internal ClassInfo(string?package, string messageName, IEnumerable <IElement> newElements,
string?actionRoot, ActionMessageType actionMessageType)
{
if (package == null)
{
throw new ArgumentNullException(nameof(package));
}
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 (messageName == null)
{
throw new ArgumentNullException(nameof(messageName));
}
if (newElements == null)
{
throw new ArgumentNullException(nameof(newElements));
}
Console.WriteLine($"-- Parsing synthetic '{package}/{messageName}'");
RosPackage = package;
CsPackage = MsgParser.CsIfy(package);
Name = messageName;
elements = newElements.ToArray();
Elements = new ReadOnlyCollection <IElement>(elements);
ForceStruct = false;
fullMessageText = string.Join("\n", elements.Select(elem => elem.ToRosString()));
variables = elements.OfType <VariableElement>().ToArray();
this.actionRoot = actionRoot;
this.actionMessageType = actionMessageType;
}
public ServiceInfo(string package, string path)
{
if (package == null)
{
throw new ArgumentNullException(nameof(package));
}
if (path == null)
{
throw new ArgumentNullException(nameof(path));
}
if (!File.Exists(path))
{
throw new ArgumentException($"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();
}
internal VariableElement(string comment, string rosClassToken, string fieldName,
string?parentClassName = null,
ClassInfo?classInfo = null,
bool serializeAsProperty = false
)
{
Comment = comment;
this.rosClassToken = rosClassToken;
this.serializeAsProperty = serializeAsProperty;
RosFieldName = fieldName;
CsFieldName = MsgParser.CsIfy(fieldName);
if (CsFieldName == parentClassName)
{
CsFieldName += "_"; // C# forbids fields with the same name as the class
}
if (Keywords.Contains(fieldName))
{
CsFieldName = $"@{fieldName}";
}
int bracketLeft = rosClassToken.IndexOf('[');
int bracketRight = rosClassToken.IndexOf(']');
if (bracketLeft != -1 && bracketRight != -1)
{
RosClassName = rosClassToken.Substring(0, bracketLeft);
string arrayLengthStr = rosClassToken.Substring(bracketLeft + 1, bracketRight - bracketLeft - 1);
if (string.IsNullOrWhiteSpace(arrayLengthStr))
{
ArraySize = DynamicSizeArray;
}
else if (int.TryParse(arrayLengthStr, out int arraySize))
{
ArraySize = arraySize;
}
else
{
//TODO: error!
ArraySize = NotAnArray;
}
}
else
{
RosClassName = rosClassToken;
ArraySize = NotAnArray;
}
int slashIndex;
if (RosClassName == "Header")
{
RosClassName = "std_msgs/Header";
CsClassName = "StdMsgs.Header";
}
else if (MsgParser.BuiltInsMaps.TryGetValue(RosClassName, out string?className))
{
CsClassName = className;
}
else if ((slashIndex = RosClassName.IndexOf('/')) != -1)
{
string packageName = RosClassName.Substring(0, slashIndex);
string classProper = RosClassName.Substring(slashIndex + 1);
CsClassName = $"{MsgParser.CsIfy(packageName)}.{classProper}";
}
else
{
CsClassName = RosClassName;
}
ClassInfo = classInfo;
}
