// Line -> Comment | Declaration
private void Line()
{
MessageToken peeked = Peek();
if (PeekType(MessageTokenType.Comment))
{
Comment();
}
else if (PeekType(MessageTokenType.BuiltInType) || PeekType(MessageTokenType.DefinedType) || PeekType(MessageTokenType.Header))
{
Declaration();
}
else
{
// Mumble mumble
if (peeked == null)
{
throw new MessageParserException(
"Unexpected end of input " +
"' at " + inFilePath + ":" + lineNum);
}
else
{
throw new MessageParserException(
"Unexpected token '" + peeked.content +
"' at " + inFilePath + ":" + lineNum +
". Expecting a comment or field declaration.");
}
}
}
private string MatchByType(MessageTokenType type)
{
MessageToken token = tokens[0];
if (token.type.Equals(type))
{
tokens.RemoveAt(0);
// Update line num
if (!IsEmpty())
{
lineNum = tokens[0].lineNum;
}
return(token.content);
}
else
{
throw new MessageParserException(
"Unexpected token '" + token.content +
"' at " + inFilePath + ":" + token.lineNum +
". Expecting a token of type " +
Enum.GetName(typeof(MessageTokenType), token.type));
}
}
// 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 == "TimeMsg" || type == "DurationMsg")
{
// Need to import BuiltinInterfaces
imports.Add("BuiltinInterfaces");
}
else
{
// Time and Duration can't have constant declaration
// See <wiki.ros.org/msg>
canHaveConstDecl = true;
}
}
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:
type = type + MsgAutoGenUtilities.MessageClassSuffix;
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]);
// Do not add package name if exists in current namespace
type = package.Equals(rosPackageNamespace) ? hierarchy[1] + MsgAutoGenUtilities.MessageClassSuffix :
package + "." + hierarchy[1] + MsgAutoGenUtilities.MessageClassSuffix;
break;
default:
throw new MessageParserException(
"Invalid field type '" + type + "'. + " +
"(" + inFilePath + ":" + lineNum + ")");
}
}
else
{
type = MatchByType(MessageTokenType.Header) + MsgAutoGenUtilities.MessageClassSuffix;
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))
{
throw new MessageParserException(
"Invalid field identifier '" + identifier +
"' at " + inFilePath + ":" + lineNum +
". '" + identifier + "' is a ROS message built-in type.");
}
// Check if identifier is a C# keyword
if (MsgAutoGenUtilities.k_CSharpKeywords.Contains(identifier))
{
Warn(
"'" + identifier + "' is a C# keyword. It can be accessed under the name @" + identifier + "." +
"(" + inFilePath + ":" + lineNum + ")");
identifier = "@" + identifier;
}
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 if (PeekType(MessageTokenType.DefaultValueDeclaration))
{
declaration += $"{type} {identifier} = {DefaultValueDeclaration(type)}";
defaultValues.Add(identifier);
}
else
{
declaration += type + " " + identifier + ";\n";
}
body += declaration;
}
