/// <summary>
/// Creates a message class for a single message defined in text form.
/// </summary>
/// <param name="package">The name of the package. Leave this as null if the package name is included in <see cref="messageName"/>.</param>
/// <param name="messageName">The name of the message. If this is a fully qualified name (e.g., std_msgs/Header instead of just Header), leave <see cref="package"/> as null.</param>
/// <param name="messageDefinition">The definition of the message, as would be found in a .msg file.</param>
/// <param name="forceStruct">Whether to construct this message as a struct instead of a class. You should probably leave this as false.</param>
public ClassInfo(string?package, string messageName, string messageDefinition, bool forceStruct = false)
{
if (messageName == null)
{
throw new ArgumentNullException(nameof(messageName));
}
int lastSlash = messageName.LastIndexOf('/');
if (lastSlash != -1)
{
if (!string.IsNullOrEmpty(package))
{
throw new ArgumentException(
"messageName contains a package, but package is not null. Only one of both must be set!");
}
package = messageName.Substring(0, lastSlash);
messageName = messageName.Substring(lastSlash + 1);
}
if (string.IsNullOrWhiteSpace(package))
{
throw new InvalidOperationException("Could not find the package this message belongs to");
}
RosPackage = package !;
CsPackage = MsgParser.CsIfy(package !);
Name = messageName;
fullMessageText = messageDefinition.Replace("\r\n", "\n");
var lines = fullMessageText.Split(new[] { '\n' }, StringSplitOptions.RemoveEmptyEntries);
elements = MsgParser.ParseFile(lines, Name).ToArray();
Elements = new ReadOnlyCollection <IElement>(elements);
variables = elements.OfType <VariableElement>().ToArray();
if (forceStruct || IsClassForceStruct($"{RosPackage}/{Name}"))
{
ForceStruct = true;
}
isBlittable = ForceStruct && variables.All(variable => IsVariableBlittable(RosPackage, variable));
}
public ServiceInfo(string package, string path)
{
if (package == null)
{
throw new ArgumentNullException(nameof(package));
}
if (path == null)
{
throw new ArgumentNullException(nameof(path));
}
if (!File.Exists(path))
{
throw new ArgumentException($"File {path} does not exist.");
}
Console.WriteLine($"-- Parsing '{path}'");
RosPackage = package;
CsPackage = MsgParser.CsIfy(package);
Name = Path.GetFileNameWithoutExtension(path);
string[] lines = File.ReadAllLines(path);
//File.ReadAllText(path);
List <IElement> elements = MsgParser.ParseFile(lines, Name);
int serviceSeparator = elements.FindIndex(x => x.Type == ElementType.ServiceSeparator);
if (serviceSeparator == -1)
{
throw new MessageParseException("Service file has no separator");
}
elementsReq = elements.GetRange(0, serviceSeparator).ToArray();
elementsResp = elements.GetRange(serviceSeparator + 1, elements.Count - serviceSeparator - 1).ToArray();
variablesReq = elementsReq.OfType <VariableElement>().ToArray();
variablesResp = elementsResp.OfType <VariableElement>().ToArray();
}
public static ClassInfo[]? GenerateFor(string package, string path)
{
string[] lines = File.ReadAllLines(path);
string actionName = Path.GetFileNameWithoutExtension(path);
List <IElement> elements = MsgParser.ParseFile(lines, actionName);
List <int> separatorIndices = new List <int>();
for (int i = 0; i < elements.Count; i++)
{
if (elements[i].Type == ElementType.ServiceSeparator)
{
separatorIndices.Add(i);
}
}
if (separatorIndices.Count != 2)
{
Console.WriteLine("EE Action for file '" + path + "' does not have the expected two --- separators");
return(null);
}
List <IElement> goalElements = elements.GetRange(0, separatorIndices[0]);
List <IElement> resultElements =
elements.GetRange(separatorIndices[0] + 1, separatorIndices[1] - separatorIndices[0] - 1);
List <IElement> feedbackElements =
elements.GetRange(separatorIndices[1] + 1, elements.Count - separatorIndices[1] - 1);
ClassInfo goalInfo = new ClassInfo(package, $"{actionName}Goal", goalElements, actionName,
ActionMessageType.Goal);
ClassInfo resultInfo = new ClassInfo(package, $"{actionName}Result", resultElements, actionName,
ActionMessageType.Result);
ClassInfo feedbackInfo = new ClassInfo(package, $"{actionName}Feedback", feedbackElements, actionName,
ActionMessageType.Feedback);
IElement[] actionGoalElements =
{
new VariableElement("", "Header", "header", serializeAsProperty: true),
new VariableElement("", "actionlib_msgs/GoalID", "goal_id", serializeAsProperty: true),
new VariableElement("", $"{actionName}Goal", "goal", null, goalInfo,serializeAsProperty: true),
};
ClassInfo actionGoalInfo = new ClassInfo(package, $"{actionName}ActionGoal", actionGoalElements, actionName,
ActionMessageType.ActionGoal);
IElement[] actionResultElements =
{
new VariableElement("", "Header", "header", serializeAsProperty: true),
new VariableElement("", "actionlib_msgs/GoalStatus", "status", serializeAsProperty: true),
new VariableElement("", $"{actionName}Result", "result", null, resultInfo,serializeAsProperty: true),
};
ClassInfo actionResultInfo = new ClassInfo(package, $"{actionName}ActionResult", actionResultElements,
actionName, ActionMessageType.ActionResult);
IElement[] actionFeedbackElements =
{
new VariableElement("", "Header", "header", serializeAsProperty: true),
new VariableElement("", "actionlib_msgs/GoalStatus", "status", serializeAsProperty: true),
new VariableElement("", $"{actionName}Feedback", "feedback", null, feedbackInfo,
serializeAsProperty: true),
};
ClassInfo actionFeedbackInfo = new ClassInfo(package, $"{actionName}ActionFeedback", actionFeedbackElements,
actionName, ActionMessageType.ActionFeedback);
IElement[] actionElements =
{
new VariableElement("", $"{actionName}ActionGoal", "action_goal", serializeAsProperty: true),
new VariableElement("", $"{actionName}ActionResult", "action_result", serializeAsProperty: true),
new VariableElement("", $"{actionName}ActionFeedback", "action_feedback", serializeAsProperty: true),
};
ClassInfo actionInfo = new ClassInfo(package, $"{actionName}Action", actionElements, actionName,
ActionMessageType.Action);
return(new[]
{
goalInfo, feedbackInfo, resultInfo,
actionGoalInfo, actionFeedbackInfo, actionResultInfo,
actionInfo
});
}
