public MessageParser(List <MessageToken> tokens, string outPath, string rosPackageName, string type, Dictionary <string, string> builtInTypeMapping, Dictionary <string, string> builtInTypesDefaultInitialValues, string className = "", string rosMsgName = "")
{
this.tokens = tokens;
this.inFilePath = tokens[0].content;
this.inFileName = Path.GetFileNameWithoutExtension(inFilePath);
this.rosPackageName = rosPackageName;
if (className.Equals(""))
{
this.className = MsgAutoGenUtilities.CapitalizeFirstLetter(inFileName);
}
else
{
this.className = className;
}
if (rosMsgName.Equals(""))
{
this.rosMsgName = MsgAutoGenUtilities.CapitalizeFirstLetter(inFileName);
}
else
{
this.rosMsgName = rosMsgName;
}
this.outPath = outPath;
this.outFilePath = Path.Combine(outPath, type);
this.tokens.RemoveAt(0);
this.builtInTypeMapping = builtInTypeMapping;
this.builtInTypesDefaultInitialValues = builtInTypesDefaultInitialValues;
}
// Declaration -> BuiltInType Identifier | BuiltInType Identifier ConstantDeclaration | BuiltInType ArrayDeclaration Identifier
// Declaration -> DefinedType Identifier | DefinedType ArrayDeclaration Identifier
// Declaration -> Header Identifier
private void Declaration()
{
string declaration = "";
// Type
MessageToken peeked = Peek();
string type = "";
bool canHaveConstDecl = false;
declaration += MsgAutoGenUtilities.TWO_TABS + "public ";
if (PeekType(MessageTokenType.BuiltInType))
{
type = builtInTypeMapping[MatchByType(MessageTokenType.BuiltInType)];
if (!type.Equals("Time") && !type.Equals("Duration"))
{
// Time and Duration can't have constant declaration
// See <wiki.ros.org/msg>
canHaveConstDecl = true;
}
else
{
// Need to import Standard
imports.Add("Std");
}
}
else if (PeekType(MessageTokenType.DefinedType))
{
type = MatchByType(MessageTokenType.DefinedType);
string[] hierarchy = type.Split(new char[] { '/', '\\' });
// Assume type can only be either:
// Type
// package/Type
switch (hierarchy.Length)
{
case 1:
break;
case 2:
if (hierarchy[0].Equals("") || hierarchy[1].Equals(""))
{
throw new MessageParserException(
"Invalid field type '" + type + "'. + " +
"(" + inFilePath + ":" + lineNum + ")");
}
string package = MsgAutoGenUtilities.ResolvePackageName(hierarchy[0]);
imports.Add(package);
type = hierarchy[1];
break;
default:
throw new MessageParserException(
"Invalid field type '" + type + "'. + " +
"(" + inFilePath + ":" + lineNum + ")");
}
}
else
{
type = MatchByType(MessageTokenType.Header);
if (PeekType(MessageTokenType.FixedSizeArray) || PeekType(MessageTokenType.VariableSizeArray))
{
Warn(
"By convention, there is only one header for each message." +
"(" + inFilePath + ":" + lineNum + ")");
}
if (PeekType(MessageTokenType.Identifier) && !Peek().content.Equals("header"))
{
Warn(
"By convention, a ros message Header will be named 'header'. '"
+ Peek().content + "'. (" + inFilePath + ":" + lineNum + ")");
}
imports.Add("Std");
}
// Array Declaration
int arraySize = -1;
if (PeekType(MessageTokenType.FixedSizeArray))
{
type += "[]";
canHaveConstDecl = false;
arraySize = int.Parse(MatchByType(MessageTokenType.FixedSizeArray));
}
if (PeekType(MessageTokenType.VariableSizeArray))
{
type += "[]";
canHaveConstDecl = false;
MatchByType(MessageTokenType.VariableSizeArray);
arraySize = 0;
}
// Identifier
string identifier = MatchByType(MessageTokenType.Identifier);
// Check for duplicate declaration
if (symbolTable.ContainsKey(identifier))
{
throw new MessageParserException(
"Field '" + identifier +
"' at " + inFilePath + ":" + lineNum +
" already declared!");
}
// Check if identifier is a ROS message built-in type
if (builtInTypeMapping.ContainsKey(identifier) && identifier.Equals("time") && identifier.Equals("duration"))
{
throw new MessageParserException(
"Invalid field identifier '" + identifier +
"' at " + inFilePath + ":" + lineNum +
". '" + identifier + "' is a ROS message built-in type.");
}
#if NETFRAMEWORK
CodeDomProvider provider = CodeDomProvider.CreateProvider("C#");
// Check if identifier is a C# keyword
if (!provider.IsValidIdentifier(identifier))
{
Warn(
"'" + identifier + "' is a C# keyword. We have appended \"_\" at the front to avoid C# compile-time issues." +
"(" + inFilePath + ":" + lineNum + ")");
declaration = MsgAutoGenUtilities.TWO_TABS + "[JsonProperty(\"" + identifier + "\")]\n" + declaration;
identifier = "_" + identifier;
}
#else
Warn(
"'CodeDomProvider class might not exist on your platform. We did not check whether " + identifier + "' is a C# keyword." +
"(" + inFilePath + ":" + lineNum + ")");
#endif
symbolTable.Add(identifier, type);
// Array declaration table
if (arraySize > -1)
{
arraySizes.Add(identifier, arraySize);
}
// Constant Declaration
if (PeekType(MessageTokenType.ConstantDeclaration))
{
if (canHaveConstDecl)
{
declaration += "const " + type + " " + identifier + " = ";
declaration += ConstantDeclaration(type);
constants.Add(identifier);
}
else
{
throw new MessageParserException(
"Type " + type +
"' at " + inFilePath + ":" + lineNum +
" cannot have constant declaration");
}
}
else
{
declaration += type + " " + identifier + MsgAutoGenUtilities.PROPERTY_EXTENSION + "\n";
}
body += declaration;
}
public void WrapAction()
{
string wrapperName = inFileName + "Action";
string outPath = Path.Combine(this.outPath, wrapperName + ".cs");
string imports =
"using Newtonsoft.Json;\n\n";
symbolTable = new Dictionary <string, string>();
using (StreamWriter writer = new StreamWriter(outPath, false))
{
// Write block comment
writer.Write(MsgAutoGenUtilities.BLOCK_COMMENT + "\n");
// Write imports
writer.Write(imports);
// Write namespace
writer.Write(
"namespace RosSharp.RosBridgeClient.MessageTypes." + MsgAutoGenUtilities.ResolvePackageName(rosPackageName) + "\n" +
"{\n"
);
// Write class declaration
string[] genericParams = new string[] {
inFileName + "ActionGoal",
inFileName + "ActionResult",
inFileName + "ActionFeedback",
inFileName + "Goal",
inFileName + "Result",
inFileName + "Feedback"
};
writer.Write(
ONE_TAB + "public class " + wrapperName + " : Action<" + string.Join(", ", genericParams) + ">\n" +
ONE_TAB + "{\n"
);
// Write ROS package name
writer.Write(
TWO_TABS + "[JsonIgnore]\n" +
TWO_TABS + "public const string RosMessageName = \"" + rosPackageName + "/" + wrapperName + "\";\n"
);
// Record variables
// Action Goal
symbolTable.Add("action_goal", wrapperName + "Goal");
// Action Result
symbolTable.Add("action_result", wrapperName + "Result");
//Action Feedback
symbolTable.Add("action_feedback", wrapperName + "Feedback");
// Write default value constructor
writer.Write("\n" + GenerateDefaultValueConstructor(wrapperName) + "\n");
// Close class
writer.Write(ONE_TAB + "}\n");
// Close namespace
writer.Write("}\n");
}
}
public void Parse()
{
// If outpath doesn't exist, mkdir
if (!Directory.Exists(outFilePath))
{
Directory.CreateDirectory(outFilePath);
}
// Append filename
this.outFilePath = Path.Combine(this.outFilePath, this.className + ".cs");
using (StreamWriter writer = new StreamWriter(outFilePath, false))
{
writer.Write(MsgAutoGenUtilities.BLOCK_COMMENT + "\n");
// Message -> Lines
// Lines -> Line Lines | e
while (!IsEmpty())
{
Line();
}
// Write imports
writer.Write(GenerateImports());
// Write namespace
writer.Write(
"namespace RosSharp.RosBridgeClient.MessageTypes." + MsgAutoGenUtilities.ResolvePackageName(rosPackageName) + "\n" +
"{\n"
);
// Write class declaration
writer.Write(
MsgAutoGenUtilities.ONE_TAB + "public class " + className + " : Message\n" +
MsgAutoGenUtilities.ONE_TAB + "{\n"
);
// Write ROS package name
writer.Write(MsgAutoGenUtilities.TWO_TABS + "[JsonIgnore]\n");
writer.Write(MsgAutoGenUtilities.TWO_TABS + "public const string RosMessageName = \"" + rosPackageName + "/" + rosMsgName + "\";\n\n");
// Write body
writer.Write(body);
writer.Write("\n");
// Write constructors
writer.Write(GenerateDefaultValueConstructor());
if (symbolTable.Count != 0 && !new HashSet <string>(symbolTable.Keys).SetEquals(constants))
{
writer.Write("\n");
writer.Write(GenerateParameterizedConstructor());
}
// Close class
writer.Write(MsgAutoGenUtilities.ONE_TAB + "}\n");
// Close namespace
writer.Write("}\n");
writer.Flush();
writer.Close();
}
}