private ControllerConfiguration parseMatrixController()
throws IOException, XmlPullParserException, RobotCoreException {
String name = this.parser.getAttributeValue(null, "name");
SerialNumber serialNumber = ControllerConfiguration.NO_SERIAL_NUMBER;
int port = Integer.parseInt(this.parser.getAttributeValue(null, "port"));
ArrayList<DeviceConfiguration> servoConfigurations =
createDeviceConfigurationList(MATRIX_SERVO_PORTS, ConfigurationType.SERVO);
ArrayList<DeviceConfiguration> motorConfigurations =
createDeviceConfigurationList(MATRIX_MOTOR_PORTS, ConfigurationType.MOTOR);
int next = this.parser.next();
ConfigurationType type = getConfigurationType(this.parser.getName());
while (next != XmlPullParser.END_DOCUMENT) {
if ((next == XmlPullParser.END_TAG) && (type == ConfigurationType.MATRIX_CONTROLLER)) {
ControllerConfiguration matrixControllerConfiguration =
new MatrixControllerConfiguration(
name, motorConfigurations, servoConfigurations, serialNumber);
matrixControllerConfiguration.setPort(port);
matrixControllerConfiguration.setEnabled(true);
return matrixControllerConfiguration;
} else if (next == XmlPullParser.START_TAG) {
if ((type == ConfigurationType.SERVO) || (type == ConfigurationType.MOTOR)) {
int devicePort = Integer.parseInt(this.parser.getAttributeValue(null, "port"));
String deviceName = this.parser.getAttributeValue(null, "name");
DeviceConfiguration deviceConfiguration =
new DeviceConfiguration(devicePort, type, deviceName, true);
if (type == ConfigurationType.SERVO) {
servoConfigurations.set(devicePort - 1, deviceConfiguration);
} else {
motorConfigurations.set(devicePort - 1, deviceConfiguration);
}
}
}
next = this.parser.next();
type = getConfigurationType(this.parser.getName());
}
RobotLog.logAndThrow("Reached the end of the XML file while parsing.");
return null;
}
private ControllerConfiguration parseDeviceInterfaceModule()
throws IOException, XmlPullParserException, RobotCoreException {
String name = this.parser.getAttributeValue(null, "name");
SerialNumber serialNumber =
new SerialNumber(this.parser.getAttributeValue(null, "serialNumber"));
ArrayList<DeviceConfiguration> pwdConfigurations =
createDeviceConfigurationList(PWD_PORTS, ConfigurationType.PULSE_WIDTH_DEVICE);
ArrayList<DeviceConfiguration> i2cConfigurations =
createDeviceConfigurationList(I2C_PORTS, ConfigurationType.I2C_DEVICE);
ArrayList<DeviceConfiguration> analogInputConfigurations =
createDeviceConfigurationList(ANALOG_INPUT_PORTS, ConfigurationType.ANALOG_INPUT);
ArrayList<DeviceConfiguration> digitalDeviceConfigurations =
createDeviceConfigurationList(DIGITAL_PORTS, ConfigurationType.DIGITAL_DEVICE);
ArrayList<DeviceConfiguration> analogOutputConfigurations =
createDeviceConfigurationList(ANALOG_OUTPUT_PORTS, ConfigurationType.ANALOG_OUTPUT);
int next = this.parser.next();
ConfigurationType type = getConfigurationType(this.parser.getName());
while (next != XmlPullParser.END_DOCUMENT) {
if ((next == XmlPullParser.END_TAG) && (type != null)) {
if (DEBUG) {
RobotLog.e("[handleDeviceInterfaceModule] tagname: " + type);
}
if (type == ConfigurationType.DEVICE_INTERFACE_MODULE) {
DeviceInterfaceModuleConfiguration deviceInterfaceModuleConfiguration =
new DeviceInterfaceModuleConfiguration(name, serialNumber);
deviceInterfaceModuleConfiguration.setPwmDevices(pwdConfigurations);
deviceInterfaceModuleConfiguration.setI2cDevices(i2cConfigurations);
deviceInterfaceModuleConfiguration.setAnalogInputDevices(analogInputConfigurations);
deviceInterfaceModuleConfiguration.setDigitalDevices(digitalDeviceConfigurations);
deviceInterfaceModuleConfiguration.setAnalogOutputDevices(analogOutputConfigurations);
deviceInterfaceModuleConfiguration.setEnabled(true);
return deviceInterfaceModuleConfiguration;
}
}
if (next == XmlPullParser.START_TAG) {
DeviceConfiguration deviceConfiguration;
if ((type == ConfigurationType.ANALOG_INPUT)
|| (type == ConfigurationType.OPTICAL_DISTANCE_SENSOR)) {
deviceConfiguration = parseDeviceConfiguration();
analogInputConfigurations.set(deviceConfiguration.getPort(), deviceConfiguration);
}
if (type == ConfigurationType.PULSE_WIDTH_DEVICE) {
deviceConfiguration = parseDeviceConfiguration();
pwdConfigurations.set(deviceConfiguration.getPort(), deviceConfiguration);
}
if ((type == ConfigurationType.I2C_DEVICE)
|| (type == ConfigurationType.IR_SEEKER_V3)
|| (type == ConfigurationType.ADAFRUIT_COLOR_SENSOR)
|| (type == ConfigurationType.COLOR_SENSOR)
|| (type == ConfigurationType.GYRO)) {
deviceConfiguration = parseDeviceConfiguration();
i2cConfigurations.set(deviceConfiguration.getPort(), deviceConfiguration);
}
if (type == ConfigurationType.ANALOG_OUTPUT) {
deviceConfiguration = parseDeviceConfiguration();
analogOutputConfigurations.set(deviceConfiguration.getPort(), deviceConfiguration);
}
if ((type == ConfigurationType.DIGITAL_DEVICE)
|| (type == ConfigurationType.TOUCH_SENSOR)
|| (type == ConfigurationType.LED)) {
DeviceConfiguration c2 = parseDeviceConfiguration();
digitalDeviceConfigurations.set(c2.getPort(), c2);
}
}
next = this.parser.next();
type = getConfigurationType(this.parser.getName());
}
RobotLog.logAndThrow("Reached the end of the XML file while parsing.");
return null;
}