forked from bluenviron/goroslib
/
main.go
160 lines (134 loc) · 3.16 KB
/
main.go
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package main
import (
"fmt"
"io/ioutil"
"net/http"
"net/url"
"os"
"path/filepath"
"strings"
"text/template"
"gopkg.in/alecthomas/kingpin.v2"
"github.com/ROBTTO/goroslib/pkg/msgconv"
)
var tpl = template.Must(template.New("").Parse(
`//nolint:golint
package {{ .GoPkgName }}
import (
{{- range $k, $v := .Imports }}
"{{ $k }}"
{{- end }}
)
{{ .Goal }}
{{ .Result }}
{{ .Feedback }}
type {{ .Name }}Action struct {
{{- if .RosPkgName }}
msg.Package ` + "`" + `ros:"{{ .RosPkgName }}"` + "`" + `
{{- end }}
{{ .Name }}ActionGoal
{{ .Name }}ActionResult
{{ .Name }}ActionFeedback
}
`))
func download(addr string) ([]byte, error) {
req, err := http.NewRequest("GET", addr, nil)
if err != nil {
return nil, err
}
res, err := http.DefaultClient.Do(req)
if err != nil {
return nil, err
}
defer res.Body.Close()
return ioutil.ReadAll(res.Body)
}
func run() error {
kingpin.CommandLine.Help = "Convert ROS actions into Go structs."
argGoPkgName := kingpin.Flag("gopackage", "Go package name").Default("main").String()
argRosPkgName := kingpin.Flag("rospackage", "ROS package name").Default("my_package").String()
argURL := kingpin.Arg("url", "path or url pointing to a ROS action").Required().String()
kingpin.Parse()
goPkgName := *argGoPkgName
rosPkgName := *argRosPkgName
u := *argURL
isRemote := strings.HasPrefix(u, "https://") || strings.HasPrefix(u, "http://")
content, err := func() (string, error) {
if isRemote {
byts, err := download(u)
if err != nil {
return "", err
}
return string(byts), nil
}
byts, err := ioutil.ReadFile(u)
if err != nil {
return "", err
}
return string(byts), nil
}()
if err != nil {
return err
}
name := func() string {
if isRemote {
ur, _ := url.Parse(u)
return strings.TrimSuffix(filepath.Base(ur.Path), ".action")
}
return strings.TrimSuffix(filepath.Base(u), ".action")
}()
parts := strings.Split(content, "---")
if len(parts) != 3 {
return fmt.Errorf("definition must contain a goal a result and a feedback")
}
goalDef, err := msgconv.ParseMessageDefinition(goPkgName, "", name+"ActionGoal", parts[0])
if err != nil {
return err
}
resultDef, err := msgconv.ParseMessageDefinition(goPkgName, "", name+"ActionResult", parts[1])
if err != nil {
return err
}
feedbackDef, err := msgconv.ParseMessageDefinition(goPkgName, "", name+"ActionFeedback", parts[2])
if err != nil {
return err
}
imports := make(map[string]struct{})
for i := range goalDef.Imports {
imports[i] = struct{}{}
}
for i := range resultDef.Imports {
imports[i] = struct{}{}
}
for i := range feedbackDef.Imports {
imports[i] = struct{}{}
}
goal, err := goalDef.Write()
if err != nil {
return err
}
result, err := resultDef.Write()
if err != nil {
return err
}
feedback, err := feedbackDef.Write()
if err != nil {
return err
}
return tpl.Execute(os.Stdout, map[string]interface{}{
"GoPkgName": goPkgName,
"RosPkgName": rosPkgName,
"Imports": imports,
"Goal": goal,
"Result": result,
"Feedback": feedback,
"Name": name,
})
}
func main() {
err := run()
if err != nil {
fmt.Fprintf(os.Stderr, "ERR: %s\n", err)
os.Exit(1)
}
}