public static string Generate(SingleType members)
{
string mt = "MsgTypes.Unknown";
if (members.meta)
{
string t = members.Type.Replace("Messages.", "");
if (!t.Contains('.'))
{
t = "std_msgs." + t;
}
mt = "MsgTypes." + t.Replace(".", "__");
if (mt.Contains("ColorRGBA"))
{
Console.WriteLine(mt);
}
}
return(String.Format
("\"{0}\", new MsgFieldInfo(\"{0}\", {1}, {2}, {3}, \"{4}\", {5}, \"{6}\", {7}, {8})",
members.Name,
members.IsLiteral.ToString().ToLower(),
("typeof(" + members.Type + ")"),
members.Const.ToString().ToLower(),
members.ConstValue.TrimStart('"').TrimEnd('"'),
//members.Type.Equals("string", StringComparison.InvariantCultureIgnoreCase) ? ("new String("+members.ConstValue+")") : ("\""+members.ConstValue+"\""),
members.IsArray.ToString().ToLower(),
members.length,
//FIX MEEEEEEEE
members.meta.ToString().ToLower(),
mt));
}
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);
}
private string GenerateEqualityCodeForOne(string type, string name, SingleType st, int extraTabs = 0)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
{
leadingWhitespace += " ";
}
if (type == "Time" || type == "Duration")
{
return(string.Format(@"
{0}ret &= {1}.data.Equals(other.{1}.data);", leadingWhitespace, name));
}
else if (type == "TimeData")
{
return(string.Format(@"
{0}ret &= {1}.Equals(other.{1});", leadingWhitespace, name));
}
else if (st.IsLiteral)
{
if (st.Const)
{
return("");
}
return(string.Format(@"
{0}ret &= {1} == other.{1};", leadingWhitespace, name));
}
else
{
return(string.Format(@"
{0}ret &= {1}.Equals(other.{1});", leadingWhitespace, name));
}
// and that's it
}
public string GenerateDeserializationCode(SingleType st)
{
//Console.WriteLine(stfmat, st.Name, st.Type, st.rostype, st.IsLiteral, st.Const, st.ConstValue, st.IsArray, st.length, st.meta);
//if (!st.IsLiteral)
// Console.WriteLine(st.Name);
return("");
}
/// <summary>
/// Returns the namespaced type name (if neccessary)
/// </summary>
/// <param name="st">This thing's SingleType</param>
/// <param name="type">(optional) the type string</param>
/// <returns>duh</returns>
public static string GetNamespacedType(SingleType st, string type = null)
{
if (type == null)
type = st.Type;
if (st.Package != null && !KnownTypes.ContainsKey(st.rostype) && !type.Contains(st.Package))
return string.Format("Messages.{0}.{1}", st.Package, type);
return type;
}
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 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 string GenerateSerializationCode(SingleType st, int extraTabs = 0)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
{
leadingWhitespace += " ";
}
if (st.Const)
{
return("");
}
if (!st.IsArray)
{
return(GenerateSerializationForOne(st.Type, st.Name, st, extraTabs));
}
int arraylength = -1;
string ret = string.Format(@"
{0}//{2}
{0}hasmetacomponents |= {1};", leadingWhitespace, st.meta.ToString().ToLower(), st.Name);
string completetype = KnownStuff.GetNamespacedType(st);
ret += string.Format(@"
{0}if ({1} == null)
{0} {1} = new {2}[0];", leadingWhitespace, st.Name, completetype);
if (string.IsNullOrEmpty(st.length) || !int.TryParse(st.length, out arraylength) || arraylength == -1)
{
ret += string.Format(@"
{0}pieces.Add(BitConverter.GetBytes({1}.Length));", leadingWhitespace, st.Name);
}
//special case arrays of bytes
if (st.Type == "byte")
{
ret += string.Format(@"
{0}pieces.Add(({2}[]){1});", leadingWhitespace, st.Name, st.Type);
}
else
{
if (!st.IsPrimitve || (st.Type == "string") || (st.Type == "bool"))
{
ret += string.Format(@"
{0}for (int i=0;i<{1}.Length; i++) {{{2}
{0}}}", leadingWhitespace, st.Name, GenerateSerializationForOne(st.Type, st.Name + "[i]", st, extraTabs + 1));
}
else
{
ret += GenerateSerializationForOne(st.Type, st.Name + "[i]", st, extraTabs + 1, true);
}
}
return(ret);
}
public string GenerateRandomizationCode(SingleType st, int extraTabs = 0)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
{
leadingWhitespace += " ";
}
// this happens for each member of the outer message
// after concluding, make sure part of the string is "currentIndex += <amount read while deserializing this thing>"
// start of deserializing piece referred to by st is currentIndex (its value at time of call to this fn)"
string pt = KnownStuff.GetNamespacedType(st);
if (st.Const)
{
return("");
}
else if (!st.IsArray)
{
return(GenerateRandomizationCodeForOne(st.Type, st.Name, st, extraTabs));
}
string ret = string.Format(@"
{0}//{1}", leadingWhitespace, st.Name);
int arraylength = -1;
string arraylengthstr = "arraylength";
//If the object is an array, send each object to be processed individually, then add them to the string
//handle fixed length fields?
if (!string.IsNullOrEmpty(st.length) && int.TryParse(st.length, out arraylength) && arraylength != -1)
{
arraylengthstr = "" + arraylength;
}
else
{
ret += string.Format(@"
{0}arraylength = rand.Next(10);", leadingWhitespace);
}
ret += string.Format(@"
{0}if ({1} == null)
{0} {1} = new {2}[{3}];
{0}else
{0} Array.Resize(ref {1}, {3});", leadingWhitespace, st.Name, pt, arraylengthstr);
ret += string.Format(@"
{0}for (int i=0;i<{1}.Length; i++) {{{2}
{0}}}", leadingWhitespace, st.Name, GenerateRandomizationCodeForOne(pt, st.Name + "[i]", st, extraTabs + 1));
return(ret);
}
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;
}
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);
}
MsgsFile(string filename, bool isrequest, List <string> lines, string extraindent)
{
if (resolver == null)
{
resolver = new Dictionary <string, List <string> >();
}
serviceMessageType = isrequest ? ServiceMessageType.Request : ServiceMessageType.Response;
filename = filename.Replace(".srv", ".msg");
if (!filename.Contains(".msg"))
{
throw new Exception("" + filename + " IS NOT A VALID SRV FILE!");
}
string[] sp = filename.Replace(Program.inputdir, "").Replace(".msg", "").Split('\\');
classname = sp[sp.Length - 1];
Namespace += "." + filename.Replace(Program.inputdir, "").Replace(".msg", "");
Namespace = Namespace.Replace("\\", ".").Replace("..", ".");
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!
classname = classname.Replace("/", ".");
Name = Namespace.Replace("Messages", "").TrimStart('.') + "." + classname;
Name = Name.TrimStart('.');
classname = Name.Split('.').Length > 1 ? Name.Split('.')[1] : Name;
classname += (isrequest ? "Request" : "Response");
Namespace = Namespace.Trim('.');
def = new List <string>();
for (int i = 0; i < lines.Count; i++)
{
if (lines[i].Trim().Length == 0)
{
continue;
}
def.Add(lines[i]);
if (Name.ToLower() == "string")
{
lines[i].Replace("String", "string");
}
SingleType test = KnownStuff.WhatItIs(this, lines[i], extraindent);
if (test != null)
{
Stuff.Add(test);
}
}
}
public static string Generate(SingleType members)
{
return(String.Format
("\"{0}\", new MsgFieldInfo(\"{0}\", {1}, {2}, {3}, \"{4}\", {5}, \"{6}\", {7})",
members.Name,
members.IsLiteral.ToString().ToLower(),
("typeof(" + members.Type + ")"),
members.Const.ToString().ToLower(),
members.ConstValue.TrimStart('"').TrimEnd('"'),
//members.Type.Equals("string", StringComparison.InvariantCultureIgnoreCase) ? ("new String("+members.ConstValue+")") : ("\""+members.ConstValue+"\""),
members.IsArray.ToString().ToLower(),
members.length,
//FIX MEEEEEEEE
members.meta.ToString().ToLower()));
}
public static KeyValuePair <string, MsgFieldInfo> Instantiate(SingleType member)
{
string mt = "xamla/unknown";
if (member.meta)
{
string t = member.Type.Replace("Messages.", "");
if (!t.Contains('.'))
{
t = "std_msgs." + t;
}
mt = t.Replace(".", "/");
}
return(new KeyValuePair <string, MsgFieldInfo>(member.Name, new MsgFieldInfo(member.Name, member.IsLiteral, member.Type, member.Static, member.StaticValue, member.IsArray, member.length, member.meta)));
}
public void ParseAndResolveTypes()
{
def = new List <string>();
Stuff = new List <SingleType>();
foreach (var l in lines)
{
if (string.IsNullOrWhiteSpace(l))
{
continue;
}
def.Add(l);
SingleType test = KnownStuff.WhatItIs(this, l, extraindent);
if (test != null)
{
Stuff.Add(test);
}
}
}
public static string Generate(SingleType members)
{
string mt = "xamla/unknown";
string pt = KnownStuff.GetNamespacedType(members);
if (members.meta)
{
string t = members.Type.Replace("Messages.", "");
if (!t.Contains('.'))
{
if (members.Definer != null)
{
t = members.Definer.Package + "." + t;
}
else
{
t = null;
}
}
if (t != null)
{
mt = t.Replace(".", "/");
}
else
{
members.meta = false;
}
}
return(String.Format
("\"{0}\", new MsgFieldInfo(\"{0}\", {1}, {2}, {3}, \"{4}\", {5}, \"{6}\", {7}, {8})",
members.Name.Replace("@", ""),
members.IsLiteral.ToString().ToLower(),
("typeof(" + pt + ")"),
members.Static.ToString().ToLower(),
members.StaticValue.TrimStart('"').TrimEnd('"'),
//members.Type.Equals("string", StringComparison.InvariantCultureIgnoreCase) ? ("new String("+members.StaticValue+")") : ("\""+members.StaticValue+"\""),
members.IsArray.ToString().ToLower(),
members.length,
//FIX MEEEEEEEE
members.meta.ToString().ToLower(),
mt));
}
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 string GenerateEqualityCode(SingleType st, int extraTabs = 0)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
{
leadingWhitespace += " ";
}
if (st.IsArray)
{
return(string.Format(@"
{0}if ({1}.Length != other.{1}.Length)
{0} return false;
{0}for (int __i__=0; __i__ < {1}.Length; __i__++)
{0}{{{2}
{0}}}", leadingWhitespace, st.Name, GenerateEqualityCodeForOne(st.Type, st.Name + "[__i__]", st, extraTabs + 1)));
}
else
{
return(GenerateEqualityCodeForOne(st.Type, st.Name, st, extraTabs));
}
}
public string GetSrvHalf()
{
string wholename = classname.Replace("Request", ".Request").Replace("Response", ".Response");
classname = classname.Contains("Request") ? "Request" : "Response";
if (memoizedcontent == null)
{
memoizedcontent = "";
for (int i = 0; i < Stuff.Count; i++)
{
SingleType thisthing = Stuff[i];
if (thisthing.Type == "Header")
{
HasHeader = true;
}
else if (classname == "String")
{
thisthing.input = thisthing.input.Replace("String", "string");
thisthing.Type = thisthing.Type.Replace("String", "string");
thisthing.output = thisthing.output.Replace("String", "string");
}
else if (classname == "Time")
{
thisthing.input = thisthing.input.Replace("Time", "TimeData");
thisthing.Type = thisthing.Type.Replace("Time", "TimeData");
thisthing.output = thisthing.output.Replace("Time", "TimeData");
}
else if (classname == "Duration")
{
thisthing.input = thisthing.input.Replace("Duration", "TimeData");
thisthing.Type = thisthing.Type.Replace("Duration", "TimeData");
thisthing.output = thisthing.output.Replace("Duration", "TimeData");
}
meta |= thisthing.meta;
memoizedcontent += "\t" + thisthing.output + "\n";
}
if (classname.ToLower() == "string")
{
memoizedcontent +=
"\n\n\t\t\t\t\tpublic String(string s){ data = s; }\n\t\t\t\t\tpublic String(){ data = \"\"; }\n\n";
}
else if (classname == "Time")
{
memoizedcontent +=
"\n\n\t\t\t\t\tpublic Time(uint s, uint ns) : this(new TimeData{ sec=s, nsec = ns}){}\n\t\t\t\t\tpublic Time(TimeData s){ data = s; }\n\t\t\t\t\tpublic Time() : this(0,0){}\n\n";
}
else if (classname == "Duration")
{
memoizedcontent +=
"\n\n\t\t\t\t\tpublic Duration(uint s, uint ns) : this(new TimeData{ sec=s, nsec = ns}){}\n\t\t\t\t\tpublic Duration(TimeData s){ data = s; }\n\t\t\t\t\tpublic Duration() : this(0,0){}\n\n";
}
while (memoizedcontent.Contains("DataData"))
{
memoizedcontent = memoizedcontent.Replace("DataData", "Data");
}
}
string ns = Namespace.Replace("Messages.", "");
if (ns == "Messages")
{
ns = "";
}
GeneratedDictHelper = "";
foreach (SingleType S in Stuff)
{
GeneratedDictHelper += MessageFieldHelper.Generate(S);
}
GUTS = fronthalf + memoizedcontent + "\n" +
backhalf;
return(GUTS);
}
private string GenerateSerializationForOne(string type, string name, SingleType st)
{
if (type == "Time" || type == "Duration")
{
return string.Format(@"pieces.Add(BitConverter.GetBytes({0}.data.sec));
pieces.Add(BitConverter.GetBytes({0}.data.nsec));", name);
}
else if (type == "TimeData")
return string.Format(@"pieces.Add(BitConverter.GetBytes({0}.sec));
pieces.Add(BitConverter.GetBytes({0}.nsec));", name);
else if (type == "byte")
{
return string.Format("pieces.Add(new[] {{ (byte){0} }});", name); ;
}
else if (type == "string")
{
return string.Format(@"
if ({0} == null)
{0} = """";
scratch1 = Encoding.ASCII.GetBytes((string){0});
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);", name);
}
else if (type == "bool")
{
return string.Format(@"
thischunk = new byte[1];
thischunk[0] = (byte) ((bool){0} ? 1 : 0 );
pieces.Add(thischunk);", name);
}
else if (st.IsLiteral)
{
string ret = string.Format(@"
scratch1 = new byte[Marshal.SizeOf(typeof({1}))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr({0}, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);", name, type);
return ret;
}
else
{
return string.Format("pieces.Add({0}.Serialize(true));", name);
}
}
private string GenerateSerializationForOne(string type, string name, SingleType st, int extraTabs=0)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
leadingWhitespace += " ";
type = KnownStuff.GetNamespacedType(st, type);
if (type == "Time" || type == "Duration")
{
return string.Format(@"
{0}//{1}
{0}pieces.Add(BitConverter.GetBytes({1}.data.sec));
{0}pieces.Add(BitConverter.GetBytes({1}.data.nsec));", leadingWhitespace, name);
}
else if (type == "TimeData")
return string.Format(@"
{0}//{1}
{0}pieces.Add(BitConverter.GetBytes({1}.sec));
{0}pieces.Add(BitConverter.GetBytes({1}.nsec));", leadingWhitespace, name);
else if (type == "byte")
{
return string.Format(@"
{0}//{1}
{0}pieces.Add(new[] {{ (byte){1} }});", leadingWhitespace, name); ;
}
else if (type == "string")
{
return string.Format(@"
{0}//{1}
{0}if ({1} == null)
{0} {1} = """";
{0}scratch1 = Encoding.ASCII.GetBytes((string){1});
{0}thischunk = new byte[scratch1.Length + 4];
{0}scratch2 = BitConverter.GetBytes(scratch1.Length);
{0}Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
{0}Array.Copy(scratch2, thischunk, 4);
{0}pieces.Add(thischunk);", leadingWhitespace, name);
}
else if (type == "bool")
{
return string.Format(@"
{0}//{1}
{0}thischunk = new byte[1];
{0}thischunk[0] = (byte) ((bool){1} ? 1 : 0 );
{0}pieces.Add(thischunk);", leadingWhitespace, name);
}
else if (st.IsLiteral)
{
return string.Format(@"
{0}//{1}
{0}scratch1 = new byte[Marshal.SizeOf(typeof({2}))];
{0}h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
{0}Marshal.StructureToPtr({1}, h.AddrOfPinnedObject(), false);
{0}h.Free();
{0}pieces.Add(scratch1);", leadingWhitespace, name, type);
}
else
{
return string.Format(@"
{0}//{1}
{0}if ({1} == null)
{0} {1} = new {2}();
{0}pieces.Add({1}.Serialize(true));", leadingWhitespace, name, type);
}
}
public string GenerateDeserializationCode(SingleType st)
{
// this happens for each member of the outer message
// after concluding, make sure part of the string is "currentIndex += <amount read while deserializing this thing>"
// start of deserializing piece referred to by st is currentIndex (its value at time of call to this fn)"
System.Diagnostics.Debug.WriteLine(string.Format(stfmat, st.Name, st.Type, st.rostype, st.IsLiteral, st.Const, st.ConstValue, st.IsArray, st.length, st.meta));
if (st.Const)
{
return "";
}
else if (!st.IsArray)
{
return GenerateDeserializationForOne(st.Type, st.Name, st);
}
int arraylength = -1;
//If the object is an array, send each object to be processed individually, then add them to the string
string ret = string.Format(@"hasmetacomponents |= {0};" + @"
", st.meta.ToString().ToLower());
if (string.IsNullOrEmpty(st.length) || !int.TryParse(st.length, out arraylength) || arraylength == -1)
{
ret += string.Format(@"
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
{0} = new {1}[arraylength];
", st.Name, st.Type);
}
else
{
ret += string.Format(@"
{0} = new {1}[{2}];
", st.Name, st.Type, arraylength);
}
ret += string.Format(@"for (int i=0;i<{0}.Length; i++) {{
{1}
}}" + @"
", st.Name, GenerateDeserializationForOne(st.Type, st.Name + "[i]", st));
return ret;
}
private string GenerateDeserializationForOne(string type, string name, SingleType st)
{
if (type == "Time" || type == "Duration")
{
return string.Format(@"
{0} = new {1}(new TimeData(
BitConverter.ToUInt32(SERIALIZEDSTUFF, currentIndex),
BitConverter.ToUInt32(SERIALIZEDSTUFF,
currentIndex+Marshal.SizeOf(typeof(System.Int32)))));
currentIndex += 2*Marshal.SizeOf(typeof(System.Int32));", name, st.Type);
}
else if (type == "TimeData")
return string.Format(@"
{0}.sec = BitConverter.ToUInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
{0}.nsec = BitConverter.ToUInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));", name);
else if (type == "byte")
{
return string.Format("{0}=SERIALIZEDSTUFF[currentIndex++];", name); ;
}
else if (type == "string")
{
return string.Format(@"
{0} = """";
piecesize = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += 4;
{0} = Encoding.ASCII.GetString(SERIALIZEDSTUFF, currentIndex, piecesize);
currentIndex += piecesize;", name);
}
else if (type == "bool")
{
return string.Format(@"
{0} = SERIALIZEDSTUFF[currentIndex++]==1;
", name);
}
else if (st.IsLiteral)
{
string ret = string.Format(@"
piecesize = Marshal.SizeOf(typeof({0}));
h = IntPtr.Zero;
if (SERIALIZEDSTUFF.Length - currentIndex != 0)
{{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(SERIALIZEDSTUFF, currentIndex, h, piecesize);
}}
if (h == IntPtr.Zero) throw new Exception(""Alloc failed"");
{1} = ({0})Marshal.PtrToStructure(h, typeof({0}));
Marshal.FreeHGlobal(h);
currentIndex+= piecesize;
", st.Type, name);
return ret;
}
else
{
return string.Format("{0} = new {1}(SERIALIZEDSTUFF, ref currentIndex);", name, st.Type);
}
}
public string GenerateDeserializationCode(SingleType st, int extraTabs = 0)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
{
leadingWhitespace += " ";
}
// this happens for each member of the outer message
// after concluding, make sure part of the string is "currentIndex += <amount read while deserializing this thing>"
// start of deserializing piece referred to by st is currentIndex (its value at time of call to this fn)"
string pt = KnownStuff.GetNamespacedType(st);
if (st.Const)
{
return("");
}
else if (!st.IsArray)
{
return(GenerateDeserializationForOne(st.Type, st.Name, st, extraTabs));
}
string ret = string.Format(@"
{0}//{2}
{0}hasmetacomponents |= {1};", leadingWhitespace, st.meta.ToString().ToLower(), st.Name);
int arraylength = -1;
string arraylengthstr = "arraylength";
//If the object is an array, send each object to be processed individually, then add them to the string
//handle fixed length fields?
if (!string.IsNullOrEmpty(st.length) && int.TryParse(st.length, out arraylength) && arraylength != -1)
{
arraylengthstr = "" + arraylength;
}
else
{
ret += string.Format(@"
{0}arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
{0}currentIndex += Marshal.SizeOf(typeof(System.Int32));", leadingWhitespace);
}
ret += string.Format(@"
{0}if ({1} == null)
{0} {1} = new {2}[{3}];
{0}else
{0} Array.Resize(ref {1}, {3});", leadingWhitespace, st.Name, pt, arraylengthstr);
//special case arrays of bytes
if (st.Type == "byte")
{
ret += string.Format(@"
{0}Array.Copy(serializedMessage, currentIndex, {1}, 0, {1}.Length);
{0}currentIndex += {1}.Length;", leadingWhitespace, st.Name);
}
else
{
if (!st.IsPrimitve || (st.Type == "string") || (st.Type == "bool"))
{
ret += string.Format(@"
{0}for (int i=0;i<{1}.Length; i++) {{{2}
{0}}}", leadingWhitespace, st.Name, GenerateDeserializationForOne(pt, st.Name + "[i]", st, extraTabs + 1));
}
else
{
ret += GenerateDeserializationForOne(pt, st.Name + "[i]", st, extraTabs + 1, true);
}
}
return(ret);
}
private string GenerateSerializationForOne(string type, string name, SingleType st, int extraTabs = 0, bool special = false)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
{
leadingWhitespace += " ";
}
type = KnownStuff.GetNamespacedType(st, type);
if (type == "Time" || type == "Duration")
{
return(string.Format(@"
{0}//{1}
{0}pieces.Add(BitConverter.GetBytes({1}.data.sec));
{0}pieces.Add(BitConverter.GetBytes({1}.data.nsec));", leadingWhitespace, name));
}
else if (type == "TimeData")
{
return(string.Format(@"
{0}//{1}
{0}pieces.Add(BitConverter.GetBytes({1}.sec));
{0}pieces.Add(BitConverter.GetBytes({1}.nsec));", leadingWhitespace, name));
}
else if (type == "byte")
{
return(string.Format(@"
{0}//{1}
{0}pieces.Add(new[] {{ (byte){1} }});", leadingWhitespace, name));;
}
else if (type == "string")
{
return(string.Format(@"
{0}//{1}
{0}if ({1} == null)
{0} {1} = """";
{0}scratch1 = Encoding.ASCII.GetBytes((string){1});
{0}thischunk = new byte[scratch1.Length + 4];
{0}scratch2 = BitConverter.GetBytes(scratch1.Length);
{0}Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
{0}Array.Copy(scratch2, thischunk, 4);
{0}pieces.Add(thischunk);", leadingWhitespace, name));
}
else if (type == "bool")
{
return(string.Format(@"
{0}//{1}
{0}thischunk = new byte[1];
{0}thischunk[0] = (byte) ((bool){1} ? 1 : 0 );
{0}pieces.Add(thischunk);", leadingWhitespace, name));
}
else if (st.IsLiteral && !special)
{
return(string.Format(@"
{0}//{1}
{0}scratch1 = new byte[Marshal.SizeOf(typeof({2}))];
{0}h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
{0}Marshal.StructureToPtr({1}, h.AddrOfPinnedObject(), false);
{0}h.Free();
{0}pieces.Add(scratch1);", leadingWhitespace, name, type));
}
else if (st.IsLiteral && special)
{
return(string.Format(@"
// Start Xamla
{0}//{1}
{0}x__size = Marshal.SizeOf(typeof({2})) * {1}.Length;
{0}scratch1 = new byte[x__size];
{0}Buffer.BlockCopy({1}, 0, scratch1, 0, x__size);
{0}pieces.Add(scratch1);
// End Xamla
", leadingWhitespace, name.Substring(0, name.Length - 3), type));
}
else
{
return(string.Format(@"
{0}//{1}
{0}if ({1} == null)
{0} {1} = new {2}();
{0}pieces.Add({1}.Serialize(true));", leadingWhitespace, name, type));
}
}
public string GenerateDeserializationCode(SingleType st)
{
//Console.WriteLine(stfmat, st.Name, st.Type, st.rostype, st.IsLiteral, st.Const, st.ConstValue, st.IsArray, st.length, st.meta);
//if (!st.IsLiteral)
// Console.WriteLine(st.Name);
return "";
}
public static bool IsPrimitiveType(SingleType st)
{
return(st.Package == null && KnownTypes.ContainsKey(st.rostype) && st.rostype != "duration" && st.rostype != "time");
}
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 string Generate(SingleType members)
{
string mt = "MsgTypes.Unknown";
string pt = KnownStuff.GetNamespacedType(members);
if (members.meta)
{
string t = members.Type.Replace("Messages.", "");
if (!t.Contains('.'))
if (members.Definer != null)
t = members.Definer.Package + "." + t;
else
{
t = null;
}
if (t != null)
mt = "MsgTypes." + t.Replace(".", "__");
else
members.meta = false;
}
return String.Format
("\"{0}\", new MsgFieldInfo(\"{0}\", {1}, {2}, {3}, \"{4}\", {5}, \"{6}\", {7}, {8})",
members.Name.Replace("@", ""),
members.IsLiteral.ToString().ToLower(),
("typeof(" + pt + ")"),
members.Const.ToString().ToLower(),
members.ConstValue.TrimStart('"').TrimEnd('"'),
//members.Type.Equals("string", StringComparison.InvariantCultureIgnoreCase) ? ("new String("+members.ConstValue+")") : ("\""+members.ConstValue+"\""),
members.IsArray.ToString().ToLower(),
members.length,
//FIX MEEEEEEEE
members.meta.ToString().ToLower(),
mt);
}
private string GenerateRandomizationCodeForOne(string type, string name, SingleType st, int extraTabs = 0)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
leadingWhitespace += " ";
string pt = KnownStuff.GetNamespacedType(st);
if (type == "Time" || type == "Duration")
{
return string.Format(@"
{0}//{1}
{0}{1} = new {2}(new TimeData(
{0} Convert.ToUInt32(rand.Next()),
{0} Convert.ToUInt32(rand.Next())));", leadingWhitespace, name, pt);
}
else if (type == "TimeData")
return string.Format(@"
{0}//{1}
{0}{1}.sec = Convert.ToUInt32(rand.Next());
{0}{1}.nsec = Convert.ToUInt32(rand.Next());", leadingWhitespace, name);
else if (type == "byte")
{
return string.Format(@"
{0}//{1}
{0}myByte = new byte[1];
{0}rand.NextBytes(myByte);
{0}{1}= myByte[0];", leadingWhitespace, name);
}
else if (type == "string")
{
return string.Format(@"
{0}//{1}
{0}strlength = rand.Next(100) + 1;
{0}strbuf = new byte[strlength];
{0}rand.NextBytes(strbuf); //fill the whole buffer with random bytes
{0}for (int __x__ = 0; __x__ < strlength; __x__++)
{0} if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{0} strbuf[__x__] = (byte)(rand.Next(254) + 1);
{0}strbuf[strlength - 1] = 0; //null terminate
{0}{1} = Encoding.ASCII.GetString(strbuf);", leadingWhitespace, name);
}
else if (type == "bool")
{
return string.Format(@"
{0}//{1}
{0}{1} = rand.Next(2) == 1;", leadingWhitespace, name);
}
else if (type == "int")
{
return string.Format(@"
{0}//{1}
{0}{1} = rand.Next();", leadingWhitespace, name);
}
else if (type == "uint")
{
return string.Format(@"
{0}//{1}
{0}{1} = (uint)rand.Next();", leadingWhitespace, name);
}
else if (type == "double")
{
return string.Format(@"
{0}//{1}
{0}{1} = (rand.Next() + rand.NextDouble());", leadingWhitespace, name);
}
else if (type == "float" || type == "Float64" || type == "Single")
{
return string.Format(@"
{0}//{1}
{0}{1} = (float)(rand.Next() + rand.NextDouble());", leadingWhitespace, name);
}
else if (type == "Int16" || type == "Short" || type == "short")
{
return string.Format(@"
{0}//{1}
{0}{1} = (System.Int16)rand.Next(System.Int16.MaxValue + 1);", leadingWhitespace, name);
}
else if (type == "UInt16" || type == "ushort" || type == "UShort")
{
return string.Format(@"
{0}//{1}
{0}{1} = (System.UInt16)rand.Next(System.UInt16.MaxValue + 1);", leadingWhitespace, name);
}
else if (type == "SByte" || type == "sbyte")
{
return string.Format(@"
{0}//{1}
{0}{1} = (SByte)(rand.Next(255) - 127);", leadingWhitespace, name);
}
else if (type == "UInt64" || type == "ULong" || type == "ulong")
{
return string.Format(@"
{0}//{1}
{0}{1} = (System.UInt64)((uint)(rand.Next() << 32)) | (uint)rand.Next();", leadingWhitespace, name);
}
else if (type == "Int64" || type == "Long" || type == "long")
{
return string.Format(@"
{0}//{1}
{0}{1} = (System.Int64)(rand.Next() << 32) | rand.Next();", leadingWhitespace, name);
}
else if (type == "char")
{
return string.Format(@"
{0}//{1}
{0}{1} = (char)(byte)(rand.Next(254) + 1);", leadingWhitespace, name);
}
else if (st.IsLiteral)
{
throw new Exception(st.Type + " needs to be handled SPECIFICALLY!");
}
else
{
return string.Format(@"
{0}//{1}
{0}{1} = new {2}();
{0}{1}.Randomize();", leadingWhitespace, name, pt);
}
}
public string GenerateRandomizationCode(SingleType st, int extraTabs = 0)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
leadingWhitespace += " ";
// this happens for each member of the outer message
// after concluding, make sure part of the string is "currentIndex += <amount read while deserializing this thing>"
// start of deserializing piece referred to by st is currentIndex (its value at time of call to this fn)"
string pt = KnownStuff.GetNamespacedType(st);
if (st.Const)
{
return "";
}
else if (!st.IsArray)
{
return GenerateRandomizationCodeForOne(st.Type, st.Name, st, extraTabs);
}
string ret = string.Format(@"
{0}//{1}", leadingWhitespace, st.Name);
int arraylength = -1;
string arraylengthstr = "arraylength";
//If the object is an array, send each object to be processed individually, then add them to the string
//handle fixed length fields?
if (!string.IsNullOrEmpty(st.length) && int.TryParse(st.length, out arraylength) && arraylength != -1)
{
arraylengthstr = "" + arraylength;
}
else
{
ret += string.Format(@"
{0}arraylength = rand.Next(10);", leadingWhitespace);
}
ret += string.Format(@"
{0}if ({1} == null)
{0} {1} = new {2}[{3}];
{0}else
{0} Array.Resize(ref {1}, {3});", leadingWhitespace, st.Name, pt, arraylengthstr);
ret += string.Format(@"
{0}for (int i=0;i<{1}.Length; i++) {{{2}
{0}}}", leadingWhitespace, st.Name, GenerateRandomizationCodeForOne(pt, st.Name + "[i]", st, extraTabs + 1));
return ret;
}
private string GenerateDeserializationForOne(string type, string name, SingleType st, int extraTabs = 0)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
leadingWhitespace += " ";
string pt = KnownStuff.GetNamespacedType(st);
if (type == "Time" || type == "Duration")
{
return string.Format(@"
{0}//{1}
{0}{1} = new {2}(new TimeData(
{0} BitConverter.ToUInt32(SERIALIZEDSTUFF, currentIndex),
{0} BitConverter.ToUInt32(SERIALIZEDSTUFF, currentIndex+Marshal.SizeOf(typeof(System.Int32)))));
{0}currentIndex += 2*Marshal.SizeOf(typeof(System.Int32));", leadingWhitespace, name, pt);
}
else if (type == "TimeData")
return string.Format(@"
{0}//{1}
{0}{1}.sec = BitConverter.ToUInt32(SERIALIZEDSTUFF, currentIndex);
{0}currentIndex += Marshal.SizeOf(typeof(System.Int32));
{0}{1}.nsec = BitConverter.ToUInt32(SERIALIZEDSTUFF, currentIndex);
{0}currentIndex += Marshal.SizeOf(typeof(System.Int32));", leadingWhitespace, name);
else if (type == "byte")
{
return string.Format(@"
{0}//{1}
{0}{1}=SERIALIZEDSTUFF[currentIndex++];", leadingWhitespace, name);
}
else if (type == "string")
{
return string.Format(@"
{0}//{1}
{0}{1} = """";
{0}piecesize = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
{0}currentIndex += 4;
{0}{1} = Encoding.ASCII.GetString(SERIALIZEDSTUFF, currentIndex, piecesize);
{0}currentIndex += piecesize;", leadingWhitespace, name);
}
else if (type == "bool")
{
return string.Format(@"
{0}//{1}
{0}{1} = SERIALIZEDSTUFF[currentIndex++]==1;", leadingWhitespace, name);
}
else if (st.IsLiteral)
{
string ret = string.Format(@"
{0}//{2}
{0}piecesize = Marshal.SizeOf(typeof({1}));
{0}h = IntPtr.Zero;
{0}if (SERIALIZEDSTUFF.Length - currentIndex != 0)
{0}{{
{0} h = Marshal.AllocHGlobal(piecesize);
{0} Marshal.Copy(SERIALIZEDSTUFF, currentIndex, h, piecesize);
{0}}}
{0}if (h == IntPtr.Zero) throw new Exception(""Alloc failed"");
{0}{2} = ({1})Marshal.PtrToStructure(h, typeof({1}));
{0}Marshal.FreeHGlobal(h);
{0}currentIndex+= piecesize;", leadingWhitespace, pt, name);
return ret;
}
else
{
return string.Format(@"
{0}//{1}
{0}{1} = new {2}(SERIALIZEDSTUFF, ref currentIndex);", leadingWhitespace, name, pt);
}
}
public override string ToString()
{
if (fronthalf == null)
{
fronthalf = "";
backhalf = "";
string[] lines = Templates.MsgPlaceHolder.Split('\n');
bool hitvariablehole = false;
for (int i = 0; i < lines.Length; i++)
{
if (lines[i].Contains("$$DOLLADOLLABILLS"))
{
hitvariablehole = true;
continue;
}
if (lines[i].Contains("namespace"))
{
fronthalf +=
"using Messages.std_msgs;\nusing String=System.String;\n\n"
;
fronthalf += "namespace " + Namespace + "\n";
continue;
}
if (!hitvariablehole)
{
fronthalf += lines[i] + "\n";
}
else
{
backhalf += lines[i] + "\n";
}
}
}
string GeneratedDeserializationCode = "", GeneratedSerializationCode = "", GeneratedRandomizationCode = "", GeneratedEqualityCode = "";
if (memoizedcontent == null)
{
memoizedcontent = "";
for (int i = 0; i < Stuff.Count; i++)
{
SingleType thisthing = Stuff[i];
if (thisthing.Type == "Header")
{
HasHeader = true;
}
else if (classname == "Time")
{
thisthing.input = thisthing.input.Replace("Time", "TimeData");
thisthing.Type = thisthing.Type.Replace("Time", "TimeData");
thisthing.output = thisthing.output.Replace("Time", "TimeData");
}
else if (classname == "Duration")
{
thisthing.input = thisthing.input.Replace("Duration", "TimeData");
thisthing.Type = thisthing.Type.Replace("Duration", "TimeData");
thisthing.output = thisthing.output.Replace("Duration", "TimeData");
}
thisthing.input = thisthing.input.Replace("String", "string");
thisthing.Type = thisthing.Type.Replace("String", "string");
thisthing.output = thisthing.output.Replace("String", "string");
meta |= thisthing.meta;
memoizedcontent += "\t" + thisthing.output + "\n";
}
string ns = Namespace.Replace("Messages.", "");
if (ns == "Messages")
{
ns = "";
}
while (memoizedcontent.Contains("DataData"))
{
memoizedcontent = memoizedcontent.Replace("DataData", "Data");
}
//if (GeneratedDictHelper == null)
// GeneratedDictHelper = TypeInfo.Generate(classname, ns, HasHeader, meta, def, Stuff);
GeneratedDictHelper = GenFields();
StringBuilder DEF = new StringBuilder();
foreach (string s in def)
{
DEF.AppendLine(s);
}
}
GUTS = (serviceMessageType != ServiceMessageType.Response ? fronthalf : "") + "\n" + memoizedcontent + "\n" +
(serviceMessageType != ServiceMessageType.Request ? backhalf : "");
if (classname.ToLower() == "string")
{
GUTS = GUTS.Replace("$NULLCONSTBODY", "if (data == null)\n\t\t\tdata = \"\";\n");
GUTS = GUTS.Replace("$EXTRACONSTRUCTOR", "\n\t\tpublic $WHATAMI(string d)\n\t\t{\n\t\t\tdata = d;\n\t\t}\n");
}
else if (classname == "Time" || classname == "Duration")
{
GUTS = GUTS.Replace("$EXTRACONSTRUCTOR", "\n\t\tpublic $WHATAMI(TimeData d)\n\t\t{\n\t\t\tdata = d;\n\t\t}\n");
}
GUTS = GUTS.Replace("$WHATAMI", classname);
GUTS = GUTS.Replace("$MYISMETA", meta.ToString().ToLower());
GUTS = GUTS.Replace("$MYMSGTYPE", Namespace.Replace("Messages.", "") + "/" + classname);
for (int i = 0; i < def.Count; i++)
{
while (def[i].Contains("\t"))
{
def[i] = def[i].Replace("\t", " ");
}
while (def[i].Contains("\n\n"))
{
def[i] = def[i].Replace("\n\n", "\n");
}
def[i] = def[i].Replace('\t', ' ');
while (def[i].Contains(" "))
{
def[i] = def[i].Replace(" ", " ");
}
def[i] = def[i].Replace(" = ", "=");
}
GUTS = GUTS.Replace("$MYMESSAGEDEFINITION", "@\"" + def.Aggregate("", (current, d) => current + (d + "\n")).Trim('\n').Replace("\"", "\"\"") + "\"");
GUTS = GUTS.Replace("$MYHASHEADER", HasHeader.ToString().ToLower());
GUTS = GUTS.Replace("$MYFIELDS", GeneratedDictHelper.Length > 5 ? "{{" + GeneratedDictHelper + "}}" : "()");
GUTS = GUTS.Replace("$NULLCONSTBODY", "");
GUTS = GUTS.Replace("$EXTRACONSTRUCTOR", "");
string md5 = MD5.Sum(this);
if (md5 == null)
{
return(null);
}
GeneratedEqualityCode += string.Format(@"var other = ____other as Messages.{0};
if (other == null)
return false;", Name);
for (int i = 0; i < Stuff.Count; i++)
{
GeneratedDeserializationCode += this.GenerateDeserializationCode(Stuff[i]);
GeneratedSerializationCode += this.GenerateSerializationCode(Stuff[i]);
GeneratedRandomizationCode += this.GenerateRandomizationCode(Stuff[i]);
GeneratedEqualityCode += this.GenerateEqualityCode(Stuff[i]);
}
GUTS = GUTS.Replace("$SERIALIZATIONCODE", GeneratedSerializationCode);
GUTS = GUTS.Replace("$DESERIALIZATIONCODE", GeneratedDeserializationCode);
GUTS = GUTS.Replace("$RANDOMIZATIONCODE", GeneratedRandomizationCode);
GUTS = GUTS.Replace("$EQUALITYCODE", GeneratedEqualityCode);
GUTS = GUTS.Replace("$MYMD5SUM", md5);
return(GUTS);
}
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 string GenerateEqualityCode(SingleType st, int extraTabs = 0)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
leadingWhitespace += " ";
if (st.IsArray)
{
return string.Format(@"
{0}if ({1}.Length != other.{1}.Length)
{0} return false;
{0}for (int __i__=0; __i__ < {1}.Length; __i__++)
{0}{{{2}
{0}}}", leadingWhitespace, st.Name, GenerateEqualityCodeForOne(st.Type, st.Name + "[__i__]", st, extraTabs + 1));
}
else
return GenerateEqualityCodeForOne(st.Type, st.Name, st, extraTabs);
}
public static string Generate(SingleType members)
{
string mt = "MsgTypes.Unknown";
if (members.meta)
{
string t = members.Type.Replace("Messages.", "");
if (!t.Contains('.'))
t = "std_msgs." + t;
mt = "MsgTypes." + t.Replace(".", "__");
if (mt.Contains("ColorRGBA"))
Console.WriteLine(mt);
}
return String.Format
("\"{0}\", new MsgFieldInfo(\"{0}\", {1}, {2}, {3}, \"{4}\", {5}, \"{6}\", {7}, {8})",
members.Name,
members.IsLiteral.ToString().ToLower(),
("typeof(" + members.Type + ")"),
members.Const.ToString().ToLower(),
members.ConstValue.TrimStart('"').TrimEnd('"'),
//members.Type.Equals("string", StringComparison.InvariantCultureIgnoreCase) ? ("new String("+members.ConstValue+")") : ("\""+members.ConstValue+"\""),
members.IsArray.ToString().ToLower(),
members.length,
//FIX MEEEEEEEE
members.meta.ToString().ToLower(),
mt);
}
private string GenerateDeserializationForOne(string type, string name, SingleType st, int extraTabs = 0, bool special = false)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
{
leadingWhitespace += " ";
}
string pt = KnownStuff.GetNamespacedType(st);
if (type == "Time" || type == "Duration")
{
return(string.Format(@"
{0}//{1}
{0}{1} = new {2}(new TimeData(
{0} BitConverter.ToUInt32(serializedMessage, currentIndex),
{0} BitConverter.ToUInt32(serializedMessage, currentIndex+Marshal.SizeOf(typeof(System.Int32)))));
{0}currentIndex += 2*Marshal.SizeOf(typeof(System.Int32));", leadingWhitespace, name, pt));
}
else if (type == "TimeData")
{
return(string.Format(@"
{0}//{1}
{0}{1}.sec = BitConverter.ToUInt32(serializedMessage, currentIndex);
{0}currentIndex += Marshal.SizeOf(typeof(System.Int32));
{0}{1}.nsec = BitConverter.ToUInt32(serializedMessage, currentIndex);
{0}currentIndex += Marshal.SizeOf(typeof(System.Int32));", leadingWhitespace, name));
}
else if (type == "byte")
{
return(string.Format(@"
{0}//{1}
{0}{1}=serializedMessage[currentIndex++];", leadingWhitespace, name));
}
else if (type == "string")
{
return(string.Format(@"
{0}//{1}
{0}{1} = """";
{0}piecesize = BitConverter.ToInt32(serializedMessage, currentIndex);
{0}currentIndex += 4;
{0}{1} = Encoding.ASCII.GetString(serializedMessage, currentIndex, piecesize);
{0}currentIndex += piecesize;", leadingWhitespace, name));
}
else if (type == "bool")
{
return(string.Format(@"
{0}//{1}
{0}{1} = serializedMessage[currentIndex++]==1;", leadingWhitespace, name));
}
else if (st.IsLiteral && !special)
{
string ret = string.Format(@"
{0}//{2}
{0}piecesize = Marshal.SizeOf(typeof({1}));
{0}h = IntPtr.Zero;
{0}if (serializedMessage.Length - currentIndex != 0)
{0}{{
{0} h = Marshal.AllocHGlobal(piecesize);
{0} Marshal.Copy(serializedMessage, currentIndex, h, piecesize);
{0}}}
{0}if (h == IntPtr.Zero) throw new Exception(""Memory allocation failed"");
{0}{2} = ({1})Marshal.PtrToStructure(h, typeof({1}));
{0}Marshal.FreeHGlobal(h);
{0}currentIndex+= piecesize;", leadingWhitespace, pt, name);
return(ret);
}
else if (st.IsLiteral && special)
{
string ret = string.Format(@"
// Start Xamla
{0}//{2}
{0}piecesize = Marshal.SizeOf(typeof({1})) * {2}.Length;
{0}if (currentIndex + piecesize > serializedMessage.Length) {{
{0} throw new Exception(""Memory allocation failed: Ran out of bytes to read."");
{0}}}
{0}Buffer.BlockCopy(serializedMessage, currentIndex, {2}, 0, piecesize);
{0}currentIndex += piecesize;
// End Xamla
", leadingWhitespace, pt, name.Substring(0, name.Length - 3));
return(ret);
}
else
{
return(string.Format(@"
{0}//{1}
{0}{1} = new {2}(serializedMessage, ref currentIndex);", leadingWhitespace, name, pt));
}
}
/// <summary>
/// Returns the namespaced type name (if neccessary)
/// </summary>
/// <param name="st">This thing's SingleType</param>
/// <param name="type">(optional) the type string</param>
/// <returns>duh</returns>
public static string GetNamespacedType(SingleType st, string type = null)
{
if (type == null)
type = st.Type;
if (!KnownTypes.ContainsKey(st.rostype) && !type.Contains(st.Package) && !STATIC_NAMESPACE_STRING.Contains("Messages." + st.Package))
return string.Format("Messages.{0}.{1}", st.Package, type);
return type;
}
private string GenerateRandomizationCodeForOne(string type, string name, SingleType st, int extraTabs = 0)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
{
leadingWhitespace += " ";
}
string pt = KnownStuff.GetNamespacedType(st);
if (type == "Time" || type == "Duration")
{
return(string.Format(@"
{0}//{1}
{0}{1} = new {2}(new TimeData(
{0} Convert.ToUInt32(rand.Next()),
{0} Convert.ToUInt32(rand.Next())));", leadingWhitespace, name, pt));
}
else if (type == "TimeData")
{
return(string.Format(@"
{0}//{1}
{0}{1}.sec = Convert.ToUInt32(rand.Next());
{0}{1}.nsec = Convert.ToUInt32(rand.Next());", leadingWhitespace, name));
}
else if (type == "byte")
{
return(string.Format(@"
{0}//{1}
{0}myByte = new byte[1];
{0}rand.NextBytes(myByte);
{0}{1}= myByte[0];", leadingWhitespace, name));
}
else if (type == "string")
{
return(string.Format(@"
{0}//{1}
{0}strlength = rand.Next(100) + 1;
{0}strbuf = new byte[strlength];
{0}rand.NextBytes(strbuf); //fill the whole buffer with random bytes
{0}for (int __x__ = 0; __x__ < strlength; __x__++)
{0} if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{0} strbuf[__x__] = (byte)(rand.Next(254) + 1);
{0}strbuf[strlength - 1] = 0; //null terminate
{0}{1} = Encoding.ASCII.GetString(strbuf);", leadingWhitespace, name));
}
else if (type == "bool")
{
return(string.Format(@"
{0}//{1}
{0}{1} = rand.Next(2) == 1;", leadingWhitespace, name));
}
else if (type == "int")
{
return(string.Format(@"
{0}//{1}
{0}{1} = rand.Next();", leadingWhitespace, name));
}
else if (type == "uint")
{
return(string.Format(@"
{0}//{1}
{0}{1} = (uint)rand.Next();", leadingWhitespace, name));
}
else if (type == "double")
{
return(string.Format(@"
{0}//{1}
{0}{1} = (rand.Next() + rand.NextDouble());", leadingWhitespace, name));
}
else if (type == "float" || type == "Float64" || type == "Single")
{
return(string.Format(@"
{0}//{1}
{0}{1} = (float)(rand.Next() + rand.NextDouble());", leadingWhitespace, name));
}
else if (type == "Int16" || type == "Short" || type == "short")
{
return(string.Format(@"
{0}//{1}
{0}{1} = (System.Int16)rand.Next(System.Int16.MaxValue + 1);", leadingWhitespace, name));
}
else if (type == "UInt16" || type == "ushort" || type == "UShort")
{
return(string.Format(@"
{0}//{1}
{0}{1} = (System.UInt16)rand.Next(System.UInt16.MaxValue + 1);", leadingWhitespace, name));
}
else if (type == "SByte" || type == "sbyte")
{
return(string.Format(@"
{0}//{1}
{0}{1} = (SByte)(rand.Next(255) - 127);", leadingWhitespace, name));
}
else if (type == "UInt64" || type == "ULong" || type == "ulong")
{
return(string.Format(@"
{0}//{1}
{0}{1} = (System.UInt64)((uint)(rand.Next() << 32)) | (uint)rand.Next();", leadingWhitespace, name));
}
else if (type == "Int64" || type == "Long" || type == "long")
{
return(string.Format(@"
{0}//{1}
{0}{1} = (System.Int64)(rand.Next() << 32) | rand.Next();", leadingWhitespace, name));
}
else if (type == "char")
{
return(string.Format(@"
{0}//{1}
{0}{1} = (char)(byte)(rand.Next(254) + 1);", leadingWhitespace, name));
}
else if (st.IsLiteral)
{
throw new ArgumentException($"{st.Type} is not supported");
}
else
{
return(string.Format(@"
{0}//{1}
{0}{1} = new {2}();
{0}{1}.Randomize();", leadingWhitespace, name, pt));
}
}
private string GenerateEqualityCodeForOne(string type, string name, SingleType st, int extraTabs = 0)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
leadingWhitespace += " ";
if (type == "Time" || type == "Duration")
return string.Format(@"
{0}ret &= {1}.data.Equals(other.{1}.data);", leadingWhitespace, name);
else if (type == "TimeData")
return string.Format(@"
{0}ret &= {1}.Equals(other.{1});", leadingWhitespace, name);
else if (st.IsLiteral)
{
if (st.Const)
return "";
return string.Format(@"
{0}ret &= {1} == other.{1};", leadingWhitespace, name);
}
else
return string.Format(@"
{0}ret &= {1}.Equals(other.{1});", leadingWhitespace, name);
// and that's it
}
public string GenerateSerializationCode(SingleType st, int extraTabs = 0)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
leadingWhitespace += " ";
if (st.Const)
return "";
if (!st.IsArray)
{
return GenerateSerializationForOne(st.Type, st.Name, st, extraTabs);
}
int arraylength = -1;
string ret = string.Format(@"
{0}//{2}
{0}hasmetacomponents |= {1};", leadingWhitespace, st.meta.ToString().ToLower(), st.Name);
string completetype = KnownStuff.GetNamespacedType(st);
ret += string.Format(@"
{0}if ({1} == null)
{0} {1} = new {2}[0];", leadingWhitespace, st.Name, completetype);
if (string.IsNullOrEmpty(st.length) || !int.TryParse(st.length, out arraylength) || arraylength == -1)
{
ret += string.Format(@"
{0}pieces.Add(BitConverter.GetBytes({1}.Length));", leadingWhitespace, st.Name);
}
//special case arrays of bytes
if (st.Type == "byte")
{
ret += string.Format(@"
{0}pieces.Add(({2}[]){1});", leadingWhitespace, st.Name, st.Type);
}
else
{
ret += string.Format(@"
{0}for (int i=0;i<{1}.Length; i++) {{{2}
{0}}}", leadingWhitespace, st.Name, GenerateSerializationForOne(st.Type, st.Name + "[i]", st, extraTabs + 1));
}
return ret;
}
public static string Generate(SingleType members)
{
string mt = "MsgTypes.Unknown";
string pt = members.Type;
if (members.meta)
{
string t = members.Type.Replace("Messages.", "");
if (!t.Contains('.'))
t = members.Definer.Package + "." + t;
mt = "MsgTypes." + t.Replace(".", "__");
}
if (!KnownStuff.KnownTypes.ContainsKey(members.rostype) && !"using Messages.std_msgs;\nusing String=System.String;\nusing Messages.geometry_msgs;\nusing Messages.nav_msgs;".Contains("Messages." + members.Package))
{
pt = "Messages." + members.Package + "." + pt;
}
return String.Format
("\"{0}\", new MsgFieldInfo(\"{0}\", {1}, {2}, {3}, \"{4}\", {5}, \"{6}\", {7}, {8})",
members.Name,
members.IsLiteral.ToString().ToLower(),
("typeof(" + pt + ")"),
members.Const.ToString().ToLower(),
members.ConstValue.TrimStart('"').TrimEnd('"'),
//members.Type.Equals("string", StringComparison.InvariantCultureIgnoreCase) ? ("new String("+members.ConstValue+")") : ("\""+members.ConstValue+"\""),
members.IsArray.ToString().ToLower(),
members.length,
//FIX MEEEEEEEE
members.meta.ToString().ToLower(),
mt);
}
public string GenerateSerializationCode(SingleType st)
{
System.Diagnostics.Debug.WriteLine(string.Format(stfmat, st.Name, st.Type, st.rostype, st.IsLiteral, st.Const, st.ConstValue, st.IsArray, st.length, st.meta));
if (st.Const)
return "";
if (!st.IsArray)
{
return GenerateSerializationForOne(st.Type, st.Name, st);
}
int arraylength = -1;
//TODO: if orientation_covariance does not send successfully, skip prepending length when array length is coded in .msg
string ret = string.Format(@"hasmetacomponents |= {0};" + @"
", st.meta.ToString().ToLower());
if (string.IsNullOrEmpty(st.length) || !int.TryParse(st.length, out arraylength) || arraylength == -1)
ret += "pieces.Add( BitConverter.GetBytes(" + st.Name + ".Length));" + @"
";
ret += string.Format(@"for (int i=0;i<{0}.Length; i++) {{
{1}
}}" + @"
", st.Name, GenerateSerializationForOne(st.Type, st.Name + "[i]", st));
return ret;
}
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 MsgsFile(string filename, string extraindent)
{
if (resolver == null)
{
resolver = new Dictionary <string, List <string> >();
}
if (!filename.Contains(".msg"))
{
throw new Exception("" + filename + " IS NOT A VALID MSG FILE!");
}
string[] sp = filename.Replace(Program.inputdir, "").Replace(".msg", "").Split('\\');
classname = sp[sp.Length - 1];
Namespace += "." + filename.Replace(Program.inputdir, "").Replace(".msg", "");
Namespace = Namespace.Replace("\\", ".").Replace("..", ".");
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!
classname = classname.Replace("/", ".");
Name = Namespace.Replace("Messages", "").TrimStart('.') + "." + classname;
Name = Name.TrimStart('.');
classname = Name.Split('.').Length > 1 ? Name.Split('.')[1] : Name;
Namespace = Namespace.Trim('.');
if (!resolver.Keys.Contains(classname) && Namespace != "Messages.std_msgs")
{
resolver.Add(classname, new List <string> {
Namespace + "." + classname
});
}
else if (Namespace != "Messages.std_msgs")
{
resolver[classname].Add(Namespace + "." + classname);
}
List <string> lines = new List <string>(File.ReadAllLines(filename));
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();
}
//lines = lines.Where((st) => (st.Length > 0)).ToList();
lines.ForEach(s =>
{
if (s.Contains('#') && s.Split('#')[0].Length != 0)
{
s = s.Split('#')[0];
}
if (s.Contains('#'))
{
s = "";
}
});
lines = lines.Where(st => (st.Length > 0)).ToList();
def = new List <string>();
for (int i = 0; i < lines.Count; i++)
{
def.Add(lines[i]);
if (Name.ToLower() == "string")
{
lines[i].Replace("String", "string");
}
SingleType test = KnownStuff.WhatItIs(this, lines[i], extraindent);
if (test != null)
{
Stuff.Add(test);
}
}
}
public void resolve(SingleType st)
{
Resolve(this, st);
}
public override string ToString()
{
bool wasnull = false;
if (fronthalf == null)
{
wasnull = true;
fronthalf = "";
backhalf = "";
string[] lines = File.ReadAllLines("TemplateProject\\PlaceHolder._cs");
bool hitvariablehole = false;
for (int i = 0; i < lines.Length; i++)
{
if (lines[i].Contains("$$DOLLADOLLABILLS"))
{
hitvariablehole = true;
continue;
}
if (lines[i].Contains("namespace"))
{
fronthalf +=
"using Messages.std_msgs;using String=Messages.std_msgs.String;\n\n"; //\nusing Messages.roscsharp;
fronthalf += "namespace " + Namespace + "\n";
continue;
}
if (!hitvariablehole)
{
fronthalf += lines[i] + "\n";
}
else
{
backhalf += lines[i] + "\n";
}
}
}
if (memoizedcontent == null)
{
memoizedcontent = "";
for (int i = 0; i < Stuff.Count; i++)
{
SingleType thisthing = Stuff[i];
if (thisthing.Type == "Header")
{
HasHeader = true;
}
else if (classname == "String")
{
thisthing.input = thisthing.input.Replace("String", "string");
thisthing.Type = thisthing.Type.Replace("String", "string");
thisthing.output = thisthing.output.Replace("String", "string");
}
else if (classname == "Time")
{
thisthing.input = thisthing.input.Replace("Time", "TimeData");
thisthing.Type = thisthing.Type.Replace("Time", "TimeData");
thisthing.output = thisthing.output.Replace("Time", "TimeData");
}
else if (classname == "Duration")
{
thisthing.input = thisthing.input.Replace("Duration", "TimeData");
thisthing.Type = thisthing.Type.Replace("Duration", "TimeData");
thisthing.output = thisthing.output.Replace("Duration", "TimeData");
}
meta |= thisthing.meta;
memoizedcontent += "\t" + thisthing.output + "\n";
}
string ns = Namespace.Replace("Messages.", "");
if (ns == "Messages")
{
ns = "";
}
while (memoizedcontent.Contains("DataData"))
{
memoizedcontent = memoizedcontent.Replace("DataData", "Data");
}
//if (GeneratedDictHelper == null)
// GeneratedDictHelper = TypeInfo.Generate(classname, ns, HasHeader, meta, def, Stuff);
GeneratedDictHelper = GenFields();
string GeneratedDeserializationCode = "";
bool literal = false;
StringBuilder DEF = new StringBuilder();
foreach (string s in def)
{
DEF.AppendLine(s);
}
if (!meta && Stuff.Count == 1 && Stuff[0].Name == "data")
{
Console.WriteLine(DEF);
}
for (int i = 0; i < Stuff.Count; i++)
{
GeneratedDeserializationCode += GenerateDeserializationCode(Stuff[i]);
}
}
GUTS = (serviceMessageType != ServiceMessageType.Response ? fronthalf : "") + "\n" + memoizedcontent + "\n" +
(serviceMessageType != ServiceMessageType.Request ? backhalf : "");
if (classname.ToLower() == "string")
{
GUTS = GUTS.Replace("$NULLCONSTBODY", "if (data == null)\n\t\t\tdata = \"\";\n");
GUTS = GUTS.Replace("$EXTRACONSTRUCTOR", "\n\t\tpublic $WHATAMI(string d) : base($MYMSGTYPE, $MYMESSAGEDEFINITION, $MYHASHEADER, $MYISMETA, new Dictionary<string, MsgFieldInfo>$MYFIELDS)\n\t\t{\n\t\t\tdata = d;\n\t\t}\n");
}
else if (classname == "Time" || classname == "Duration")
{
GUTS = GUTS.Replace("$EXTRACONSTRUCTOR", "\n\t\tpublic $WHATAMI(TimeData d) : base($MYMSGTYPE, $MYMESSAGEDEFINITION, $MYHASHEADER, $MYISMETA, new Dictionary<string, MsgFieldInfo>$MYFIELDS)\n\t\t{\n\t\t\tdata = d;\n\t\t}\n");
}
GUTS = GUTS.Replace("$WHATAMI", classname);
GUTS = GUTS.Replace("$MYISMETA", meta.ToString().ToLower());
GUTS = GUTS.Replace("$MYMSGTYPE", "MsgTypes." + Namespace.Replace("Messages.", "") + "__" + classname);
for (int i = 0; i < def.Count; i++)
{
while (def[i].Contains("\t"))
{
def[i] = def[i].Replace("\t", " ");
}
while (def[i].Contains("\n\n"))
{
def[i] = def[i].Replace("\n\n", "\n");
}
def[i] = def[i].Replace('\t', ' ');
while (def[i].Contains(" "))
{
def[i] = def[i].Replace(" ", " ");
}
def[i] = def[i].Replace(" = ", "=");
}
GUTS = GUTS.Replace("$MYMESSAGEDEFINITION", "@\"" + def.Aggregate("", (current, d) => current + (d + "\n")).Trim('\n') + "\"");
GUTS = GUTS.Replace("$MYHASHEADER", HasHeader.ToString().ToLower());
GUTS = GUTS.Replace("$MYFIELDS", GeneratedDictHelper.Length > 5 ? "{{" + GeneratedDictHelper + "}}" : "()");
GUTS = GUTS.Replace("$NULLCONSTBODY", "");
GUTS = GUTS.Replace("$EXTRACONSTRUCTOR", "");
return(GUTS);
}
public string GenerateDeserializationCode(SingleType st, int extraTabs = 0)
{
string leadingWhitespace = "";
for (int i = 0; i < LEADING_WHITESPACE + extraTabs; i++)
leadingWhitespace += " ";
// this happens for each member of the outer message
// after concluding, make sure part of the string is "currentIndex += <amount read while deserializing this thing>"
// start of deserializing piece referred to by st is currentIndex (its value at time of call to this fn)"
string pt = KnownStuff.GetNamespacedType(st);
if(st.Const)
{
return "";
}
else if(!st.IsArray)
{
return GenerateDeserializationForOne(st.Type, st.Name, st, extraTabs);
}
string ret = string.Format(@"
{0}//{2}
{0}hasmetacomponents |= {1};", leadingWhitespace, st.meta.ToString().ToLower(), st.Name);
int arraylength = -1;
string arraylengthstr = "arraylength";
//If the object is an array, send each object to be processed individually, then add them to the string
//handle fixed length fields?
if (!string.IsNullOrEmpty(st.length) && int.TryParse(st.length, out arraylength) && arraylength != -1)
{
arraylengthstr = "" + arraylength;
}
else
{
ret += string.Format(@"
{0}arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
{0}currentIndex += Marshal.SizeOf(typeof(System.Int32));", leadingWhitespace);
}
ret += string.Format(@"
{0}if ({1} == null)
{0} {1} = new {2}[{3}];
{0}else
{0} Array.Resize(ref {1}, {3});", leadingWhitespace, st.Name, pt, arraylengthstr);
//special case arrays of bytes
if (st.Type == "byte")
{
ret += string.Format(@"
{0}Array.Copy(SERIALIZEDSTUFF, currentIndex, {1}, 0, {1}.Length);
{0}currentIndex += {1}.Length;", leadingWhitespace, st.Name);
}
else
{
ret += string.Format(@"
{0}for (int i=0;i<{1}.Length; i++) {{{2}
{0}}}", leadingWhitespace, st.Name, GenerateDeserializationForOne(pt, st.Name + "[i]", st, extraTabs + 1));
}
return ret;
}
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 KeyValuePair<string, MsgFieldInfo> Instantiate(SingleType member)
{
string mt = "MsgTypes.Unknown";
if (member.meta)
{
string t = member.Type.Replace("Messages.", "");
if (!t.Contains('.'))
t = "std_msgs." + t;
mt = "MsgType." + t.Replace(".", "__");
}
return new KeyValuePair<string, MsgFieldInfo>(member.Name, new MsgFieldInfo(member.Name, member.IsLiteral, member.Type, member.Const, member.ConstValue, member.IsArray, member.length, member.meta));
}