diff --git a/Varianten/AdapterFIDEROS/resources/input/sensorconfig.xml b/Varianten/AdapterFIDEROS/resources/input/sensorconfig.xml
index 940d688f6e21a385f546ab51f3c628388f51035a..3bd937a47a62327c0646189bc73cfd0d7f2de9c9 100644
--- a/Varianten/AdapterFIDEROS/resources/input/sensorconfig.xml
+++ b/Varianten/AdapterFIDEROS/resources/input/sensorconfig.xml
@@ -1,12 +1,14 @@
<?xml version="1.0"?>
<configuration>
<sensor type="ray" name="lds_lfcd_sensor">
- <range>
- <min>0.3</min>
- <max>5.2</max>
- </range>
- <noise>
- <stddev>0.09</stddev>
- </noise>
+ <ray>
+ <range>
+ <min>0.3</min>
+ <max>5.2</max>
+ </range>
+ <noise>
+ <stddev>0.09</stddev>
+ </noise>
+ </ray>
</sensor>
</configuration>
diff --git a/Varianten/AdapterFIDEROS/resources/output/turtlebot3_burger.gazebo.xacro b/Varianten/AdapterFIDEROS/resources/output/turtlebot3_burger.gazebo.xacro
index db59909444c0a2b3ca9406381ba40019ba288296..1e40bbc64c7e02f18099498b7dff4c245cf67e28 100644
--- a/Varianten/AdapterFIDEROS/resources/output/turtlebot3_burger.gazebo.xacro
+++ b/Varianten/AdapterFIDEROS/resources/output/turtlebot3_burger.gazebo.xacro
@@ -115,14 +115,14 @@
</horizontal>
</scan>
<range>
- <min>0.120</min>
- <max>3.5</max>
+ <min></min>
+ <max>5.2</max>
<resolution>0.015</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
- <stddev>0.01</stddev>
+ <stddev>0.09</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
diff --git a/Varianten/AdapterFIDEROS/src/Adapter.java b/Varianten/AdapterFIDEROS/src/Adapter.java
index 20e7dd67147f65e377669cd1e66b041a43cd8f3b..269ced87849951a26bb607014a1fedbfe8913859 100644
--- a/Varianten/AdapterFIDEROS/src/Adapter.java
+++ b/Varianten/AdapterFIDEROS/src/Adapter.java
@@ -34,7 +34,7 @@ public class Adapter {
}
/**
- * Executes given XPath expression for elements.
+ * Executes given XPath expression for elements with JDOM Document as source.
*
* @param doc The JDOM Document
* @param xPath XPath expression
@@ -48,6 +48,21 @@ public class Adapter {
return result;
}
+ /**
+ * Executes given XPath expression for elements with Element as source.
+ *
+ * @param elem The Element
+ * @param xPath XPath expression
+ * @return List with all elements found or empty list if no match found
+ */
+ public static List<Element> xQueryElements(Element elem, String xPath) {
+ XPathFactory xFactory = XPathFactory.instance();
+ XPathExpression<Element> expr = xFactory.compile(xPath, Filters.element());
+ List<Element> result = expr.evaluate(elem);
+
+ return result;
+ }
+
/**
* Executes given XPath expression for attributes.
*
@@ -102,10 +117,44 @@ public class Adapter {
List<Attribute> attributeList2 = element2.getAttributes();
if(!element1.getName().equals(element2.getName())) return false;
- if(!attributeList1.equals(attributeList2)) return false;
+ if(attributeList1.size()!=attributeList2.size()) return false;
+ for(int i=0; i<attributeList1.size(); i++) {
+ if(!attributeList1.get(i).getName().equals(attributeList2.get(i).getName())) return false;
+ if(!attributeList1.get(i).getValue().equals(attributeList2.get(i).getValue())) return false;
+ }
+
return true;
}
+ /**
+ * Recursive replacement of all text values in destElements with their corresponding
+ * new ones from srcElements.
+ * (srcElements and destElements must be matching tags!)
+ *
+ * TODO maybe add tags that are in srcElements but not yet in destElements
+ *
+ * @param srcElements Element list with new values
+ * @param destElements Element list with values to be replaced
+ * @return true if reached deepest Element or false if not
+ */
+ public static boolean replace(List<Element> srcElements, List<Element> destElements) {
+ if(srcElements.isEmpty()&&destElements.isEmpty()) return true;
+ if(srcElements.isEmpty()^destElements.isEmpty()) {
+ System.out.println("Error during value replacement: Sensor xml trees have mismatching deph (maybe tags with no value)");
+ System.exit(-1);
+ }
+ for(Element src : srcElements) {
+ for(Element dest : destElements) {
+ if(equalTag(src, dest)) {
+ boolean deadEnd = replace(src.getChildren(), dest.getChildren());
+ if(deadEnd) dest.setText(src.getText());
+ break;
+ }
+ }
+ }
+ return false;
+ }
+
/**
* @param args
*/
@@ -165,9 +214,9 @@ public class Adapter {
}
for(Element cSensor : cSensorList) {
- for(Element gSensor : gSensorList) {
+ for(Element gSensor : gSensorList) {
if(equalTag(cSensor, gSensor)) {
- //TODO automatischer Abgleich aller cSensor-Informationen mit gSensor und Wertersetzung
+ replace(cSensor.getChildren(),gSensor.getChildren());
}
}
}
diff --git a/Varianten/FeatureModelConfigurator/src/Configurator.jak b/Varianten/FeatureModelConfigurator/src/Configurator.jak
new file mode 100644
index 0000000000000000000000000000000000000000..656bc98e11d9ac55d3c0e8dba95a993cedb171f7
--- /dev/null
+++ b/Varianten/FeatureModelConfigurator/src/Configurator.jak
@@ -0,0 +1,170 @@
+
+import java.util.List;
+import java.util.ArrayList;
+import java.io.BufferedWriter;
+import java.io.File;
+import java.io.FileWriter;
+import java.io.IOException;
+
+import org.jsoup.Jsoup;
+import org.jsoup.nodes.*;
+import org.jsoup.nodes.Document.OutputSettings;
+import org.jsoup.nodes.Document.OutputSettings.Syntax;
+import org.jsoup.parser.Parser;
+
+SoUrCe RooT ConfiguratorMain "../features/ConfiguratorMain/Configurator.jak";
+
+/**
+ * Main class for the car configurator.
+ * Is refined by modules, which add selected components to component list.
+ * This class has to save a file containing the configuration
+ * and launch the test seletion application afterwards.
+ *
+ *
+ * Naming conventions:
+ * m_: Member variable
+ * s: String
+ * n: Integer number (int, long,...)
+ * f: Floating point number (float, double,...)
+ * o: Object
+ * a: Collection (List, Array,...)
+ *
+ */
+
+abstract class Configurator$$ConfiguratorMain {
+ //module list
+ private List m_aModuleList;
+ //output path
+ private String m_sOutputPath = "./test.xml";
+ //TODO: set this
+ //path for test case selector, which has to be launched from this application
+ private String m_sTestCaseSelectorPath;
+ //TODO: set this
+ //path for the Gazebo adapter, which has to be launched from this application
+ private String m_sGazeboAdapterPath;
+ //TODO: properly set this
+ //path to the feature model xml
+ private String m_sFeatureModelPath = "./model.xml";
+ //document representation of the feature model
+ private Document m_oFeatureModelDoc;
+ //representation of a single module with all of its types
+ class Module {
+ String sModuleName;
+ ArrayList aModuleTypes;
+ }
+
+
+ public static void main(String[] args) {
+ new Configurator().save();
+ }
+
+ public void save() {
+ //transform list to XML document using jsoup
+ Document oDoc = Jsoup.parse("<?xml version=\"1.0\"?>\n", "", Parser.xmlParser());
+ Element oStruct = new Element("specification");
+ oDoc.appendChild(oStruct);
+
+ //if the module list was initialized
+ if(m_aModuleList!=null) {
+ for(int i=0; i<m_aModuleList.size(); i++) {
+ //Add module and tag to Document
+ Element oModuleElement = new Element("module");
+ //Add name
+ Module oModule = (Module)m_aModuleList.get(i);
+ oModuleElement.attr("name", oModule.sModuleName);
+ //Create type String
+ ArrayList<String> aTypes = oModule.aModuleTypes;
+ String sTypesString = "";
+ //concat String
+ for(int j=0; j<aTypes.size(); j++) {
+ sTypesString += aTypes.get(j);
+ //add comma if it's not the last Type
+ if(j<aTypes.size()-1)
+ sTypesString += ", ";
+ }
+ oModuleElement.attr("types", sTypesString);
+ oStruct.appendChild(oModuleElement);
+ }
+ }
+
+ //generate xml String
+ OutputSettings oOutputSettings = new OutputSettings();
+ oOutputSettings.syntax(Syntax.xml);
+ oDoc.outputSettings(oOutputSettings);
+ String sDoc = oDoc.toString();
+ System.out.println(sDoc);
+
+ //save to file
+ try {
+ BufferedWriter writer = new BufferedWriter(new FileWriter(m_sOutputPath));
+ writer.write(sDoc);
+ writer.close();
+ }
+ catch (IOException oEx) {
+ System.out.println(oEx);
+ }
+ }
+
+ //get all parents of a given module from the Feature Model file
+ private Module GetModuleParents(String sModuleName) throws IOException {
+ Module oModule = new Module();
+ //set name
+ oModule.sModuleName = sModuleName;
+ //init Doc if not done
+ if(m_oFeatureModelDoc==null) {
+ File oModel = new File(m_sFeatureModelPath);
+ m_oFeatureModelDoc = Jsoup.parse(oModel, "UTF-8");
+ }
+ //should have size 1
+ org.jsoup.select.Elements aModuleBuffer = m_oFeatureModelDoc.getElementsByAttributeValue("name", sModuleName);
+ if(aModuleBuffer.size()>1) {
+ //somethings wrong
+ //TODO: properly log this
+ System.out.println("Found more than one module with the name " + sModuleName);
+ }
+ Element oModuleElement = aModuleBuffer.first();
+ //get all anchestors
+ aModuleBuffer = oModuleElement.parents();
+ ArrayList<String> aTypes = new ArrayList();
+ //itterate through parents of module
+ for(int i=0; i<aModuleBuffer.size(); i++) {
+ Element oElement = aModuleBuffer.get(i);
+ String sElementName = oElement.attr("name");
+ //break if we reach the Main class, as there are no types further up
+ if(sElementName.equals("ConfiguratorMain")) {
+ break;
+ }
+ aTypes.add(sElementName);
+ }
+ oModule.aModuleTypes = aTypes;
+ return oModule;
+ }
+
+ //add a module name and module type to the feature list. Init list, if not already done
+ public void addToModuleList(String sModuleName) {
+ //init List, if not already done
+ if(m_aModuleList==null) {
+ m_aModuleList = new ArrayList();
+ }
+ //get the module types
+ Module oModule;
+ try {
+ oModule = GetModuleParents(sModuleName);
+ }
+ catch (IOException oEx) {
+ System.out.print(oEx);
+ return;
+ }
+ m_aModuleList.add(oModule);
+ }
+}
+
+SoUrCe Waffle "../features/Waffle/Configurator.jak";/**
+ * TODO description
+ */
+public class Configurator extends Configurator$$ConfiguratorMain {
+ public void save() {
+ Super().addToModuleList("Waffle");
+ Super().save();
+ }
+}
\ No newline at end of file