e2fd17f6479c5087e569cd95359f3cbee
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/imu___turtlebot3_waffle_pi.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configuration>
+ <gazebo reference="imu_link">
+ <sensor type="imu" name="imu">
+ <always_on>true</always_on>
+ <visualize>false</visualize>
+ </sensor>
+ <material>Gazebo/Grey</material>
+ </gazebo>
+</configuration>
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_burger.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_burger.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8383bdc602cde9a4e1f2aefce794978c9f07fc95
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_burger.xml
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configuration>
+ <gazebo reference="base_scan">
+ <material>Gazebo/FlatBlack</material>
+ <sensor type="ray" name="lds_lfcd_sensor">
+ <pose>0 0 0 0 0 0</pose>
+ <visualize>false</visualize>
+ <update_rate>5</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>360</samples>
+ <resolution>1</resolution>
+ <min_angle>0.0</min_angle>
+ <max_angle>6.28319</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.120</min>
+ <max>16</max>
+ <resolution>0.015</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
+ <topicName>scan</topicName>
+ <frameName>base_scan</frameName>
+ </plugin>
+ </sensor>
+ </gazebo>
+</configuration>
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_burger_for_autorace.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_burger_for_autorace.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d45c61c07264a8f9ba86998f76087990f20f627b
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_burger_for_autorace.xml
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configuration>
+ <gazebo reference="base_scan">
+ <material>Gazebo/FlatBlack</material>
+ <sensor type="ray" name="lds_lfcd_sensor">
+ <pose>0 0 0 0 0 0</pose>
+ <visualize>false</visualize>
+ <update_rate>5</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>360</samples>
+ <resolution>1</resolution>
+ <min_angle>0.0</min_angle>
+ <max_angle>6.28319</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.120</min>
+ <max>3.5</max>
+ <resolution>0.015</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
+ <topicName>scan</topicName>
+ <frameName>base_scan</frameName>
+ </plugin>
+ </sensor>
+ </gazebo>
+</configuration>
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_waffle.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_waffle.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d45c61c07264a8f9ba86998f76087990f20f627b
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_waffle.xml
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configuration>
+ <gazebo reference="base_scan">
+ <material>Gazebo/FlatBlack</material>
+ <sensor type="ray" name="lds_lfcd_sensor">
+ <pose>0 0 0 0 0 0</pose>
+ <visualize>false</visualize>
+ <update_rate>5</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>360</samples>
+ <resolution>1</resolution>
+ <min_angle>0.0</min_angle>
+ <max_angle>6.28319</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.120</min>
+ <max>3.5</max>
+ <resolution>0.015</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
+ <topicName>scan</topicName>
+ <frameName>base_scan</frameName>
+ </plugin>
+ </sensor>
+ </gazebo>
+</configuration>
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_waffle_pi.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_waffle_pi.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d45c61c07264a8f9ba86998f76087990f20f627b
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/lds_lfcd_sensor___turtlebot3_waffle_pi.xml
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configuration>
+ <gazebo reference="base_scan">
+ <material>Gazebo/FlatBlack</material>
+ <sensor type="ray" name="lds_lfcd_sensor">
+ <pose>0 0 0 0 0 0</pose>
+ <visualize>false</visualize>
+ <update_rate>5</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>360</samples>
+ <resolution>1</resolution>
+ <min_angle>0.0</min_angle>
+ <max_angle>6.28319</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.120</min>
+ <max>3.5</max>
+ <resolution>0.015</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
+ <topicName>scan</topicName>
+ <frameName>base_scan</frameName>
+ </plugin>
+ </sensor>
+ </gazebo>
+</configuration>
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/realsense_R200___turtlebot3_waffle.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/realsense_R200___turtlebot3_waffle.xml
new file mode 100644
index 0000000000000000000000000000000000000000..53771ede1ae5e3ee00ac84e6cb8c1d4259a578e0
--- /dev/null
+++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/autogenerated/realsense_R200___turtlebot3_waffle.xml
@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configuration>
+ <gazebo reference="camera_rgb_frame">
+ <sensor type="depth" name="realsense_R200">
+ <always_on>true</always_on>
+ <visualize>false</visualize>
+ <camera>
+ <horizontal_fov>1.3439</horizontal_fov>
+ <image>
+ <width>1920</width>
+ <height>1080</height>
+ <format>R8G8B8</format>
+ </image>
+ <depth_camera />
+ <clip>
+ <near>0.03</near>
+ <far>100</far>
+ </clip>
+ </camera>
+ <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
+ <baseline>0.2</baseline>
+ <alwaysOn>true</alwaysOn>
+ <updateRate>30.0</updateRate>
+ <cameraName>camera</cameraName>
+ <frameName>camera_rgb_optical_frame</frameName>
+ <imageTopicName>rgb/image_raw</imageTopicName>
+ <depthImageTopicName>depth/image_raw</depthImageTopicName>
+ <pointCloudTopicName>depth/points</pointCloudTopicName>
+ <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+ <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+ <pointCloudCutoff>0.4</pointCloudCutoff>
+ <hackBaseline>0.07</hackBaseline>
+ <distortionK1>0.0</distortionK1>
+ <distortionK2>0.0</distortionK2>
+ <distortionK3>0.0</distortionK3>
+ <distortionT1>0.0</distortionT1>
+ <distortionT2>0.0</distortionT2>
+ <CxPrime>0.0</CxPrime>
+ <Cx>0.0</Cx>
+ <Cy>0.0</Cy>
+ <focalLength>0</focalLength>
+ <hackBaseline>0</hackBaseline>
+ </plugin>
+ </sensor>
+ </gazebo>
+</configuration>
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/Pi_Camera.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/Pi_Camera.xml
similarity index 100%
rename from src/var/FeatureModelConfigurator/resources/input/sensorconfig/Pi_Camera.xml
rename to src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/Pi_Camera.xml
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/imu.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/imu.xml
similarity index 100%
rename from src/var/FeatureModelConfigurator/resources/input/sensorconfig/imu.xml
rename to src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/imu.xml
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/lds_lfcd_sensor.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/lds_lfcd_sensor.xml
similarity index 100%
rename from src/var/FeatureModelConfigurator/resources/input/sensorconfig/lds_lfcd_sensor.xml
rename to src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/lds_lfcd_sensor.xml
diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/realsense_R200.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/realsense_R200.xml
similarity index 100%
rename from src/var/FeatureModelConfigurator/resources/input/sensorconfig/realsense_R200.xml
rename to src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/realsense_R200.xml
diff --git a/src/var/FeatureModelConfigurator/src/Adapter.java b/src/var/FeatureModelConfigurator/src/Adapter.java
index 79b93235dc2da251b83332dbaf4874b1531a8dcc..c535d1ad4a9cf07c17492b6f78935f87598491e5 100644
--- a/src/var/FeatureModelConfigurator/src/Adapter.java
+++ b/src/var/FeatureModelConfigurator/src/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:
diff --git a/src/var/FeatureModelConfigurator/src/XMLHelper.java b/src/var/FeatureModelConfigurator/src/XMLHelper.java
index 3a1030ba7bc31b32d8a1b0874a934e5ff6803631..588c9b03c628d00683abeb51572c6445b3676783 100644
--- a/src/var/FeatureModelConfigurator/src/XMLHelper.java
+++ b/src/var/FeatureModelConfigurator/src/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.
*
diff --git a/src/var/FeatureModelImplGenerator/src/Adapter.java b/src/var/FeatureModelImplGenerator/src/Adapter.java
index 79b93235dc2da251b83332dbaf4874b1531a8dcc..c535d1ad4a9cf07c17492b6f78935f87598491e5 100644
--- a/src/var/FeatureModelImplGenerator/src/Adapter.java
+++ b/src/var/FeatureModelImplGenerator/src/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:
diff --git a/src/var/FeatureModelImplGenerator/src/ImplGenerator.java b/src/var/FeatureModelImplGenerator/src/ImplGenerator.java
index 5e057cbab87e2cb0562d2155af2bec2ac89662a6..d115a04d155e0d42156b980b385af83f046eba59 100644
--- a/src/var/FeatureModelImplGenerator/src/ImplGenerator.java
+++ b/src/var/FeatureModelImplGenerator/src/ImplGenerator.java
@@ -47,41 +47,23 @@ public class ImplGenerator {
private ImplGenerator() {
- //check if resources directory exists
- File resourcesDir = new File(m_sResourcesDirPath);
- if(!resourcesDir.exists()) {
- //if not, create it
- boolean bCreated = resourcesDir.mkdir();
- if(!bCreated) {
- System.out.println("directory " + resourcesDir.getPath() + " could not be created.");
- return;
- }
+ //check if resources directory exists and if not, create it
+ if(!XMLHelper.checkDirectory(m_sResourcesDirPath)) {
+ return;
}
- //check if resources/input directory exists
- File rInputDir = new File(m_sResourcesDirPath+"/input");
- if(!rInputDir.exists()) {
- //if not, create it
- boolean bCreated = rInputDir.mkdir();
- if(!bCreated) {
- System.out.println("directory " + rInputDir.getPath() + " could not be created.");
- return;
- }
+ //check if resources/input directory exists and if not, create it
+ if(!XMLHelper.checkDirectory(m_sResourcesDirPath+"/input")) {
+ return;
}
- //check if resources/output directory exists
- File rOutputDir = new File(m_sResourcesDirPath+"/output");
- if(!rOutputDir.exists()) {
- //if not, create it
- boolean bCreated = rOutputDir.mkdir();
- if(!bCreated) {
- System.out.println("directory " + rOutputDir.getPath() + " could not be created.");
- return;
- }
+ //check if resources/output directory exists and if not, create it
+ if(!XMLHelper.checkDirectory(m_sResourcesDirPath+"/output")) {
+ return;
}
//autogenerate sensor config files
- //SensorConfigSetup oScSetup = new SensorConfigSetup();
+ SensorConfigSetup oScSetup = new SensorConfigSetup();
//set up the feature model
ModelSetup oMSetup = new ModelSetup();
diff --git a/src/var/FeatureModelImplGenerator/src/ModelSetup.java b/src/var/FeatureModelImplGenerator/src/ModelSetup.java
index 3d4e7c13b747b102c78eba6067b7651f9b4c2210..0ead6270bc913cc2a62f12a792bbbbcec11db4e9 100644
--- a/src/var/FeatureModelImplGenerator/src/ModelSetup.java
+++ b/src/var/FeatureModelImplGenerator/src/ModelSetup.java
@@ -47,19 +47,31 @@ public class ModelSetup extends XMLHelper{
String in_scPath = getConfigVal(ModelSetupConfig, "input/sensorconfig", "path");
String in_gxPath = getConfigVal(ModelSetupConfig, "input/gazebo_xacro", "path");
String out_mPath = getConfigVal(ModelSetupConfig, "output/model", "path");
+
String in_mName = getConfigVal(ModelSetupConfig, "input/model", "name");
String out_mName = getConfigVal(ModelSetupConfig, "output/model", "name");
+ String scAutoPath = in_scPath+"autogenerated/";
+ String scOtherPath = in_scPath+"other/";
+
//Declare Document.
Document model = readXml(in_mPath+in_mName);
//Get sensorconfig- and gazebomodel file names.
- //in_scPath and in_gxPath may contain other files that will be filtered out!
- List<String> scDirectoryFilesList = getFileNames(in_scPath);
- List<String> scList = new ArrayList<String>();
- for(String s : scDirectoryFilesList) {
+ //scAutoPath, scOtherPath and in_gxPath may contain other files that will be filtered out!
+ List<String> scAutoDirectoryFilesList = getFileNames(scAutoPath);
+ List<String> scAutoList = new ArrayList<String>();
+ for(String s : scAutoDirectoryFilesList) {
+ if(s.endsWith(SC_ENDING)) {
+ scAutoList.add(s);
+ }
+ }
+
+ List<String> scOtherDirectoryFilesList = getFileNames(scOtherPath);
+ List<String> scOtherList = new ArrayList<String>();
+ for(String s : scOtherDirectoryFilesList) {
if(s.endsWith(SC_ENDING)) {
- scList.add(s);
+ scOtherList.add(s);
}
}
@@ -74,16 +86,37 @@ public class ModelSetup extends XMLHelper{
//Check whether feature input was empty.
//It is possible to have no sensors (so you can build a custom bot with no sensors),
//but at least one bot template is required!
- if(scList.isEmpty()) {
- System.out.println("Warning: No sensorconfig \'"+SC_ENDING+"\' files found in \'"+in_scPath+"\'.");
+ if(scAutoList.isEmpty()) {
+ System.out.println("Warning: No sensorconfig \'"+SC_ENDING+"\' files found in \'"+scAutoPath+"\'.");
+ }
+ if(scOtherList.isEmpty()) {
+ System.out.println("Warning: No sensorconfig \'"+SC_ENDING+"\' files found in \'"+scOtherPath+"\'.");
}
if(gxList.isEmpty()) {
System.err.println("Error: No gazebo model \'"+GX_ENDING+"\' files found in \'"+in_gxPath+"\'.");
System.exit(-1);
}
+ //Check whether sensorconfigs in .../autogenerated/ and .../other/ have distinct names.
+ //FeatureIDE does not allow for duplicate feature names.
+ List<String> testList = new ArrayList<String>();
+ testList.addAll(scAutoList);
+ testList.addAll(scOtherList);
+ Collections.sort(testList);
+ if(!testList.isEmpty()) {
+ for(int i = 0; i < testList.size()-1; i++) {
+ String name1 = testList.get(i);
+ String name2 = testList.get(i+1);
+ if(name1.equals(name2)) {
+ System.err.println("Error: At least two sensorconfig files have the same name: \'"+name1+"\'");
+ System.exit(-1);
+ }
+ }
+ }
+
//Sort features alphabetically (ascending order; upper case first; then lower case).
- Collections.sort(scList);
+ Collections.sort(scAutoList);
+ Collections.sort(scOtherList);
Collections.sort(gxList);
//###############################################
@@ -111,16 +144,22 @@ public class ModelSetup extends XMLHelper{
}
//Add features to model.
- for(String sc : scList) {
+ for(String gx : gxList) {
+ String featureName = gx.substring(0, gx.length() - GX_ENDING.length());
+ Element feature = new Element("feature").setAttribute("name", featureName);
+ templates.addContent(feature);
+ }
+
+ for(String sc : scOtherList) {
String featureName = sc.substring(0, sc.length() - SC_ENDING.length());
Element feature = new Element("feature").setAttribute("name", featureName);
custom.addContent(feature);
}
- for(String gx : gxList) {
- String featureName = gx.substring(0, gx.length() - GX_ENDING.length());
+ for(String sc : scAutoList) {
+ String featureName = sc.substring(0, sc.length() - SC_ENDING.length());
Element feature = new Element("feature").setAttribute("name", featureName);
- templates.addContent(feature);
+ custom.addContent(feature);
}
//###############################################
diff --git a/src/var/FeatureModelImplGenerator/src/SensorConfigSetup.java b/src/var/FeatureModelImplGenerator/src/SensorConfigSetup.java
index 45a6475450f9a9c520f19513ce443ca5da41b054..2e29aef96a9af85a426f1d2c6b5bf3cc7c02ecb8 100644
--- a/src/var/FeatureModelImplGenerator/src/SensorConfigSetup.java
+++ b/src/var/FeatureModelImplGenerator/src/SensorConfigSetup.java
@@ -29,38 +29,15 @@ public class SensorConfigSetup extends XMLHelper{
}
/**
- * Check whether the given directory exists and if not, create it.
+ * Takes a file name and alters it so a FeatureIDE model will accept it.
+ * FeatureIDE says it only takes the following regex as valid feature names: ^[a-zA-Z]+\w*$
+ * This function will replace all \W characters (no word character) with '_'.
*
- * @param path Path to directory as String
+ * @param name Name to be changes as String.
+ * @return Corrected name
*/
- private static void createDirectory(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.");
- System.exit(-1);
- }
- }
- }
-
- /**
- * Recursively delete a directory and its contents.
- *
- * @param path Path to directory as String
- */
- private static void deleteDirectory(String path) {
- File directory = new File(path);
- File[] content = directory.listFiles();
- if(content != null) {
- for(File file : content) {
- deleteDirectory(file.getPath());
- }
- }
- if(!directory.delete()) {
- System.err.println("Error: Could not delete file/ directory: \'"+directory.getPath()+"\'.");
- }
-
+ private static String fixName(String name) {
+ return name.replaceAll("\\W", "_");
}
/**
@@ -79,12 +56,17 @@ public class SensorConfigSetup extends XMLHelper{
//Get modelsetup.config values.
String in_scPath = getConfigVal(ModelSetupConfig, "input/sensorconfig", "path");///TODO
String in_gxPath = getConfigVal(ModelSetupConfig, "input/gazebo_xacro", "path");
- String out_mPath = getConfigVal(ModelSetupConfig, "output/model", "path");
- //Declare Document.
- //Document xy =
+ String scAutoPath = in_scPath+"autogenerated/";
+ String scOtherPath = in_scPath+"other/";
+
+ //Declare Documents and their corresponding file names.
+ List<Document> gazeboModelList = new ArrayList<Document>();
+ List<String> gazeboModelNamesList = new ArrayList<String>();
+ List<Document> sensorConfigList = new ArrayList<Document>();
+ List<String> sensorConfigNamesList = new ArrayList<String>();
- //Get sensorconfig- and gazebomodel file names.
+ //Get gazebomodel file names.
//in_gxPath may contain other files that will be filtered out!
List<String> gxDirectoryFilesList = getFileNames(in_gxPath);
List<String> gxList = new ArrayList<String>();
@@ -96,32 +78,76 @@ public class SensorConfigSetup extends XMLHelper{
//Check whether input was empty.
if(gxList.isEmpty()) {
- System.err.println("Error: No gazebo model \'"+GX_ENDING+"\' files found in \'"+in_gxPath+"\'. Could not autogenerate sensorconfig files");
- System.exit(-1);
+ System.out.println("Warning: No gazebo model \'"+GX_ENDING+"\' files found in \'"+in_gxPath+"\'. Could not autogenerate sensorconfig files");
+ }
+
+ //Get all gazebomodel files as List<Document>.
+ for(String gx : gxList) {
+ gazeboModelList.add(readXml(in_gxPath+gx));
+ gazeboModelNamesList.add(gx.substring(0, gx.length() - GX_ENDING.length()));
}
//###############################################
//######### Check directories ###################
- String scAuto = in_scPath+"autogenerated/";
- String scOther = in_scPath+"other/";
-
- createDirectory(in_scPath);
- if((new File(scAuto)).exists()) {
- deleteDirectory(scAuto);
+ checkDirectory(in_scPath);
+ if((new File(scAutoPath)).exists()) {
+ deleteDirectory(scAutoPath);
}
- createDirectory(scAuto);
- createDirectory(scOther);
+ checkDirectory(scAutoPath);
+ checkDirectory(scOtherPath);
//###############################################
//######### Generate sensorconfigs ##############
-
+ for(int i = 0; i < gazeboModelList.size(); i++) {
+ Document gazeboModel = gazeboModelList.get(i);
+ String gazeboModelName = gazeboModelNamesList.get(i);
+ Namespace NS = gazeboModel.getRootElement().getNamespace("xacro");
+
+ //Replace all $(arg ...) variables with their concrete values.
+ List<Element> argList = xQueryElements(gazeboModel, "//xacro:arg", NS);
+ for(Element arg : argList) {
+ String variable = "$(arg "+arg.getAttributeValue("name")+")";
+ String concreteValue = arg.getAttributeValue("default");
+ List<Element> occurrenceList = xQueryElements(gazeboModel, "//*[text()='"+variable+"']");
+ for(Element occurrence : occurrenceList) {
+ occurrence.setText(concreteValue);
+ }
+ }
+
+ //Get all existing sensors in gazebomodel.
+ List<Element> sensorList = xQueryElements(gazeboModel, "//sensor");
+
+ //Create a new sensorconfig for each of them.
+ for(Element sensor : sensorList) {
+ Element entry = sensor.getParentElement();
+ if(entry.getName().equals("gazebo")) {
+ entry.detach();
+
+ Element sensorConfigRoot = new Element("configuration");
+ Document sensorConfig = new Document(sensorConfigRoot);
+ sensorConfig.getRootElement().addContent(entry);
+
+ sensorConfigList.add(sensorConfig);
+ String sensorConfigName = fixName(sensor.getAttributeValue("name"))+"___"+fixName(gazeboModelName);
+ sensorConfigNamesList.add(sensorConfigName);
+ }
+ else {
+ System.out.println("Found a <sensor> element that does not have a <gazebo> element as immediate parent. It was ignored, as this input is unexpected.");
+ }
+ }
+ }
//###############################################
//######### Output result #######################
- //saveAsXml(model, out_mPath+out_mName);
+ for(int i = 0; i < sensorConfigList.size(); i++) {
+ Document sensorConfig = sensorConfigList.get(i);
+ String sensorConfigName = sensorConfigNamesList.get(i);
+
+ saveAsXml(sensorConfig, scAutoPath+sensorConfigName+SC_ENDING);
+ }
//###############################################
}
catch (JDOMException | IOException e) {
diff --git a/src/var/FeatureModelImplGenerator/src/XMLHelper.java b/src/var/FeatureModelImplGenerator/src/XMLHelper.java
index 3a1030ba7bc31b32d8a1b0874a934e5ff6803631..588c9b03c628d00683abeb51572c6445b3676783 100644
--- a/src/var/FeatureModelImplGenerator/src/XMLHelper.java
+++ b/src/var/FeatureModelImplGenerator/src/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.
*