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As a result of information silos, discussed in 1, companies may be maintaining overlapping controls. For example, some companies have a set of SOX-specific controls that may overlap or even be redundant with the controls implemented for PCI (Payment Card Industry) compliance. This may result in excessive costs and effort involved in testing, documenting, and auditing these redundant controls. The solution to minimizing such overlap is to rationalize your controls across multiple regulations and best practices to remove controls that test for the same risk and to better leverage controls for multiple purposes. Because the requirements of one regulation may be similar but not identical to those of another regulation, it may be challenging to implement controls that meet the needs of multiple regulations. The payoff can be significant if this is done successfully, but may require extensive analysis and diligence. One approach to reduce these challenges is to adopt a regulatory repository of regulations and control definitions. One widely adopted repository is Network Frontier s Unified Compliance Framework (UCF). According to the UCF website, The UCF harmonizes IT controls from over 400 international regulatory requirements, standards and guidelines into a single set of straightforward requirements that clearly show the many points where global, state and industry regulations overlap, reducing compliance complexity and cutting the costs of regulatory management and audits. 5

} public void destroy(){/* do nothing */} } As you can see, DynaFormsPlugIn contains three functions: a setter for the pathnames property, which is a comma-delimited list of filenames (see the section Implementation Road Map earlier) These filenames refer to files that contain the form bean declarations The destroy() function has a no-op implementation (meaning it does nothing) Most of the action is in the init() function This function does the following: Gets a reference to ServletContext This class is needed to resolve file paths In our case we have XML files containing form bean declarations, which we have to read The plug-in-declaration will only specify them relative to the webapp s root directory, for example, /WEB-INF/form-beans-defxml Obviously, this path isn t enough To read the file, we need the full path to the file This is where ServletContext comes in.

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Figure 10-8. A proto shield, ethernet shield, data logger shield, and gps shield (courtesy of Adafruit Industries at www.adafruit.com)

It has a getRealPath() function that resolves the full path of a given relative file path Gets a DynaFormsLoader instance from the DynaFormsLoaderFactory DynaFormsLoader is actually an interface that we need to implement This is good design: if you needed to load form beans with your own DynaFormsLoader, you can The DynaFormsLoaderFactory determines which loader to use from the <form-beans> s type attribute You ll see how this is done shortly The load() function on DynaFormsLoader does the actual work of reading the form bean declarations and adding the necessary FormBeanConfig instances to ModuleConfig To summarize, the init() function parses the pathnames variable, using a comma delimiter Each file s full path is determined using the ServletContext s getRealPath() function This filename is passed to DynaFormsLoaderFactory, which gives us an instance of DynaActionForm We call load() on this instance to parse and load the form bean declarations into ModuleConfig.

The load() function will also resolve the extends properties of each form bean, and run the special processing of DynaActionForms, described in the earlier section How Struts Processes Form Beans Before we can proceed, you have to know how to read XML files with Apache s Digester framework This easy-to-use framework is utilized extensively within Struts The JAR files for the Digester framework are in the Struts distribution (commons-digesterjar) This is another good reason to use Digester rather than another XML parsing tool (like the excellent JDOM)..

Now that you know how to control the two motors or your robot base using a motor shield, you are going to put those skills to good use! In this project, you are going to build a robot that is capable of detecting and following a black line drawn on a floor. This kind of robot is still used today in factories to ensure the robot keeps to a set path across the factory floor. They are known as Automated Guided Vehicles (AGVs).

Network Frontier, Unified Compliance Framework (UCF), http://www.unifiedcompliance.com (accessed 10 November 2009).

Apache s Digester framework gives you a simple way to read portions of an XML document. The data that is read in is stored in JavaBeans that you supply to Digester. Usually, you have to define one JavaBean class for each type of tag being read, but this isn t a requirement. You can have one JavaBean for more than one tag. But in this chapter, we ll use one JavaBean per tag. You also have to instruct Digester which portions of the XML file you want to read. These portions are stored in your JavaBeans objects. For example, suppose your XML file, which is called myfile.xml, contains just the tag shown here:

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