Automatically generate sensorconfigs from gazebo.xacro files

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) {

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.
 	 *