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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1611 | - | 1 | package dongfang.mkt.configuration; |
| 2 | |||
| 3 | import java.io.File; |
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| 4 | import java.io.IOException; |
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| 5 | |||
| 6 | import javax.xml.parsers.DocumentBuilder; |
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| 7 | import javax.xml.parsers.DocumentBuilderFactory; |
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| 8 | import javax.xml.parsers.ParserConfigurationException; |
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| 9 | import javax.xml.xpath.XPath; |
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| 10 | import javax.xml.xpath.XPathConstants; |
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| 11 | import javax.xml.xpath.XPathExpressionException; |
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| 12 | import javax.xml.xpath.XPathFactory; |
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| 13 | |||
| 14 | import org.w3c.dom.Document; |
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| 15 | import org.w3c.dom.Element; |
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| 16 | import org.w3c.dom.NodeList; |
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| 17 | import org.xml.sax.SAXException; |
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| 18 | |||
| 19 | public class IMUConfiguration extends ConfigurationSet { |
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| 20 | protected int correctLengthToExcludeName(int length) { |
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| 21 | return length; |
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| 22 | } |
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| 23 | |||
| 24 | protected void setName(int[] data, int length) {} |
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| 25 | |||
| 26 | protected void outputName(StringBuilder sb) { |
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| 27 | } |
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| 28 | |||
| 29 | public String toXML() { |
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| 30 | StringBuilder result = new StringBuilder(); |
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| 31 | result.append("<imuconfiguration eepromVersion=\"" + eepromVersion |
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| 32 | + "\" length=\"" + getByteCount() + "\">\n"); |
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| 33 | for (int i = 0; i < entries.size(); i++) { |
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| 34 | ParameterEntry entry = entries.get(i); |
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| 35 | entry.toXML(result); |
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| 36 | } |
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| 37 | result.append("</imuconfiguration>\n"); |
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| 38 | return result.toString(); |
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| 39 | } |
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| 40 | |||
| 41 | public IMUConfiguration(int eepromVersion) { |
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| 42 | super(); |
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| 43 | this.eepromVersion = eepromVersion; |
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| 44 | } |
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| 45 | |||
| 46 | // This parses only for the purpose of naming and typing parameter sets! |
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| 47 | // It does not parse the section and default information, which could be |
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| 48 | // useful for GUIs etc. |
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| 49 | public static IMUConfiguration parseXMLIMUConfiguration(int version) |
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| 50 | throws IOException { |
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| 51 | String fileName = "configsets/templates/imuconfiguration_v" + version |
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| 52 | + ".xml"; |
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| 53 | File f = new File(fileName); |
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| 54 | DocumentBuilderFactory saxfac = DocumentBuilderFactory.newInstance(); |
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| 55 | saxfac.setValidating(false); |
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| 56 | try { |
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| 57 | DocumentBuilder bldr = saxfac.newDocumentBuilder(); |
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| 58 | Document doc = bldr.parse(f); |
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| 59 | XPath xpath = XPathFactory.newInstance().newXPath(); |
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| 60 | |||
| 61 | String s_eepromVersion = xpath.evaluate( |
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| 62 | "/imuconfigurationtemplate/@eepromVersion", doc); |
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| 63 | int eepromVersion = Integer.parseInt(s_eepromVersion); |
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| 64 | |||
| 65 | String s_declaredLength = xpath.evaluate( |
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| 66 | "/imuconfigurationtemplate/@length", doc); |
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| 67 | int declaredLength = Integer.parseInt(s_declaredLength); |
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| 68 | |||
| 69 | if (eepromVersion != version) { |
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| 70 | throw new IOException( |
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| 71 | "Version mismatch between file name (" |
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| 72 | + fileName |
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| 73 | + ") and the version in the imuconfigurationtemplate/@eepromVersion attribute(" |
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| 74 | + s_eepromVersion + ")"); |
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| 75 | } |
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| 76 | |||
| 77 | IMUConfiguration result = new IMUConfiguration(eepromVersion); |
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| 78 | |||
| 79 | NodeList parameterNodes = (NodeList) xpath.evaluate( |
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| 80 | "/imuconfigurationtemplate/parameter", doc, |
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| 81 | XPathConstants.NODESET); |
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| 82 | |||
| 83 | for (int j = 0; j < parameterNodes.getLength(); j++) { |
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| 84 | Element parameterNode = (Element) parameterNodes.item(j); |
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| 85 | |||
| 86 | ParameterEntry entry; |
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| 87 | |||
| 88 | String s_name = parameterNode.getAttribute("name"); |
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| 89 | String s_type; |
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| 90 | |||
| 91 | if (parameterNode.hasAttribute("type")) { |
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| 92 | s_type = parameterNode.getAttribute("type"); |
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| 93 | } else { |
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| 94 | s_type = "static"; |
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| 95 | } |
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| 96 | |||
| 97 | if ("static".equals(s_type)) { |
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| 98 | entry = new StaticByteEntry(s_name); |
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| 99 | } else if ("dynamic".equals(s_type)) { |
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| 100 | throw new IOException("Dynamic parameters are not supported in IMU config."); |
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| 101 | } else if ("bitset".equals(s_type)) { |
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| 102 | NodeList bitNodes = (NodeList) xpath.evaluate("bit", |
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| 103 | parameterNode, XPathConstants.NODESET); |
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| 104 | String[] bitNames = new String[8]; |
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| 105 | for (int k = 0; k < 8; k++) { |
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| 106 | Element bitNode = (Element) bitNodes.item(k); |
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| 107 | if (bitNode != null) { |
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| 108 | bitNames[k] = bitNode.getAttribute("name"); |
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| 109 | } else { |
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| 110 | bitNames[k] = "Unused"; |
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| 111 | } |
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| 112 | } |
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| 113 | entry = new BitSetEntry(s_name, bitNames); |
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| 114 | } else { |
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| 115 | throw new IOException("Unknown parameter type: " + s_type); |
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| 116 | } |
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| 117 | |||
| 118 | result.entries.add(entry); |
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| 119 | } |
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| 120 | //result.name = "" + version; |
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| 121 | if (result.getByteCount() != declaredLength) { |
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| 122 | throw new IOException("The number of parameters in the set (" |
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| 123 | + result.getEntries().size() |
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| 124 | + ") was not equal to the declared length (" |
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| 125 | + declaredLength + ")."); |
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| 126 | } |
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| 127 | return result; |
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| 128 | } catch (IOException ex) { |
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| 129 | throw ex; |
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| 130 | } catch (XPathExpressionException ex) { |
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| 131 | throw new IOException(ex); |
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| 132 | } catch (SAXException ex) { |
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| 133 | throw new IOException(ex); |
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| 134 | } catch (ParserConfigurationException ex) { |
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| 135 | throw new IOException(ex); |
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| 136 | } |
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| 137 | } |
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| 138 | } |