/// <summary>
/// Adds the given struct member to the struct.
/// </summary>
/// <param name="member">Member.</param>
private void AddStructMember(MessageMemberDescription member)
{
if (member.IsNested)
{
Console.WriteLine("Nested member: " + member.MemberType + " " + member.Name);
if (member.IsBoundedArray)
{
Console.WriteLine("Is bounded array");
}
if (member.IsArray)
{
Console.WriteLine("Is array");
}
//Create new field
CodeMemberField memberField = new CodeMemberField();
memberField.Comments.Add(new CodeCommentStatement("Nested member: " + member.RosType));
//Set it to public
memberField.Attributes = MemberAttributes.Public;
//Set the member name
memberField.Name = member.Name;
//Set the member type
if (member.IsArray)
{
memberField.Type = new CodeTypeReference(member.MemberType + "_array");
}
else
{
memberField.Type = new CodeTypeReference(member.MemberType);
}
//Add the field to the struct
MessageStruct.Members.Add(memberField);
}
else if (member.IsFixedSizeArray)
{
//For a fixed size array we need a customMeber
CodeSnippetTypeMember customMember = new CodeSnippetTypeMember();
customMember.Comments.Add(new CodeCommentStatement("Fixed size array member: " + member.RosType));
//With some custom code
customMember.Text = " public fixed " + member.MemberType + " " + member.Name + "[" + member.FixedArraySize.ToString() + "];\n";
//Add this code to the struct
MessageStruct.Members.Add(customMember);
}
else
{
//Create new field
CodeMemberField memberField = new CodeMemberField();
memberField.Comments.Add(new CodeCommentStatement("Standard member: " + member.RosType));
//Set it to public
memberField.Attributes = MemberAttributes.Public;
//Set the member name
memberField.Name = member.Name;
//Set the member type
memberField.Type = new CodeTypeReference(member.MemberType);
//Add the field to the struct
MessageStruct.Members.Add(memberField);
//Handling for DefaultValue
if (member.DefaultInitialisation != "")
{
//Parse for ints //TODO parse other types
/*int val;
* bool success = int.TryParse(member.DefaultInitialisation, out val);
* if (success)
* {
* CodeAssignStatement assignDefaultVal = new CodeAssignStatement(new CodeVariableReferenceExpression(member.Name), new CodePrimitiveExpression(val));
* constructor.Statements.Add(assignDefaultVal);
* }*/
}
}
}
/// <summary>
/// Starts the parsing process
/// </summary>
public void Parse()
{
string[] Lines = Description.InputFile.Split(new string[] { "\n" }, StringSplitOptions.RemoveEmptyEntries);
//Step through all lines
foreach (var item in Lines)
{
//Read a new line
string LastLine = item;
//First check if it's an empty line
if (LastLine.Trim() == "")
{
//Do nothing -> it's nothing ;)
}
//Second check if it's a comment
else if (IsComment(LastLine))
{
//Do nothing -> it's just a comment
}
//Okey we can start with the real parsing
else
{
//Create a new MessageMember and fill it
MessageMemberDescription MessageMember = new MessageMemberDescription();
MessageMember.Name = GetMemberName(LastLine);
MessageMember.DefaultInitialisation = GetDefaultInitialisation(LastLine);
MessageMember.IsArray = IsArray(LastLine);
MessageMember.IsFixedSizeArray = IsFixedSizeArray(LastLine);
MessageMember.IsBoundedArray = IsBoundedArray(LastLine);
MessageMember.FixedArraySize = GetFixedArraySize(LastLine);
MessageMember.IsNested = IsNestedType(LastLine);
MessageMember.RosType = GetRosMessageType(LastLine);
//Now we make difference between arrays, nested types and primitive types
if (MessageMember.IsNested)
{
string NestedNamespace = "";
string NestedType = "";
if (MessageMember.RosType.Contains("/"))
{
//It's a nested type
NestedNamespace = MessageMember.RosType.Split(new string[] { "/" }, StringSplitOptions.RemoveEmptyEntries) [0];
NestedType = MessageMember.RosType.Split(new string[] { "/" }, StringSplitOptions.RemoveEmptyEntries) [1];
}
else
{
NestedType = MessageMember.RosType;
}
//Build the C# type (The full qualified name we can find the generated message afterwards")
string CsType = NestedNamespace + ".msg." + NestedType + "_t";
//Fix in case the type is in the same namespace
if (CsType.StartsWith(".msg."))
{
CsType = CsType.Insert(0, Description.Namespace);
}
MessageMember.MemberType = CsType;
//Just some debug outputs
if (MessageMember.IsArray)
{
//It's a nested array
Console.WriteLine("Assuming" + MessageMember.RosType + " is a nested array: " + LastLine);
}
else
{
Console.WriteLine("Assuming " + MessageMember.RosType + " is a nested type: " + LastLine);
}
//TODO this is an ugly statement
}
else if (MessageMember.IsArray && !MessageMember.IsNested)
{
//TODO How can I check for a nested type without a /
Console.WriteLine("Assuming " + MessageMember.RosType + " is an array type and NOT a nested type: " + LastLine);
//It's an array
if (!MessageMember.IsFixedSizeArray)
{
//Unbounded array
//Get the primitive type of the array and make it an array type
string CsType = "rosidl_generator_c__primitive_array_" + MessageMember.RosType;
//And now let it be the type
MessageMember.MemberType = CsType;
MessageMember.ArrayReturnType = GetCsPrimitiveType(MessageMember.RosType);
}
else
{
//Fixed size array
//It's simply the primitive type
MessageMember.MemberType = GetCsPrimitiveType(MessageMember.RosType);
}
}
else if (IsPrimitiveType(MessageMember.RosType))
{
Console.WriteLine("Assuming " + MessageMember.RosType + " is a primitve type: " + LastLine);
//It's a primitive type
string CsType = GetCsPrimitiveType(MessageMember.RosType);
MessageMember.MemberType = CsType;
}
else
{
Console.ForegroundColor = ConsoleColor.Blue;
Console.WriteLine("Unknown Type: " + MessageMember.RosType + " : " + LastLine);
Console.WriteLine("Trying the type as a nested type");
MessageMember.IsNested = true;
MessageMember.MemberType = MessageMember.RosType;
Console.ResetColor();
continue;
}
Description.AddMemberDescription(MessageMember);
}
}
}
/// <summary>
/// Adds a new member description to the
/// </summary>
/// <param name="_Description">Description.</param>
public void AddMemberDescription(MessageMemberDescription _Description)
{
Members.Add(_Description);
}