private void ParseMessagesInternal()
{
var packageDependencyCollector = new PackageDependencyCollector(new [] { Package.Name });
var typeDependencyCollector = new TypeDependencyCollector(new [] { Package.Name });
var collectors = new RosMessageVisitorListenerCollection(new IRosMessageVisitorListener[]
{ packageDependencyCollector, typeDependencyCollector });
var messages = new List <KeyValuePair <RosTypeInfo, MessageDescriptor> >();
var actions = new List <KeyValuePair <RosTypeInfo, ActionDescriptor> >();
var services = new List <KeyValuePair <RosTypeInfo, ServiceDescriptor> >();
foreach (var messageFile in Package.Messages)
{
using (var fileStream = File.OpenRead(messageFile.FullName))
{
var rosType = RosTypeInfo.CreateRosType(Package.Name, messageFile.NameWithoutExtension());
switch (messageFile.GetRosMessageType())
{
case RosMessageType.Message:
var messageParser = new RobSharper.Ros.MessageParser.MessageParser(fileStream);
var messageDescriptor = messageParser.Parse(collectors);
messages.Add(
new KeyValuePair <RosTypeInfo, MessageDescriptor>(rosType, messageDescriptor));
break;
case RosMessageType.Service:
var serviceParser = new ServiceParser(fileStream);
var serviceDescriptor = serviceParser.Parse(collectors);
services.Add(
new KeyValuePair <RosTypeInfo, ServiceDescriptor>(rosType, serviceDescriptor));
break;
case RosMessageType.Action:
var actionParser = new ActionParser(fileStream);
var actionDescriptor = actionParser.Parse(collectors);
actions.Add(
new KeyValuePair <RosTypeInfo, ActionDescriptor>(rosType, actionDescriptor));
break;
}
}
}
// Add actionlib dependency
if (actions.Any() && !packageDependencyCollector.Dependencies.Contains("actionlib_msgs"))
{
packageDependencyCollector.Dependencies.Add("actionlib_msgs");
}
_packageDependencies = packageDependencyCollector.Dependencies;
_externalTypeDependencies = typeDependencyCollector.Dependencies;
_messages = messages;
_actions = actions;
_services = services;
}
public void ParseFileStream(string filePath)
{
MessageDescriptor descriptor;
using (var file = File.OpenRead(filePath))
{
var parser = new RobSharper.Ros.MessageParser.MessageParser(file);
descriptor = parser.Parse();
}
}
public void Can_parse_empty_message()
{
var message = string.Empty;
var actual = new RobSharper.Ros.MessageParser.MessageParser(message).Parse();
Assert.NotNull(actual);
Assert.True(actual.IsEmpty);
Assert.Empty(actual.Comments);
Assert.Empty(actual.Constants);
Assert.Empty(actual.Fields);
}
public void Can_parse_simple_message()
{
var message = "int8 fooo";
var actual = new RobSharper.Ros.MessageParser.MessageParser(message).Parse();;
Assert.NotNull(actual);
Assert.Empty(actual.Comments);
Assert.Empty(actual.Constants);
Assert.Single(actual.Fields);
var field = actual.Fields.First();
var typeMapping = BuiltInTypeMapping.Create(field.TypeInfo);
Assert.Equal(BuiltInTypeMapping.Int8, typeMapping);
Assert.Equal("fooo", field.Identifier);
}
public void Can_load_msg_file(TestMessage file)
{
var actual = new RobSharper.Ros.MessageParser.MessageParser(file.Content.Value).Parse();
Assert.NotNull(actual);
}
public void ParseFileFContent(string filePath)
{
var parser = new RobSharper.Ros.MessageParser.MessageParser(File.ReadAllText(filePath));
var descriptor = parser.Parse();
}