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 static SingleType WhatItIs(MsgFile parent, string s, string extraindent)
{
string[] pieces = s.Split('/');
string package = null;
// sometimes, a string can contain the char '/', such as the following line:
// string CONTENT_JSON = "application/json"
if (pieces.Length == 2)
{
if (s.ToLower().Contains("string") && !MsgFile.resolver.ContainsKey(pieces[0]))
{
goto ResolvingStep;
}
package = pieces[0];
s = pieces[1];
}
ResolvingStep:
SingleType st = new SingleType(package, s, extraindent);
parent.resolve(st);
WhatItIs(parent, st);
return(st);
}
public MessageTemplateInfo(MsgFile OuterMessage, MsgFile InnerMessage, string OuterMessagePlaceHoder,
string InnerMessagePlaceHolder)
{
this.OuterMessage = OuterMessage;
this.InnerMessage = InnerMessage;
this.OuterMessagePlaceHoder = OuterMessagePlaceHoder;
this.InnerMessagePlaceHolder = InnerMessagePlaceHolder;
}
/// <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 static void WhatItIs(MsgFile parent, SingleType t)
{
if (t.IsPrimitve)
{
t.rostype = t.Type;
SingleType.Finalize(parent, t);
return;
}
t.Finalize(parent, t.input.Split(spliter, StringSplitOptions.RemoveEmptyEntries), false);
}
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 static void Finalize(MsgFile parent, SingleType thing)
{
string[] parts = thing.input.Split(' ');
thing.rostype = parts[0];
if (!KnownStuff.KnownTypes.ContainsKey(thing.rostype))
{
thing.meta = true;
}
else
{
parts[0] = KnownStuff.KnownTypes[thing.rostype];
}
thing.Finalize(parent, parts, true);
}
public static SingleType WhatItIs(MsgFile parent, string s, string extraindent)
{
string[] pieces = s.Split('/');
string package = null;
if (pieces.Length == 2)
{
package = pieces[0];
s = pieces[1];
}
SingleType st = new SingleType(package, s, extraindent);
parent.resolve(st);
WhatItIs(parent, st);
return st;
}
/// <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 static void Resolve(MsgFile parent, SingleType st)
{
if (st.Type == null)
{
KnownStuff.WhatItIs(parent, st);
}
if (st.IsPrimitve)
{
return;
}
List <string> prefixes = new List <string>(new[] { "", "std_msgs", "geometry_msgs", "actionlib_msgs" });
if (st.Type.Contains("/"))
{
string[] pieces = st.Type.Split('/');
st.Package = pieces[0];
st.Type = pieces[1];
}
prefixes[0] = !string.IsNullOrEmpty(st.Package) ? st.Package : parent.Package;
foreach (string p in prefixes)
{
if (resolver.Keys.Contains(p))
{
if (resolver[p].ContainsKey(st.Type))
{
if (resolver[p][st.Type].Count == 1)
{
st.Package = p;
st.Definer = resolver[p][st.Type][0].Definer;
}
else if (resolver[p][st.Type].Count > 1)
{
throw new ArgumentException($"Could not resolve: {st.Type}");
}
}
}
}
}
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();
}
}
public void Finalize(MsgFile parent, string[] s, bool isliteral)
{
backup = new string[s.Length];
Array.Copy(s, backup, s.Length);
bool isstatic = false;
IsLiteral = isliteral;
string type = s[0];
string name = s[1];
string otherstuff = "";
if (name.Contains('='))
{
string[] parts = name.Split('=');
isstatic = true;
name = parts[0];
otherstuff = " = " + parts[1];
}
if (IsCSharpKeyword(name))
{
name = "@" + name;
}
for (int i = 2; i < s.Length; i++)
{
otherstuff += " " + s[i];
}
if (otherstuff.Contains('='))
{
isstatic = 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");
}
Static = isstatic;
bool wantsconstructor = true;
if (otherstuff.Contains("="))
{
string[] chunks = otherstuff.Split('=');
StaticValue = chunks[chunks.Length - 1].Trim();
if (type.Equals("string", StringComparison.OrdinalIgnoreCase))
{
otherstuff = chunks[0] + " = \"" + chunks[1].Trim() + "\"";
wantsconstructor = false;
}
}
string prefix = "", suffix = "";
if (isstatic)
{
if (!type.Equals("string", StringComparison.OrdinalIgnoreCase))
{
prefix = "static ";
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
{
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();
}
}
public void refinalize(MsgFile parent, string REALTYPE)
{
bool isstatic = false;
Type = REALTYPE;
string name = backup[1];
string otherstuff = "";
if (name.Contains('='))
{
string[] parts = name.Split('=');
isstatic = true;
name = parts[0];
otherstuff = " = " + parts[1];
}
if (IsCSharpKeyword(name))
{
name = "@" + name;
}
for (int i = 2; i < backup.Length; i++)
{
otherstuff += " " + backup[i];
}
if (otherstuff.Contains('='))
{
isstatic = true;
}
parent.resolve(this);
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");
}
Static = isstatic;
bool wantsconstructor = false;
if (otherstuff.Contains("="))
{
string[] chunks = otherstuff.Split('=');
StaticValue = chunks[chunks.Length - 1].Trim();
if (Type.Equals("string", StringComparison.OrdinalIgnoreCase))
{
otherstuff = chunks[0] + " = \"" + chunks[1].Trim().Replace("\"", "") + "\"";
}
}
else if (!Type.Equals("String"))
{
wantsconstructor = true;
}
string prefix = "", suffix = "";
if (isstatic)
{
if (!Type.Equals("string", StringComparison.OrdinalIgnoreCase))
{
prefix = "const ";
}
}
if (otherstuff.Contains('='))
{
if (wantsconstructor)
{
if (Type == "string")
{
suffix = " = \"\"";
}
else
{
suffix = " = new " + Type + "()";
}
}
else
{
suffix = KnownStuff.GetConstTypesAffix(Type);
}
}
string t = KnownStuff.GetNamespacedType(this, Type);
output = lowestindent + "public " + prefix + t + " " + name + otherstuff + suffix + ";";
}
else
{
if (length.Length != 0)
{
IsLiteral = true; //type != "string";
}
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 " + t + "[" + length + "];";
}
else
{
output = lowestindent + "public " + "" + t + "[] " + name + otherstuff + ";";
}
}
if (!KnownStuff.KnownTypes.ContainsKey(rostype))
{
meta = true;
}
Name = name.Length == 0 ? otherstuff.Split('=')[0].Trim() : name;
}
