msgs.go

package main

import (
	"bytes"
	"crypto/md5"
	"encoding/hex"
	"fmt"
	"regexp"
	"strconv"
	"strings"
	"unicode"
)

const (
	HeaderType     = "Header"
	TimeType       = "time"
	DurationType   = "duration"
	HeaderFullName = "std_msgs/Header"
	TimeMsg        = "uint32 secs\nuint32 nsecs"
	DurationMsg    = "uint32 secs\nuint32 nsecs"
)

var PrimitiveTypes = []string{
	"int8",
	"uint8", "int16", "uint16", "int32", "uint32", "int64", "uint64", "float32", "float64",
	"string",
	"bool",
	// deprecated:
	"char", "byte",
}

var BuiltinTypes = append([]string{TimeType, DurationType}, PrimitiveTypes...)

var ResourceNameLegalCharsPattern = regexp.MustCompile(`^[A-Za-z][\w_\/]*$`)

var BaseResourceNameLegalCharsPattern = regexp.MustCompile(`"[A-Za-z][\w_]*$`)

func isValidConsantType(t string) bool {
	for _, e := range PrimitiveTypes {
		if e == t {
			return true
		}
	}
	return false
}

func isValidMsgFieldName(name string) bool {
	return isLegalResourceBaseName(name)
}

func isLegalResourceBaseName(name string) bool {
	if strings.Contains(name, "//") {
		return false
	}
	return ResourceNameLegalCharsPattern.MatchString(name)
}

func isLegalResourceName(name string) bool {
	return BaseResourceNameLegalCharsPattern.MatchString(name)
}

func isPrimitiveType(name string) bool {
	for _, t := range PrimitiveTypes {
		if t == name {
			return true
		}
	}
	return false
}

func isBuiltinType(name string) bool {
	for _, t := range BuiltinTypes {
		if t == name {
			return true
		}
	}
	return false
}

func baseMsgType(t string) string {
	index := strings.Index(t, "[")
	if index < 0 {
		return t
	} else {
		return t[:index]
	}
}

func splitType(t string) (string, string) {
	components := strings.Split(t, "/")
	if len(components) == 1 {
		return "", t
	} else {
		return components[0], components[1]
	}
}

func parseType(msgType string) (pkg string, baseType string, isArray bool, arrayLen int, err error) {
	index := strings.Index(msgType, "[")
	if index < 0 {
		pkg, name := splitType(msgType)
		return pkg, name, false, 0, nil
	} else {
		if msgType[len(msgType)-1] == ']' {
			base := msgType[:index]
			rest := msgType[index:]
			pkg, name := splitType(base)
			if rest == "[]" {
				return pkg, name, true, -1, nil
			} else {
				value64, err := strconv.ParseInt(rest[1:len(rest)-1], 10, 32)
				if err != nil {
					return pkg, name, false, 0, err
				}
				value := int(value64)
				return pkg, name, true, value, nil
			}
		} else {
			return "", msgType, false, 0, fmt.Errorf("missing ']'")
		}
	}
}

func isValidMsgType(t string) bool {
	if t != strings.TrimSpace(t) {
		return false
	}
	base := baseMsgType(t)
	if !isLegalResourceBaseName(base) {
		return false
	}

	x := t[len(base):]
	state := 0
	for _, c := range x {
		if state == 0 {
			if c != '[' {
				return false
			}
			state = 1
		} else if state == 1 {
			if c == ']' {
				state = 0
			} else if !unicode.IsDigit(c) {
				return false
			}
		}
	}
	return state == 0
}

func isValidConstantType(t string) bool {
	for _, pt := range PrimitiveTypes {
		if t == pt {
			return true
		}
	}
	return false
}

func isHeaderType(name string) bool {
	patterns := map[string]bool{
		HeaderType:      true,
		HeaderFullName:  true,
		"roslib/Header": true,
	}
	return patterns[name]
}

type Constant struct {
	Type      string
	Name      string
	Value     interface{}
	ValueText string
	GoName    string
}

func ToGoType(pkg string, typeName string) string {
	var goType string
	switch typeName {
	case "int8":
		goType = "int8"
	case "uint8":
		goType = "uint8"
	case "int16":
		goType = "int16"
	case "uint16":
		goType = "uint16"
	case "int32":
		goType = "int32"
	case "uint32":
		goType = "uint32"
	case "int64":
		goType = "int64"
	case "uint64":
		goType = "uint64"
	case "float32":
		goType = "float32"
	case "float64":
		goType = "float64"
	case "string":
		goType = "string"
	case "bool":
		goType = "bool"
	case "char":
		goType = "uint8"
	case "byte":
		goType = "uint8"
	case "time":
		goType = "ros.Time"
	case "duration":
		goType = "ros.Duration"
	default:
		goType = pkg + "." + typeName
	}
	return goType
}

func ToGoName(name string) string {
	var buffer []string
	words := strings.Split(name, "_")
	for _, word := range words {
		head := strings.ToUpper(word[:1])
		tail := ""
		if len(word) > 1 {
			tail = word[1:]
		}
		buffer = append(append(buffer, head), tail)
	}
	return strings.Join(buffer, "")
}

func GetZeroValue(pkg string, typeName string) string {
	var zeroValue string
	switch typeName {
	case "int8":
		zeroValue = "0"
	case "uint8":
		zeroValue = "0"
	case "int16":
		zeroValue = "0"
	case "uint16":
		zeroValue = "0"
	case "int32":
		zeroValue = "0"
	case "uint32":
		zeroValue = "0"
	case "int64":
		zeroValue = "0"
	case "uint64":
		zeroValue = "0"
	case "float32":
		zeroValue = "0.0"
	case "float64":
		zeroValue = "0.0"
	case "string":
		zeroValue = "\"\""
	case "bool":
		zeroValue = "false"
	case "char":
		zeroValue = "0"
	case "byte":
		zeroValue = "0"
	case "time":
		zeroValue = "ros.Time{}"
	case "duration":
		zeroValue = "ros.Duration{}"
	default:
		zeroValue = pkg + "." + typeName + "{}"
	}
	return zeroValue
}

func NewConstant(fieldType string, name string, value interface{}, valueText string) *Constant {
	goName := ToGoName(name)
	return &Constant{fieldType, name, value, valueText, goName}
}

func (c *Constant) String() string {
	return fmt.Sprintf("%s %s = %v", c.Type, c.Name, c.Value)
}

type Field struct {
	Package   string
	Type      string
	Name      string
	IsBuiltin bool
	IsArray   bool
	ArrayLen  int
	GoName    string
	GoType    string
	ZeroValue string
}

func NewField(pkg string, fieldType string, name string, isArray bool, arrayLen int) *Field {
	goType := ToGoType(pkg, fieldType)
	goName := ToGoName(name)
	zeroValue := GetZeroValue(pkg, fieldType)
	isBuiltin := isBuiltinType(fieldType)
	return &Field{pkg, fieldType, name, isBuiltin, isArray, arrayLen, goName, goType, zeroValue}
}

func (f *Field) String() string {
	return fmt.Sprintf("%s %s", f.Type, f.Name)
}

type MsgSpec struct {
	Fields    []Field
	Constants []Constant
	Text      string
	MD5Sum    string
	FullName  string
	ShortName string
	Package   string
}

type SrvSpec struct {
	Package   string
	ShortName string
	FullName  string
	Text      string
	MD5Sum    string
	Request   *MsgSpec
	Response  *MsgSpec
}

type ActionSpec struct {
	ShortName string
	FullName  string
	Text      string
	MD5Sum    string
	Goal      *MsgSpec
	Feedback  *MsgSpec
	Result    *MsgSpec
}

type OptionMsgSpec func(*MsgSpec) error

func OptionPackageName(name string) func(*MsgSpec) error {
	return func(spec *MsgSpec) error {
		spec.Package = name
		return nil
	}
}

func OptionShortName(name string) func(*MsgSpec) error {
	return func(spec *MsgSpec) error {
		spec.ShortName = name
		return nil
	}
}

func NewMsgSpec(fields []Field, constants []Constant, text string, fullName string, options ...OptionMsgSpec) (*MsgSpec, error) {
	spec := &MsgSpec{}

	spec.Fields = fields
	spec.Constants = constants
	spec.Text = text
	spec.FullName = fullName

	for _, opt := range options {
		err := opt(spec)
		if err != nil {
			return nil, err
		}
	}
	return spec, nil
}

// Implements Stringer interface
func (s *MsgSpec) String() string {
	lines := []string{}

	lines = append(lines, fmt.Sprintf("msg %s {", s.FullName))

	for _, c := range s.Constants {
		lines = append(lines, fmt.Sprintf("\t%s", c.String()))
	}
	lines = append(lines, "")
	for _, f := range s.Fields {
		lines = append(lines, fmt.Sprintf("\t%s", f.String()))
	}

	lines = append(lines, fmt.Sprintf("}"))
	return strings.Join(lines, "\n")
}

func (s *MsgSpec) ComputeMD5(msgContext *MsgContext) (string, error) {
	thisPkgName := s.Package
	var buffer bytes.Buffer
	for _, c := range s.Constants {
		buffer.WriteString(fmt.Sprintf("%v %v=%v\n", c.Type, c.Name, c.ValueText))
	}
	for _, f := range s.Fields {
		msgType := baseMsgType(f.Type)
		if isBuiltinType(f.Type) {
			buffer.WriteString(fmt.Sprintf("%v %v\n", f.Type, f.Name))
		} else {
			pkgName, baseType, err := packageResourceName(msgType)
			if err != nil {
				return "", err
			}
			// If no package name, it should be a messge in the current package
			if len(pkgName) == 0 {
				pkgName = thisPkgName
			}
			fullMsgName := pkgName + "/" + baseType
			if msgSpec, err := msgContext.LoadMsg(fullMsgName); err != nil {
				subMD5, err := msgSpec.ComputeMD5(msgContext)
				if err != nil {
					return "", err
				}
				buffer.WriteString(fmt.Sprintf("%v %v\n", subMD5, f.Name))
			} else {
				return "", fmt.Errorf("Message '%s' was not found", fullMsgName)
			}
		}
	}
	data := buffer.Bytes()
	hash := md5.New()
	sum := hash.Sum(data)
	return hex.EncodeToString(sum), nil
}