public SingleType Finalize(MsgsFile parent, KeyValuePair <string, string> csharptype)
{
string[] PARTS = input.Split(' ');
rostype = PARTS[0];
if (!KnownStuff.KnownTypes.ContainsKey(rostype))
{
meta = true;
}
PARTS[0] = csharptype.Value;
return(Finalize(parent, PARTS, true));
}
public static string Sum(MsgsFile m)
{
if (!md5memo.ContainsKey(m.Name))
{
string hashme = PrepareToHash(m);
if (hashme == null)
return null;
md5memo[m.Name] = Sum(hashme);
}
return md5memo[m.Name];
}
public static SingleType WhatItIs(MsgsFile parent, SingleType t)
{
foreach (KeyValuePair <string, string> test in KnownTypes)
{
if (t.Test(test))
{
t.rostype = t.Type;
return(t.Finalize(parent, test));
}
}
return(t.Finalize(parent, t.input.Split(spliter, StringSplitOptions.RemoveEmptyEntries), false));
}
public static SingleType WhatItIs(MsgsFile parent, string s, string extraindent)
{
string[] pieces = s.Split('/');
string package = "";
if (pieces.Length > 1)
{
for (int i = 0; i < pieces.Length - 1; i++)
{
if (i > 0 && i < pieces.Length - 2)
{
package += "/";
}
package += pieces[i];
}
s = pieces[pieces.Length - 1];
}
return(WhatItIs(parent, new SingleType(package, s, extraindent)));
}
public SrvsFile(MsgFileLocation filename)
{
//read in srv file
string[] 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;
List<string> request = new List<string>(), 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 MsgsFile(new MsgFileLocation(filename.Path.Replace(".srv",".msg"), filename.searchroot), true, request, "\t");
Response = new MsgsFile(new MsgFileLocation(filename.Path.Replace(".srv", ".msg"), filename.searchroot), false, response, "\t");
}
public SrvsFile(string filename)
{
//read in srv file
string[] lines = File.ReadAllLines(filename);
string[] sp = filename.Replace(Program.inputdir, "").Replace(".srv", "").Split('\\');
//Parse The file name to get the classname;
classname = sp[sp.Length - 1];
//Parse for the Namespace
Namespace += "." + filename.Replace(Program.inputdir, "").Replace(".srv", "");
Namespace = Namespace.Replace("\\", ".").Replace("..", ".");
//split up Namespace and put it back together without the last part, aka. classname
string[] sp2 = Namespace.Split('.');
Namespace = "";
for (int i = 0; i < sp2.Length - 2; i++)
{
Namespace += sp2[i] + ".";
}
Namespace += sp2[sp2.Length - 2];
//THIS IS BAD!
//Name set to Namespace + classname
classname = classname.Replace("/", ".");
Name = Namespace.Replace("Messages", "").TrimStart('.') + "." + classname;
Name = Name.TrimStart('.');
classname = Name.Split('.').Length > 1 ? Name.Split('.')[1] : Name;
Namespace = Namespace.Trim('.');
//def is the list of all lines in the file
def = new List <string>();
int mid = 0;
bool found = false;
List <string> request = new List <string>(), 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]);
}
}
//add lines aproprietly
Request = new MsgsFile(filename, true, request, "\t");
Response = new MsgsFile(filename, false, response, "\t");
}
public void refinalize(MsgsFile parent, string REALTYPE)
{
bool isconst = false;
string type = REALTYPE;
string name = backup[1];
string otherstuff = "";
if (name.Contains('='))
{
string[] parts = name.Split('=');
isconst = true;
name = parts[0];
otherstuff = " = " + parts[1];
}
for (int i = 2; i < backup.Length; i++)
otherstuff += " " + backup[i];
if (otherstuff.Contains('=')) isconst = true;
parent.resolve(Package, ref type);
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 = false;
if (otherstuff.Contains("="))
{
string[] chunks = otherstuff.Split('=');
ConstValue = chunks[chunks.Length - 1].Trim();
if (type.Equals("string", StringComparison.InvariantCultureIgnoreCase))
{
otherstuff = chunks[0] + " = new String(\"" + chunks[1].Trim().Replace("\"", "") + "\")";
}
}
else if (!type.Equals("String"))
{
wantsconstructor = true;
}
string prefix = "", suffix = "";
if (isconst)
{
if (!type.Equals("string", StringComparison.InvariantCultureIgnoreCase))
{
prefix = "const ";
}
}
if (otherstuff.Contains('='))
if (wantsconstructor)
if (type == "string")
suffix = " = \"\"";
else
suffix = " = new " + type + "()";
else
suffix = KnownStuff.GetConstTypesAffix(type);
output = lowestindent + "public " + prefix + type + " " + name + otherstuff + suffix + ";";
}
else
{
if (length.Length != 0)
IsLiteral = type != "string";
if (otherstuff.Contains('='))
{
string[] split = otherstuff.Split('=');
otherstuff = split[0] + " = (" + type + ")" + split[1];
}
if (length.Length != 0)
output = lowestindent + "public " + type + "[] " + name + otherstuff + " = new " + type + "[" + length + "];";
else
output = lowestindent + "public " + "" + type + "[] " + name + otherstuff + ";";
}
Type = type;
if (!KnownStuff.KnownTypes.ContainsKey(rostype))
meta = true;
Name = name.Length == 0 ? otherstuff.Split('=')[0].Trim() : name;
}
public SingleType Finalize(MsgsFile parent, KeyValuePair<string, string> csharptype)
{
string[] PARTS = input.Split(' ');
rostype = PARTS[0];
if (!KnownStuff.KnownTypes.ContainsKey(rostype))
meta = true;
PARTS[0] = csharptype.Value;
return Finalize(parent, PARTS, true);
}
public static SingleType WhatItIs(MsgsFile parent, SingleType t)
{
foreach (KeyValuePair<string, string> test in KnownTypes)
{
if (t.Test(test))
{
t.rostype = t.Type;
return t.Finalize(parent, test);
}
}
return t.Finalize(parent, t.input.Split(spliter, StringSplitOptions.RemoveEmptyEntries), false);
}
private static string PrepareToHash(MsgsFile irm)
{
string hashme = irm.Definition.Trim('\n', '\t', '\r', ' ');
while (hashme.Contains(" "))
hashme = hashme.Replace(" ", " ");
while (hashme.Contains("\r\n"))
hashme = hashme.Replace("\r\n", "\n");
hashme = hashme.Trim();
string[] lines = hashme.Split('\n');
Queue<string> haves = new Queue<string>(), havenots = new Queue<string>();
for (int i = 0; i < lines.Length; i++)
{
string l = lines[i];
if (l.Contains("="))
{
//condense spaces on either side of =
string[] ls = l.Split('=');
haves.Enqueue(ls[0].Trim()+"="+ls[1].Trim());
}
else havenots.Enqueue(l.Trim());
}
hashme = "";
while (haves.Count + havenots.Count > 0)
hashme += (haves.Count > 0 ? haves.Dequeue() : havenots.Dequeue()) + (haves.Count + havenots.Count >= 1 ? "\n" : "");
Dictionary<string, MsgFieldInfo> mfis = MessageFieldHelper.Instantiate(irm.Stuff);
MsgFieldInfo[] fields = mfis.Values.ToArray();
for(int i=0;i<fields.Length;i++)
{
if (fields[i].IsLiteral)
continue;
MsgsFile ms = irm.Stuff[i].Definer;
if (ms == null)
{
KnownStuff.WhatItIs(irm, irm.Stuff[i]);
if (irm.Stuff[i].Type.Contains("/"))
{
irm.resolve(irm, irm.Stuff[i]);
}
ms = irm.Stuff[i].Definer;
}
if (ms == null)
{
Debug.WriteLine("NEEDS ANOTHER PASS: "******" B/C OF " + irm.Stuff[i].Type);
return null;
}
string sum = MD5.Sum(ms);
if (sum == null)
{
Debug.WriteLine("STILL NEEDS ANOTHER PASS: "******" B/C OF " + irm.Stuff[i].Type);
return null;
}
Regex findCurrentFieldType = new Regex("\\b" + fields[i].Type + "\\b");
string[] BLADAMN = findCurrentFieldType.Replace(hashme, sum).Split('\n');
hashme = "";
for (int x = 0; x < BLADAMN.Length; x++)
{
if (BLADAMN[x].Contains(fields[i].Name.Replace("@", "")))
{
if (BLADAMN[x].Contains("/"))
{
BLADAMN[x] = BLADAMN[x].Split('/')[1];
}
if (BLADAMN[x].Contains("[]") && !fields[i].IsLiteral)
{
BLADAMN[x] = BLADAMN[x].Replace("[]", "");
}
}
hashme += BLADAMN[x];
if (x < BLADAMN.Length - 1)
hashme += "\n";
}
}
return hashme;
}
public SrvsFile(string filename)
{
//read in srv file
string[] lines = File.ReadAllLines(filename);
string[] sp = filename.Replace(Program.inputdir, "").Replace(".srv", "").Split('\\');
//Parse The file name to get the classname;
classname = sp[sp.Length - 1];
//Parse for the Namespace
Namespace += "." + filename.Replace(Program.inputdir, "").Replace(".srv", "");
Namespace = Namespace.Replace("\\", ".").Replace("..", ".");
//split up Namespace and put it back together without the last part, aka. classname
string[] sp2 = Namespace.Split('.');
Namespace = "";
for (int i = 0; i < sp2.Length - 2; i++)
Namespace += sp2[i] + ".";
Namespace += sp2[sp2.Length - 2];
//THIS IS BAD!
//Name set to Namespace + classname
classname = classname.Replace("/", ".");
Name = Namespace.Replace("Messages", "").TrimStart('.') + "." + classname;
Name = Name.TrimStart('.');
classname = Name.Split('.').Length > 1 ? Name.Split('.')[1] : Name;
Namespace = Namespace.Trim('.');
//def is the list of all lines in the file
def = new List<string>();
int mid = 0;
bool found = false;
List<string> request = new List<string>(), 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]);
}
//add lines aproprietly
Request = new MsgsFile(filename, true, request, "\t");
Response = new MsgsFile(filename, false, response, "\t");
}
public void resolve(MsgsFile parent, SingleType st)
{
if (st.Type == null)
{
KnownStuff.WhatItIs(parent, st);
}
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];
}
if (!string.IsNullOrEmpty(st.Package))
prefixes[0] = st.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 Exception("Could not resolve " + st.Type);
}
}
}
}
public void Finalize(MsgsFile 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 (IsCSharpKeyword(name))
{
name = "@" + name;
}
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 = false;
if (otherstuff.Contains("="))
{
string[] chunks = otherstuff.Split('=');
ConstValue = chunks[chunks.Length - 1].Trim();
if (type.Equals("string", StringComparison.InvariantCultureIgnoreCase))
{
otherstuff = chunks[0] + " = \"" + chunks[1].Trim() + "\"";
}
}
string prefix = "", suffix = "";
if (isconst)
{
if (!type.Equals("string", StringComparison.InvariantCultureIgnoreCase))
{
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 + "; //woo";
}
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(parent, 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 static void Finalize(MsgsFile parent, SingleType thing, KeyValuePair<string, string> csharptype)
{
string[] PARTS = thing.input.Split(' ');
thing.rostype = PARTS[0];
if (!KnownStuff.KnownTypes.ContainsKey(thing.rostype))
thing.meta = true;
PARTS[0] = csharptype.Value;
thing.Finalize(parent, PARTS, true);
}
public static SingleType WhatItIs(MsgsFile parent, string s, string extraindent)
{
string[] pieces = s.Split('/');
string package = parent.Package;
if (pieces.Length == 2)
{
package = pieces[0];
s = pieces[1];
}
SingleType st = new SingleType(package, s, extraindent);
parent.resolve(parent, st);
WhatItIs(parent, st);
return st;
}
public void refinalize(MsgsFile parent, string REALTYPE)
{
bool isconst = false;
string type = REALTYPE;
string name = backup[1];
string otherstuff = "";
if (name.Contains('='))
{
string[] parts = name.Split('=');
isconst = true;
name = parts[0];
otherstuff = " = " + parts[1];
}
for (int i = 2; i < backup.Length; i++)
{
otherstuff += " " + backup[i];
}
if (otherstuff.Contains('='))
{
isconst = true;
}
parent.resolve(Package, ref type);
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 = false;
if (otherstuff.Contains("="))
{
string[] chunks = otherstuff.Split('=');
ConstValue = chunks[chunks.Length - 1].Trim();
if (type.Equals("string", StringComparison.InvariantCultureIgnoreCase))
{
otherstuff = chunks[0] + " = new String(\"" + chunks[1].Trim().Replace("\"", "") + "\")";
}
}
else if (!type.Equals("String"))
{
wantsconstructor = true;
}
string prefix = "", suffix = "";
if (isconst)
{
if (!type.Equals("string", StringComparison.InvariantCultureIgnoreCase))
{
prefix = "const ";
}
}
if (otherstuff.Contains('='))
{
if (wantsconstructor)
{
if (type == "string")
{
suffix = " = \"\"";
}
else
{
suffix = " = new " + type + "()";
}
}
else
{
suffix = KnownStuff.GetConstTypesAffix(type);
}
}
output = lowestindent + "public " + prefix + type + " " + name + otherstuff + suffix + ";";
}
else
{
if (length.Length != 0)
{
IsLiteral = type != "string";
}
if (otherstuff.Contains('='))
{
string[] split = otherstuff.Split('=');
otherstuff = split[0] + " = (" + type + ")" + split[1];
}
if (length.Length != 0)
{
output = lowestindent + "public " + type + "[] " + name + otherstuff + " = new " + type + "[" + length + "];";
}
else
{
output = lowestindent + "public " + "" + type + "[] " + name + otherstuff + ";";
}
}
Type = type;
if (!KnownStuff.KnownTypes.ContainsKey(rostype))
{
meta = true;
}
Name = name.Length == 0 ? otherstuff.Split('=')[0].Trim() : name;
}
public static SingleType WhatItIs(MsgsFile parent, string s, string extraindent)
{
string[] pieces = s.Split('/');
string package = "";
if (pieces.Length > 1)
{
for (int i = 0; i < pieces.Length - 1; i++)
{
if (i > 0 && i < pieces.Length - 2)
package += "/";
package += pieces[i];
}
s = pieces[pieces.Length - 1];
}
return WhatItIs(parent, new SingleType(package, s, extraindent));
}
