public void Can_parse_rosbag_with_nested_message()
{
var input = @"byte DEBUG=1
byte INFO=2
byte WARN=4
byte ERROR=8
byte FATAL=16
Header header
byte level
string name
string msg
string file
string function
uint32 line
string[] topics
================================================================================
MSG: std_msgs/Header
uint32 seq
time stamp
string frame_id";
var actual = new RosbagMessageDefinitionParser(input).Parse();
Assert.NotNull(actual);
Assert.NotNull(actual.Message);
Assert.Single(actual.NestedMessages);
var nestedMessage = actual.NestedMessages[RosTypeInfo.CreateRosType("std_msgs", "Header")];
Assert.NotNull(nestedMessage);
Assert.False(nestedMessage.IsEmpty);
}
private void ParseMessagesInternal()
{
var packageDependencyCollector = new PackageDependencyCollector(new [] { Package.Name });
var typeDependencyCollector = new TypeDependencyCollector(new [] { Package.Name });
var collectors = new RosMessageVisitorListenerCollection(new IRosMessageVisitorListener[]
{ packageDependencyCollector, typeDependencyCollector });
var messages = new List <KeyValuePair <RosTypeInfo, MessageDescriptor> >();
var actions = new List <KeyValuePair <RosTypeInfo, ActionDescriptor> >();
var services = new List <KeyValuePair <RosTypeInfo, ServiceDescriptor> >();
foreach (var messageFile in Package.Messages)
{
using (var fileStream = File.OpenRead(messageFile.FullName))
{
var rosType = RosTypeInfo.CreateRosType(Package.Name, messageFile.NameWithoutExtension());
switch (messageFile.GetRosMessageType())
{
case RosMessageType.Message:
var messageParser = new RobSharper.Ros.MessageParser.MessageParser(fileStream);
var messageDescriptor = messageParser.Parse(collectors);
messages.Add(
new KeyValuePair <RosTypeInfo, MessageDescriptor>(rosType, messageDescriptor));
break;
case RosMessageType.Service:
var serviceParser = new ServiceParser(fileStream);
var serviceDescriptor = serviceParser.Parse(collectors);
services.Add(
new KeyValuePair <RosTypeInfo, ServiceDescriptor>(rosType, serviceDescriptor));
break;
case RosMessageType.Action:
var actionParser = new ActionParser(fileStream);
var actionDescriptor = actionParser.Parse(collectors);
actions.Add(
new KeyValuePair <RosTypeInfo, ActionDescriptor>(rosType, actionDescriptor));
break;
}
}
}
// Add actionlib dependency
if (actions.Any() && !packageDependencyCollector.Dependencies.Contains("actionlib_msgs"))
{
packageDependencyCollector.Dependencies.Add("actionlib_msgs");
}
_packageDependencies = packageDependencyCollector.Dependencies;
_externalTypeDependencies = typeDependencyCollector.Dependencies;
_messages = messages;
_actions = actions;
_services = services;
}
public void OnVisitRosType_called_in_constant_decalaration_for_external_type()
{
var message = $"std_msgs/Bool CONST = True";
var expectedTypeDescriptor = RosTypeInfo.CreateRosType("std_msgs", "Bool");
var messageParser = ParserHelper.CreateParserForMessage(message);
var context = messageParser.ros_message();
var mock = new Mock <IRosMessageVisitorListener>();
var visitor = new RosMessageVisitor(mock.Object);
visitor.Visit(context);
mock.Verify(x => x.OnVisitRosType(expectedTypeDescriptor));
}
public void OnVisitRosType_called_in_field_decalaration_for_header_type()
{
var message = $"Header fieldName";
var expectedTypeDescriptor = RosTypeInfo.CreateRosType("std_msgs", "Header");
var messageParser = ParserHelper.CreateParserForMessage(message);
var context = messageParser.ros_message();
var mock = new Mock <IRosMessageVisitorListener>();
var visitor = new RosMessageVisitor(mock.Object);
visitor.Visit(context);
mock.Verify(x => x.OnVisitRosType(expectedTypeDescriptor));
}
public void Can_parse_rosbag_with_multiple_nested_messages()
{
var input = @"# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
Header header
actionlib_msgs/GoalStatus status
MoveArmOnTrajectoryResult result
================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data
# in a particular coordinate frame.
#
# sequence ID: consecutively increasing ID
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id
================================================================================
MSG: actionlib_msgs/GoalStatus
GoalID goal_id
uint8 status
uint8 PENDING = 0 # The goal has yet to be processed by the action server
uint8 ACTIVE = 1 # The goal is currently being processed by the action server
uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
# and has since completed its execution (Terminal State)
uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
# to some failure (Terminal State)
uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
# because the goal was unattainable or invalid (Terminal State)
uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
# and has not yet completed execution
uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
# but the action server has not yet confirmed that the goal is canceled
uint8 RECALLED = 8 # The goal received a cancel request before it started executing
# and was successfully cancelled (Terminal State)
uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
# sent over the wire by an action server
#Allow for the user to associate a string with GoalStatus for debugging
string text
================================================================================
MSG: actionlib_msgs/GoalID
# The stamp should store the time at which this goal was requested.
# It is used by an action server when it tries to preempt all
# goals that were requested before a certain time
time stamp
# The id provides a way to associate feedback and
# result message with specific goal requests. The id
# specified must be unique.
string id
================================================================================
MSG: robot_msgs/MoveArmOnTrajectoryResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
geometry_msgs/Pose resultPose
string resultMessage
================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of position and orientation.
Point position
Quaternion orientation
================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z
================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.
float64 x
float64 y
float64 z
float64 w";
var actual = new RosbagMessageDefinitionParser(input).Parse();
Assert.NotNull(actual);
Assert.NotNull(actual.Message);
Assert.Equal(7, actual.NestedMessages.Count);
Assert.True(actual.NestedMessages.ContainsKey(RosTypeInfo.CreateRosType("std_msgs", "Header")), "Nested message std_msgs/Header not found");
Assert.True(actual.NestedMessages.ContainsKey(RosTypeInfo.CreateRosType("actionlib_msgs", "GoalStatus")), "Nested message actionlib_msgs/GoalStatus not found");
Assert.True(actual.NestedMessages.ContainsKey(RosTypeInfo.CreateRosType("actionlib_msgs", "GoalID")), "Nested message actionlib_msgs/GoalID not found");
Assert.True(actual.NestedMessages.ContainsKey(RosTypeInfo.CreateRosType("robot_msgs", "MoveArmOnTrajectoryResult")), "Nested message robot_msgs/MoveArmOnTrajectoryResult not found");
Assert.True(actual.NestedMessages.ContainsKey(RosTypeInfo.CreateRosType("geometry_msgs", "Pose")), "Nested message geometry_msgs/Pose not found");
Assert.True(actual.NestedMessages.ContainsKey(RosTypeInfo.CreateRosType("geometry_msgs", "Point")), "Nested message geometry_msgs/Point not found");
Assert.True(actual.NestedMessages.ContainsKey(RosTypeInfo.CreateRosType("geometry_msgs", "Quaternion")), "Nested message geometry_msgs/Quaternion not found");
}