/// <summary>
/// Loads the template for a single message and replaces all the $placeholders with appropriate content
/// </summary>
public string GenerateMessageFromTemplate(string template, MsgFile message, MsgFile childMessage)
{
var properties = message.GenerateProperties();
template = template.Replace("$CLASS_NAME", message.classname);
template = template.Replace("$$PROPERTIES", properties);
template = template.Replace("$ISMETA", message.meta.ToString().ToLower());
template = template.Replace("$MSGTYPE", fileNamespace.Replace("Messages.", "") + "/" + message.classname);
template = template.Replace("$MESSAGEDEFINITION", "@\"" + message.Definition + "\"");
template = template.Replace("$HASHEADER", message.HasHeader.ToString().ToLower());
template = template.Replace("$NULLCONSTBODY", "");
template = template.Replace("$EXTRACONSTRUCTOR", "");
template = template.Replace("$MD5SUM", MD5.Sum(message));
// Set the base class of the message
var actionClasses = new List <string> {
"InnerActionMessage",
"GoalActionMessage<$ACTION_GENERIC>",
"ResultActionMessage<$ACTION_GENERIC>",
"FeedbackActionMessage<$ACTION_GENERIC>"
};
var actionClass = actionClasses[(int)message.ActionMessageType];
actionClass = actionClass.Replace("$ACTION_GENERIC", childMessage != null ? childMessage.Name : "");
template = template.Replace("$ACTION_CLASS", actionClass);
string deserializationCode = "";
string serializationCode = "";
string randomizationCode = "";
string equalizationCode = "";
for (int i = 0; i < message.Stuff.Count; i++)
{
deserializationCode += message.GenerateDeserializationCode(message.Stuff[i], 1);
serializationCode += message.GenerateSerializationCode(message.Stuff[i], 1);
randomizationCode += message.GenerateRandomizationCode(message.Stuff[i], 1);
equalizationCode += message.GenerateEqualityCode(message.Stuff[i], 1);
}
template = template.Replace("$SERIALIZATIONCODE", serializationCode);
template = template.Replace("$DESERIALIZATIONCODE", deserializationCode);
template = template.Replace("$RANDOMIZATIONCODE", randomizationCode);
template = template.Replace("$EQUALITYCODE", equalizationCode);
return(template);
}
public override string ToString()
{
if (requestfronthalf == null)
{
requestfronthalf = "";
requestbackhalf = "";
string[] lines = Templates.SrvPlaceHolder.Split('\n');
int section = 0;
for (int i = 0; i < lines.Length; i++)
{
//read until you find public class request... do everything once.
//then, do it again response
if (lines[i].Contains("$$REQUESTDOLLADOLLABILLS"))
{
section++;
continue;
}
if (lines[i].Contains("namespace"))
{
requestfronthalf +=
"\nusing Messages.std_msgs;\nusing String=System.String;\nusing Messages.geometry_msgs;\n\n"; //\nusing Messages.roscsharp;
requestfronthalf += "namespace " + Namespace + "\n";
continue;
}
if (lines[i].Contains("$$RESPONSEDOLLADOLLABILLS"))
{
section++;
continue;
}
switch (section)
{
case 0:
requestfronthalf += lines[i] + "\n";
break;
case 1:
requestbackhalf += lines[i] + "\n";
break;
case 2:
responsebackhalf += lines[i] + "\n";
break;
}
}
}
GUTS = requestfronthalf + Request.GetSrvHalf() + requestbackhalf + Response.GetSrvHalf() + "\n" +
responsebackhalf;
/***********************************/
/* CODE BLOCK DUMP */
/***********************************/
#region definitions
for (int i = 0; i < def.Count; i++)
{
while (def[i].Contains("\t"))
{
def[i] = def[i].Replace("\t", " ");
}
while (def[i].Contains("\n\n"))
{
def[i] = def[i].Replace("\n\n", "\n");
}
def[i] = def[i].Replace('\t', ' ');
while (def[i].Contains(" "))
{
def[i] = def[i].Replace(" ", " ");
}
def[i] = def[i].Replace(" = ", "=");
def[i] = def[i].Replace("\"", "\"\"");
}
StringBuilder md = new StringBuilder();
StringBuilder reqd = new StringBuilder();
StringBuilder resd = null;
foreach (string s in def)
{
if (s == "---")
{
//only put this string in md, because the subclass defs don't contain it
md.AppendLine(s);
//we've hit the middle... move from the request to the response by making responsedefinition not null.
resd = new StringBuilder();
continue;
}
//add every line to MessageDefinition for whole service
md.AppendLine(s);
//before we hit ---, add lines to request Definition. Otherwise, add them to response.
if (resd == null)
{
reqd.AppendLine(s);
}
else
{
resd.AppendLine(s);
}
}
string MessageDefinition = md.ToString().Trim();
string RequestDefinition = reqd.ToString().Trim();
string ResponseDefinition = "";
if (resd != null)
{
ResponseDefinition = resd.ToString().Trim();
}
#endregion
#region THE SERVICE
GUTS = GUTS.Replace("$WHATAMI", classname);
GUTS = GUTS.Replace("$MYSRVTYPE", Namespace.Replace("Messages.", "") + "/" + classname);
GUTS = GUTS.Replace("$MYSERVICEDEFINITION", "@\"" + MessageDefinition + "\"");
#endregion
#region request
string RequestDict = Request.GenFields();
meta = Request.meta;
GUTS = GUTS.Replace("$REQUESTMYISMETA", meta.ToString().ToLower());
GUTS = GUTS.Replace("$REQUESTMYMSGTYPE", Namespace.Replace("Messages.", "") + "/" + classname);
GUTS = GUTS.Replace("$REQUESTMYMESSAGEDEFINITION", "@\"" + RequestDefinition + "\"");
GUTS = GUTS.Replace("$REQUESTMYHASHEADER", Request.HasHeader.ToString().ToLower());
GUTS = GUTS.Replace("$REQUESTMYFIELDS", RequestDict.Length > 5 ? "{{" + RequestDict + "}}" : "()");
GUTS = GUTS.Replace("$REQUESTNULLCONSTBODY", "");
GUTS = GUTS.Replace("$REQUESTEXTRACONSTRUCTOR", "");
#endregion
#region response
string ResponseDict = Response.GenFields();
GUTS = GUTS.Replace("$RESPONSEMYISMETA", Response.meta.ToString().ToLower());
GUTS = GUTS.Replace("$RESPONSEMYMSGTYPE", Namespace.Replace("Messages.", "") + "/" + classname);
GUTS = GUTS.Replace("$RESPONSEMYMESSAGEDEFINITION", "@\"" + ResponseDefinition + "\"");
GUTS = GUTS.Replace("$RESPONSEMYHASHEADER", Response.HasHeader.ToString().ToLower());
GUTS = GUTS.Replace("$RESPONSEMYFIELDS", ResponseDict.Length > 5 ? "{{" + ResponseDict + "}}" : "()");
GUTS = GUTS.Replace("$RESPONSENULLCONSTBODY", "");
GUTS = GUTS.Replace("$RESPONSEEXTRACONSTRUCTOR", "");
#endregion
#region MD5
GUTS = GUTS.Replace("$REQUESTMYMD5SUM", MD5.Sum(Request));
GUTS = GUTS.Replace("$RESPONSEMYMD5SUM", MD5.Sum(Response));
string GeneratedReqDeserializationCode = "", GeneratedReqSerializationCode = "", GeneratedResDeserializationCode = "", GeneratedResSerializationCode = "", GeneratedReqRandomizationCode = "", GeneratedResRandomizationCode = "", GeneratedReqEqualizationCode = "", GeneratedResEqualizationCode = "";
//TODO: service support
GeneratedReqEqualizationCode += string.Format("{0}.Request other = (Messages.{0}.Request)____other;\n", Request.Name);
GeneratedResEqualizationCode += string.Format("{0}.Response other = (Messages.{0}.Response)____other;\n", Response.Name);
for (int i = 0; i < Request.Stuff.Count; i++)
{
GeneratedReqDeserializationCode += Request.GenerateDeserializationCode(Request.Stuff[i], 1);
GeneratedReqSerializationCode += Request.GenerateSerializationCode(Request.Stuff[i], 1);
GeneratedReqRandomizationCode += Request.GenerateRandomizationCode(Request.Stuff[i], 1);
GeneratedReqEqualizationCode += Request.GenerateEqualityCode(Request.Stuff[i], 1);
}
for (int i = 0; i < Response.Stuff.Count; i++)
{
GeneratedResDeserializationCode += Response.GenerateDeserializationCode(Response.Stuff[i], 1);
GeneratedResSerializationCode += Response.GenerateSerializationCode(Response.Stuff[i], 1);
GeneratedResRandomizationCode += Response.GenerateRandomizationCode(Response.Stuff[i], 1);
GeneratedResEqualizationCode += Response.GenerateEqualityCode(Response.Stuff[i], 1);
}
GUTS = GUTS.Replace("$REQUESTSERIALIZATIONCODE", GeneratedReqSerializationCode);
GUTS = GUTS.Replace("$REQUESTDESERIALIZATIONCODE", GeneratedReqDeserializationCode);
GUTS = GUTS.Replace("$REQUESTRANDOMIZATIONCODE", GeneratedReqRandomizationCode);
GUTS = GUTS.Replace("$REQUESTEQUALITYCODE", GeneratedReqEqualizationCode);
GUTS = GUTS.Replace("$RESPONSESERIALIZATIONCODE", GeneratedResSerializationCode);
GUTS = GUTS.Replace("$RESPONSEDESERIALIZATIONCODE", GeneratedResDeserializationCode);
GUTS = GUTS.Replace("$RESPONSERANDOMIZATIONCODE", GeneratedResRandomizationCode);
GUTS = GUTS.Replace("$RESPONSEEQUALITYCODE", GeneratedResEqualizationCode);
string md5 = MD5.Sum(this);
if (md5 == null)
{
return(null);
}
GUTS = GUTS.Replace("$MYSRVMD5SUM", md5);
#endregion
/********END BLOCK**********/
return(GUTS);
}