org.mechio.impl.motion.config
Class RobotConfigXMLReader

java.lang.Object
  org.mechio.impl.motion.config.RobotConfigXMLReader

All Implemented Interfaces:

org.jflux.api.common.rk.services.ConfigurationLoader<ServoRobotConfig,org.apache.commons.configuration.HierarchicalConfiguration>

public class RobotConfigXMLReader
extends java.lang.Object
implements org.jflux.api.common.rk.services.ConfigurationLoader<ServoRobotConfig,org.apache.commons.configuration.HierarchicalConfiguration>

Utility methods for reading an XML RobotConfig.

Author:

Matthew Stevenson

Field Summary

static java.lang.String	CONFIG_TYPE Config format version name.
static java.lang.String	CONFIG_VERSION Config format version number.
static org.jflux.api.common.rk.config.VersionProperty	VERSION Config format VersionProperty.
static java.lang.String	XML_CONFIG_VERSION_TYPE Config format VersionProperty type attribute.
static java.lang.String	XML_CONTROLLER ServoController XML Element.
static java.lang.String	XML_CONTROLLER_TYPE_VERSION Controller Type VersionProperty type attribute.
static java.lang.String	XML_CONTROLLERS JointControllers XML Element.
static java.lang.String	XML_JOINT Joint config XML Element.
static java.lang.String	XML_JOINT_CONFIG Joint configs XML Element.
static java.lang.String	XML_JOINT_JOINT_ID Joint id XML attribute.
static java.lang.String	XML_JOINT_NAME Joint name XML attribute.
static java.lang.String	XML_JOINT_SERVO_CONTROLLER_ID Joint id XML attribute.
static java.lang.String	XML_JOINT_SERVO_ID Joint id XML attribute.
static java.lang.String	XML_ROBOT_CONFIG Robot XML Element.
static java.lang.String	XML_ROBOT_ID Robot XML Id.
static java.lang.String	XML_SERVO_CONTROLLER_CONFIG Controller parameters XML element name.
static java.lang.String	XML_VERSION_PROPERTIES Version properties XML element name.

Constructor Summary

RobotConfigXMLReader(org.osgi.framework.BundleContext context)

Method Summary

java.lang.Class<ServoRobotConfig>	getConfigurationClass()
org.jflux.api.common.rk.config.VersionProperty	getConfigurationFormat()
java.lang.Class<org.apache.commons.configuration.HierarchicalConfiguration>	getParameterClass()
ServoRobotConfig	loadConfiguration(org.apache.commons.configuration.HierarchicalConfiguration param)
static ServoRobotConfig	readConfig(org.osgi.framework.BundleContext context, org.apache.commons.configuration.HierarchicalConfiguration xml) Reads a RobotConfig from the XML node.
static ServoRobotConfig	readConfig(org.osgi.framework.BundleContext context, java.lang.String path) Reads a RobotConfig from the file path.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

CONFIG_TYPE

public static final java.lang.String CONFIG_TYPE

Config format version name.

See Also:

Constant Field Values

CONFIG_VERSION

public static final java.lang.String CONFIG_VERSION

Config format version number.

See Also:

Constant Field Values

VERSION

public static final org.jflux.api.common.rk.config.VersionProperty VERSION

Config format VersionProperty.

XML_ROBOT_CONFIG

public static final java.lang.String XML_ROBOT_CONFIG

Robot XML Element.

See Also:

Constant Field Values

XML_ROBOT_ID

public static final java.lang.String XML_ROBOT_ID

Robot XML Id.

See Also:

Constant Field Values

XML_JOINT_CONFIG

public static final java.lang.String XML_JOINT_CONFIG

Joint configs XML Element.

See Also:

Constant Field Values

XML_JOINT

public static final java.lang.String XML_JOINT

Joint config XML Element.

See Also:

Constant Field Values

XML_JOINT_JOINT_ID

public static final java.lang.String XML_JOINT_JOINT_ID

Joint id XML attribute.

See Also:

Constant Field Values

XML_JOINT_SERVO_CONTROLLER_ID

public static final java.lang.String XML_JOINT_SERVO_CONTROLLER_ID

Joint id XML attribute.

See Also:

Constant Field Values

XML_JOINT_SERVO_ID

public static final java.lang.String XML_JOINT_SERVO_ID

Joint id XML attribute.

See Also:

Constant Field Values

XML_JOINT_NAME

public static final java.lang.String XML_JOINT_NAME

Joint name XML attribute.

See Also:

Constant Field Values

XML_CONTROLLERS

public static final java.lang.String XML_CONTROLLERS

JointControllers XML Element.

See Also:

Constant Field Values

XML_CONTROLLER

public static final java.lang.String XML_CONTROLLER

ServoController XML Element.

See Also:

Constant Field Values

XML_VERSION_PROPERTIES

public static final java.lang.String XML_VERSION_PROPERTIES

Version properties XML element name.

See Also:

Constant Field Values

XML_CONTROLLER_TYPE_VERSION

public static final java.lang.String XML_CONTROLLER_TYPE_VERSION

Controller Type VersionProperty type attribute. Used to specify the type of ServoController to use.

See Also:

Constant Field Values

XML_CONFIG_VERSION_TYPE

public static final java.lang.String XML_CONFIG_VERSION_TYPE

Config format VersionProperty type attribute. Used to specify the type of ServoControllerConfig reader to use.

See Also:

Constant Field Values

XML_SERVO_CONTROLLER_CONFIG

public static final java.lang.String XML_SERVO_CONTROLLER_CONFIG

Controller parameters XML element name.

See Also:

Constant Field Values

Constructor Detail

RobotConfigXMLReader

public RobotConfigXMLReader(org.osgi.framework.BundleContext context)

Method Detail

readConfig

public static ServoRobotConfig readConfig(org.osgi.framework.BundleContext context,
                                          java.lang.String path)

Reads a RobotConfig from the file path.

Parameters:

context - BundleContext to use for loading a config reader

path - path to the XML file

Returns:

RobotConfig from the file path

readConfig

public static ServoRobotConfig readConfig(org.osgi.framework.BundleContext context,
                                          org.apache.commons.configuration.HierarchicalConfiguration xml)

Reads a RobotConfig from the XML node.

Parameters:

context - BundleContext to use for loading a config reader

xml - XML node

Returns:

RobotConfig from the XML node

getConfigurationFormat

public org.jflux.api.common.rk.config.VersionProperty getConfigurationFormat()

Specified by:

getConfigurationFormat in interface org.jflux.api.common.rk.services.ConfigurationLoader<ServoRobotConfig,org.apache.commons.configuration.HierarchicalConfiguration>

loadConfiguration

public ServoRobotConfig loadConfiguration(org.apache.commons.configuration.HierarchicalConfiguration param)

Specified by:

loadConfiguration in interface org.jflux.api.common.rk.services.ConfigurationLoader<ServoRobotConfig,org.apache.commons.configuration.HierarchicalConfiguration>

getConfigurationClass

public java.lang.Class<ServoRobotConfig> getConfigurationClass()

Specified by:

getConfigurationClass in interface org.jflux.api.common.rk.services.ConfigurationLoader<ServoRobotConfig,org.apache.commons.configuration.HierarchicalConfiguration>

getParameterClass

public java.lang.Class<org.apache.commons.configuration.HierarchicalConfiguration> getParameterClass()

Specified by:

getParameterClass in interface org.jflux.api.common.rk.services.ConfigurationLoader<ServoRobotConfig,org.apache.commons.configuration.HierarchicalConfiguration>