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parser.hpp
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parser.hpp
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright 2016 Davide Faconti
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
********************************************************************/
#ifndef ROSTypePARSER_H
#define ROSTypePARSER_H
#include <vector>
#include <map>
#include <boost/function.hpp>
#include <boost/utility/string_ref.hpp>
#include "ros_type_introspection/stringtree.hpp"
#include "ros_type_introspection/variant.hpp"
namespace RosIntrospection{
#if 1
// Faster, but might need more testing
typedef ssoX::basic_string<char> SString;
#else
// slightly slower but safer option. More convenient during debug
typedef std::string SString;
#endif
typedef details::TreeElement<SString> StringTreeNode;
typedef details::Tree<SString> StringTree;
/**
* @brief Description of a ROS type.
*/
class ROSType {
public:
ROSType(){}
ROSType(const std::string& name);
/// Concatenation of msg_name and pkg_name.
/// ex.: geometry_msgs/Pose[40]"
const SString& baseName() const;
/// ex.: geometry_msgs/Pose[40] -> "Pose"
const SString& msgName() const;
/// ex.: geometry_msgs/Pose[40] -> "geometry_msgs"
const SString& pkgName() const;
void setPkgName(const SString& new_pkg);
/// True if the type is an array
bool isArray() const;
/// True if the type is ROS builtin
bool isBuiltin() const;
/// 1 if !is_array, -1 if is_array and array is
/// variable length, otherwise length in name
int arraySize() const;
/// If builtin, size of builtin, -1 means variable or undefined
int typeSize() const;
/// If type is builtin, returns the id. BuiltinType::OTHER otherwise.
BuiltinType typeID() const;
bool operator==(const ROSType& other) const {
return this->baseName() == other.baseName();
}
bool operator<(const ROSType& other) const {
return this->baseName() < other.baseName();
}
VarNumber deserializeFromBuffer(uint8_t** buffer) const
{
if(!_deserialize_impl){ return VarNumber(); }
else{
return _deserialize_impl(buffer);
}
}
protected:
BuiltinType _id;
int _array_size;
SString _base_name;
SString _msg_name;
SString _pkg_name;
boost::function<VarNumber(uint8_t** buffer)> _deserialize_impl;
};
// helper function to deserialize raw memory
template <typename T> inline T ReadFromBuffer( uint8_t** buffer)
{
T destination = (*( reinterpret_cast<T*>( *buffer ) ) );
*buffer += sizeof(T);
return (destination);
}
/**
* @brief A ROSMessage will contain one or more ROSField(s). Each field is little more
* than a name / type pair.
*/
class ROSField {
public:
ROSField(const std::string& name, const ROSType& type ):
_name( name ), _type( type ) {}
ROSField(const std::string& definition );
const SString& name() const { return _name; }
const ROSType& type() const { return _type; }
/// True if field is a constant in message definition
bool isConstant() const {
return _value.size() != 0;
}
/// If constant, value of field, else undefined
const SString& value() const { return _value; }
friend class ROSMessage;
protected:
SString _name;
ROSType _type;
SString _value;
};
class ROSMessage;
typedef std::vector<ROSMessage> ROSTypeList;
class ROSMessage{
public:
/// This constructor does most of the work in terms of parsing.
/// It uses the message definition to extract fields and types.
ROSMessage(const std::string& msg_def );
/**
Sometimes the whole type information is incomplete, in particular
ROSTYPE::pkgName(). This method helps the application to "fill the blancks".
Used internally by buildROSTypeMapFromDefinition, the user should probably
ignore it.
*/
void updateTypes(const std::vector<ROSType> &all_types);
/**
* @brief Get field by name.
* it uses linear search, so you should use it for debug only.
*/
const ROSField* field(const SString& name) const;
/**
* @brief Get field by index.
*/
const ROSField& field(size_t index) const { return _fields[index]; }
/**
* @brief Vector of fields.
* @return
*/
const std::vector<ROSField>& fields() const { return _fields; }
const ROSType& type() const { return _type; }
void mutateType(const ROSType& new_type ) { _type = new_type; }
private:
ROSType _type;
std::vector<ROSField> _fields;
};
inline const ROSField* ROSMessage::field(const SString &name) const
{
for(int i=0; i<_fields.size(); i++ ) {
if( name ==_fields[i].name() ) {
return &_fields[i];
}
}
return nullptr;
}
//------------------------------
/**
* @brief A single message definition will (most probably) generate myltiple ROSMessage(s).
* In fact the "child" ROSTypes are parsed as well in a recursive and hierarchical way.
* To make an example, given as input the [geometry_msgs/Pose](http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/Pose.html)
* the result will be a ROSTypeList containing Pose, Point and Quaternion.
*
* @param type_name name to give to the main type to be extracted.
*
* @param msg_definition text obtained by either:
* - topic_tools::ShapeShifter::getMessageDefinition()
* - rosbag::MessageInstance::getMessageDefinition()
* - ros::message_traits::Definition< __your_type__ >::value()
*
* @return list od ROSMessages extracted by the main type its dependencies.
*/
ROSTypeList buildROSTypeMapFromDefinition(
const std::string& type_name,
const std::string& msg_definition);
std::ostream& operator<<(std::ostream& s, const ROSTypeList& c);
} // end namespace
#endif // ROSTypePARSER_H