private void InitializeActionFile(MsgFileLocation filename, string[] lines)
{
MsgFileLocation = filename;
Name = filename.package + "." + filename.basename;
className = filename.basename;
fileNamespace += "." + filename.package;
var parsedAction = ParseActionFile(lines);
// Goal Messages
GoalMessage = CreateMessageFile(filename, parsedAction.GoalParameters, "Goal");
GoalActionMessage = CreateMessageFile(filename, parsedAction.GoalActionParameters, "ActionGoal");
GoalActionMessage.ActionMessageType = ActionMessageType.Goal;
// Result Messages
ResultMessage = CreateMessageFile(filename, parsedAction.ResultParameters, "Result");
ResultActionMessage = CreateMessageFile(filename, parsedAction.ResultActionParameters, "ActionResult");
ResultActionMessage.ActionMessageType = ActionMessageType.Result;
// Feedback Messages
FeedbackMessage = CreateMessageFile(filename, parsedAction.FeedbackParameters, "Feedback");
FeedbackActionMessage = CreateMessageFile(filename, parsedAction.FeedbackActionParameters, "ActionFeedback");
FeedbackActionMessage.ActionMessageType = ActionMessageType.Feedback;
}
public MsgFile(MsgFileLocation filename, string extraindent)
{
if (filename == null)
{
throw new ArgumentNullException(nameof(filename));
}
if (!filename.Path.Contains(".msg"))
{
throw new ArgumentException($"'{filename}' is not a valid .msg file name.", nameof(filename));
}
this.msgFileLocation = filename;
this.extraindent = extraindent;
if (resolver == null)
{
resolver = new Dictionary <string, Dictionary <string, List <ResolvedMsg> > >();
}
classname = filename.basename;
Package = filename.package;
//Parse for the Namespace
Namespace += "." + filename.package;
Name = filename.package + "." + classname;
Namespace = Namespace.Trim('.');
if (!resolver.Keys.Contains(Package))
{
resolver.Add(Package, new Dictionary <string, List <ResolvedMsg> >());
}
if (!resolver[Package].ContainsKey(classname))
{
resolver[Package].Add(classname, new List <ResolvedMsg> {
new ResolvedMsg {
OtherType = Namespace + "." + classname, Definer = this
}
});
}
else
{
resolver[Package][classname].Add(new ResolvedMsg {
OtherType = Namespace + "." + classname, Definer = this
});
}
var lines = new List <string>(File.ReadAllLines(filename.Path));
lines = lines.Where(st => (!st.Contains('#') || st.Split('#')[0].Length != 0)).ToList();
for (int i = 0; i < lines.Count; i++)
{
lines[i] = lines[i].Split('#')[0].Trim();
}
this.lines = lines.Where(s => s.Trim().Length > 0).ToList();
}
/// <summary>
/// Wrapper to create a MsgsFile
/// </summary>
private MsgFile CreateMessageFile(MsgFileLocation messageLocation, List <string> parameters, string suffix)
{
var result = new MsgFile(new MsgFileLocation(
messageLocation.Path, messageLocation.searchroot),
parameters,
suffix
);
return(result);
}
public SrvFile(MsgFileLocation filename)
{
msgfilelocation = filename;
// read in srv file
var lines = File.ReadAllLines(filename.Path);
classname = filename.basename;
Namespace += "." + filename.package;
Name = filename.package + "." + filename.basename;
// def is the list of all lines in the file
def = new List <string>();
int mid = 0;
bool found = false;
var request = new List <string>();
var response = new List <string>();
// Search through for the "---" separator between request and response
for ( ; mid < lines.Length; mid++)
{
lines[mid] = lines[mid].Replace("\"", "\\\"");
if (lines[mid].Contains('#'))
{
lines[mid] = lines[mid].Substring(0, lines[mid].IndexOf('#'));
}
lines[mid] = lines[mid].Trim();
if (lines[mid].Length == 0)
{
continue;
}
def.Add(lines[mid]);
if (lines[mid].Contains("---"))
{
found = true;
continue;
}
if (found)
{
response.Add(lines[mid]);
}
else
{
request.Add(lines[mid]);
}
}
// treat request and response like 2 message files, each with a partial definition and extra stuff tagged on to the classname
Request = new MsgFile(new MsgFileLocation(filename.Path.Replace(".srv", ".msg"), filename.searchroot), true, request, "\t");
Response = new MsgFile(new MsgFileLocation(filename.Path.Replace(".srv", ".msg"), filename.searchroot), false, response, "\t");
}
public void Should_ProduceCorrectMD5Sums_When_GivenRosDefaultActionFiles(MsgFileLocation stubFile, string[] lines,
Dictionary <string, string> md5sums)
{
// Parse action file
var actionFile = new ActionFile(stubFile, lines);
actionFile.ParseAndResolveTypes();
// Compare MD5 sums
Assert.Equal(md5sums["Goal"], MD5.Sum(actionFile.GoalMessage));
Assert.Equal(md5sums["ActionGoal"], MD5.Sum(actionFile.GoalActionMessage));
Assert.Equal(md5sums["Result"], MD5.Sum(actionFile.ResultMessage));
Assert.Equal(md5sums["ActionResult"], MD5.Sum(actionFile.ResultActionMessage));
Assert.Equal(md5sums["Feedback"], MD5.Sum(actionFile.FeedbackMessage));
Assert.Equal(md5sums["ActionFeedback"], MD5.Sum(actionFile.FeedbackActionMessage));
}
//specifically for SRV halves
public MsgFile(MsgFileLocation filename, bool isRequest, List <string> lines, string extraIndent)
{
this.msgFileLocation = filename;
this.extraindent = extraIndent;
this.lines = lines;
if (resolver == null)
{
resolver = new Dictionary <string, Dictionary <string, List <ResolvedMsg> > >();
}
serviceMessageType = isRequest ? ServiceMessageType.Request : ServiceMessageType.Response;
// Parse The file name to get the classname
classname = filename.basename;
// Parse for the Namespace
Namespace += "." + filename.package;
Name = filename.package + "." + classname;
classname += (isRequest ? "Request" : "Response");
Namespace = Namespace.Trim('.');
Package = filename.package;
if (!resolver.Keys.Contains(Package))
{
resolver.Add(Package, new Dictionary <string, List <ResolvedMsg> >());
}
if (!resolver[Package].ContainsKey(classname))
{
resolver[Package].Add(classname, new List <ResolvedMsg> {
new ResolvedMsg {
OtherType = Namespace + "." + classname, Definer = this
}
});
}
else
{
resolver[Package][classname].Add(new ResolvedMsg {
OtherType = Namespace + "." + classname, Definer = this
});
}
}
/// <summary>
/// Create a non SRV MsgsFile from a list of strings. Use suffix to prepend a string to the classname.
/// </summary>
public MsgFile(MsgFileLocation filename, List <string> lines, string suffix)
{
if (filename == null)
{
throw new ArgumentNullException(nameof(filename));
}
this.msgFileLocation = filename;
if (resolver == null)
{
resolver = new Dictionary <string, Dictionary <string, List <ResolvedMsg> > >();
}
classname = filename.basename + suffix;
Package = filename.package;
//Parse for the Namespace
Namespace += "." + filename.package;
Name = filename.package + "." + classname;
Namespace = Namespace.Trim('.');
if (!resolver.Keys.Contains(Package))
{
resolver.Add(Package, new Dictionary <string, List <ResolvedMsg> >());
}
if (!resolver[Package].ContainsKey(classname))
{
resolver[Package].Add(classname, new List <ResolvedMsg>());
}
resolver[Package][classname].Add(new ResolvedMsg {
OtherType = Namespace + "." + classname, Definer = this
});
Debug.Assert(resolver[Package][classname].Count <= 1);
this.lines = lines.Where(s => s.Trim().Length > 0).ToList();
}
public MsgFile(MsgFileLocation filename)
: this(filename, "")
{
}
public MsgFile(MsgFileLocation filename, bool isRequest, List <string> lines)
: this(filename, isRequest, lines, string.Empty)
{
}
public ActionFile(MsgFileLocation filename, string[] lines)
{
InitializeActionFile(filename, lines);
}
public ActionFile(MsgFileLocation filename)
{
// Read in action file
string[] lines = File.ReadAllLines(filename.Path);
InitializeActionFile(filename, lines);
}
public void Finalize(MsgFile parent, string[] s, bool isliteral)
{
backup = new string[s.Length];
Array.Copy(s, backup, s.Length);
bool isconst = false;
IsLiteral = isliteral;
string type = s[0];
string name = s[1];
string otherstuff = "";
if (name.Contains('='))
{
string[] parts = name.Split('=');
isconst = true;
name = parts[0];
otherstuff = " = " + parts[1];
}
if (name == parent.Name.Split(".").Last() || !MsgFileLocation.IsValidCSharpIdentifier(name) && name.Length > 0)
{
if (IsCSharpKeyword(name))
{
name = "@" + name;
}
else if (MsgFileLocation.IsValidCSharpIdentifier(name) && name == parent.Name.Split(".").Last())
{
name = "_" + name;
}
else
{
throw new ArgumentException(String.Format("Variable '{0}' from '{1}' is not a compatible C# identifier name\n\tAll variable names must conform to C# Language Specifications (refer to this StackOverflow answer: https://stackoverflow.com/a/950651/4036588)\n", name, parent.msgFileLocation.Path));
}
}
for (int i = 2; i < s.Length; i++)
{
otherstuff += " " + s[i];
}
if (otherstuff.Contains('='))
{
isconst = true;
}
if (!IsArray)
{
if (otherstuff.Contains('=') && type.Equals("string", StringComparison.CurrentCultureIgnoreCase))
{
otherstuff = otherstuff.Replace("\\", "\\\\");
otherstuff = otherstuff.Replace("\"", "\\\"");
string[] split = otherstuff.Split('=');
otherstuff = split[0] + " = " + split[1].Trim() + "";
}
if (otherstuff.Contains('=') && type == "bool")
{
otherstuff = otherstuff.Replace("0", "false").Replace("1", "true");
}
if (otherstuff.Contains('=') && type == "byte")
{
otherstuff = otherstuff.Replace("-1", "255");
}
Const = isconst;
bool wantsconstructor = !KnownStuff.IsPrimitiveType(this);
if (otherstuff.Contains("="))
{
string[] chunks = otherstuff.Split('=');
ConstValue = chunks[chunks.Length - 1].Trim();
if (type.Equals("string", StringComparison.OrdinalIgnoreCase))
{
otherstuff = chunks[0] + " = \"" + chunks[1].Trim() + "\"";
wantsconstructor = false;
}
}
string prefix = "", suffix = "";
if (isconst)
{
// why can't strings be constants?
//if (!type.Equals("string", StringComparison.OrdinalIgnoreCase))
//{
if (KnownStuff.IsPrimitiveType(this))
{
prefix = "const ";
}
else
{
prefix = "static readonly ";
}
wantsconstructor = false;
//}
}
string t = KnownStuff.GetNamespacedType(this, type);
if (otherstuff.Contains('='))
{
if (wantsconstructor)
{
if (type == "string")
{
suffix = " = \"\"";
}
else
{
suffix = " = new " + type + "()";
}
}
else
{
suffix = KnownStuff.GetConstTypesAffix(type);
}
}
else
{
if (type == "string")
{
suffix = " = \"\"";
}
else if (wantsconstructor)
{
suffix = " = new " + prefix + t + "()";
}
}
output = lowestindent + "public " + prefix + t + " " + name + otherstuff + suffix + ";";
}
else
{
if (length.Length > 0)
{
IsLiteral = true;
}
if (otherstuff.Contains('='))
{
string[] split = otherstuff.Split('=');
otherstuff = split[0] + " = (" + type + ")" + split[1];
}
string t = KnownStuff.GetNamespacedType(this, type);
if (length.Length > 0)
{
output = lowestindent + "public " + t + "[] " + name + otherstuff + " = new " + type + "[" + length + "];";
}
else
{
output = lowestindent + "public " + "" + t + "[] " + name + otherstuff + ";";
}
}
Type = type;
parent.resolve(this);
if (!KnownStuff.KnownTypes.ContainsKey(rostype))
{
meta = true;
}
Name = name.Length == 0 ? otherstuff.Trim() : name;
if (Name.Contains('='))
{
Name = Name.Substring(0, Name.IndexOf("=")).Trim();
}
}